Determining the frequency of a sinusoidal waveform can be achieved using an FFT based method. If we restrain ourselves to the simple case where the waveform is made of one single sine wave, then the fundamental frequency (f0) is indeed what we call the “waveform frequency”.
If that is the case, a simple FFT would allow isolating the frequency peaks. An histogram would then detect the highest one: the fundamental frequency. Again, this is valid only for this kind of waveforms. We can even tolerate some level of harmonics which are due to distortions.