Combine multiple sources into a single one. More...

#include <combiner.h>

Inheritance diagram for fkie_message_filters::Combiner< PolicyTmpl, IOs >:

Classes
class	CombinerSink

Public Types
using	Connections = std::array< Connection, NUM_SINKS >
	Array of connection objects. More...

using	Policy = PolicyTmpl< IOs... >
	Class type of the policy that applies to the combiner. More...

template<std::size_t N>
using	SinkType = helpers::io_rewrap_t< helpers::select_nth< N, IOs... >, Sink >
	Base class for the Nth sink. More...

Public Member Functions
	Combiner (const Policy &policy=Policy()) noexcept
	Constructor. More...

Connections	connect_to_sources (helpers::io_rewrap_t< IOs, Source > &... sources) noexcept
	Convenience function to connect all sinks at once. More...

void	disconnect () noexcept override
	Disconnect from all connected sources and sinks. More...

void	disconnect_from_all_sources () noexcept
	Disconnect the sinks from their sources. More...

const Policy &	policy () const noexcept
	Access combiner policy. More...

void	reset () noexcept override
	Reset filter. More...

void	set_policy (const Policy &policy) noexcept
	Set combiner policy. More...

template<std::size_t N>
Combiner< PolicyTmpl, IOs... >::template SinkType< N > &	sink () noexcept

template<std::size_t N>
const Combiner< PolicyTmpl, IOs... >::template SinkType< N > &	sink () const noexcept

template<std::size_t N>
SinkType< N > &	sink () noexcept
	Access the sink for the Nth input. More...

template<std::size_t N>
const SinkType< N > &	sink () const noexcept
	Access the sink for the Nth input. More...

Static Public Attributes
static constexpr std::size_t	NUM_SINKS = sizeof...(IOs)
	Number of sinks. More...

Private Types
using	IncomingTuples = std::tuple< typename helpers::io_tuple_t< IOs >... >

using	OutgoingTuple = helpers::io_tuple_t< helpers::io_concat_t< IOs... > >

Private Member Functions
void	connect_policy () noexcept

template<std::size_t N, typename ThisSource , typename... OtherSources>
void	connect_to_sources_impl (Connections &conn, ThisSource &src, OtherSources &... sources) noexcept

template<std::size_t N>
void	connect_to_sources_impl (Connections &conn) noexcept

Private Attributes
std::mutex	combiner_mutex_

Policy	policy_

std::tuple< typename IOs::template Rewrap< CombinerSink >... >	sinks_

Detailed Description

template<template< typename... > class PolicyTmpl, class... IOs>
class fkie_message_filters::Combiner< PolicyTmpl, IOs >

Combine multiple sources into a single one.

Sometimes, a filter pipeline will receive corresponding inputs from different sources, which must be processed together. The combiner provides a policy-driven way to aggregate data from multiple sources into a single sink. Policies can be anything from a simple FIFO to an elaborate approximate time stamp synchronization.

The output arity of the filter is the sum of all input arities. For example, given two binary input filters (M1,M2) and (M3,M4), the combiner will create a quaternary output (M1,M2,M3,M4). Furthermore, policies which examine data generally look at the first argument of each input. In this example, the timing policies would match the inputs based on M1 and M3. You can prepend a Selector filter to swap the argument order if you need a different element examined, or the Divider filter to match all arguments independently.

namespace mf = fkie_message_filters;
using InBuffer1 = mf::Buffer<M1, M2>;
using InBuffer2 = mf::Buffer<M3, M4>;
using Combiner = mf::Combiner<mf::combiner_policies::Fifo, InBuffer1::Output, InBuffer2::Output>;
using OutBuffer = mf::Buffer<M1, M2, M3, M4>;
InBuffer1 buf1;
InBuffer2 buf2;
OutBuffer out;
Combiner combiner;
combiner.connect_to_sources(buf1, buf2);
combiner.connect_to_sink(out);

See also: combiner_policies, Divider, Selector

Definition at line 72 of file combiner.h.

Member Typedef Documentation

◆ Connections

template<template< typename... > class PolicyTmpl, class... IOs>

using fkie_message_filters::Combiner< PolicyTmpl, IOs >::Connections = std::array<Connection, NUM_SINKS>

Array of connection objects.

Definition at line 82 of file combiner.h.

◆ IncomingTuples

template<template< typename... > class PolicyTmpl, class... IOs>

using fkie_message_filters::Combiner< PolicyTmpl, IOs >::IncomingTuples = std::tuple<typename helpers::io_tuple_t<IOs>...>

private

Definition at line 132 of file combiner.h.

◆ OutgoingTuple

template<template< typename... > class PolicyTmpl, class... IOs>

using fkie_message_filters::Combiner< PolicyTmpl, IOs >::OutgoingTuple = helpers::io_tuple_t<helpers::io_concat_t<IOs...> >

private

Definition at line 133 of file combiner.h.

◆ Policy

template<template< typename... > class PolicyTmpl, class... IOs>

using fkie_message_filters::Combiner< PolicyTmpl, IOs >::Policy = PolicyTmpl<IOs...>

Class type of the policy that applies to the combiner.

Definition at line 87 of file combiner.h.

◆ SinkType

template<template< typename... > class PolicyTmpl, class... IOs>

template<std::size_t N>

using fkie_message_filters::Combiner< PolicyTmpl, IOs >::SinkType = helpers::io_rewrap_t<helpers::select_nth<N, IOs...>, Sink>

Base class for the Nth sink.

Definition at line 85 of file combiner.h.

Constructor & Destructor Documentation

◆ Combiner()

template<template< typename... > class PolicyTmpl, class... IOs>

fkie_message_filters::Combiner< PolicyTmpl, IOs >::Combiner ( const Policy & policy = Policy() )

explicitnoexcept

Constructor.

policy Instance of the policy class that applies to the combiner.

Definition at line 30 of file combiner_impl.h.

Member Function Documentation

◆ connect_policy()

template<template< typename... > class PolicyTmpl, class... IOs>

void fkie_message_filters::Combiner< PolicyTmpl, IOs >::connect_policy ( )

privatenoexcept

Definition at line 43 of file combiner_impl.h.

◆ connect_to_sources()

template<template< typename... > class PolicyTmpl, class... IOs>

Combiner< PolicyTmpl, IOs... >::Connections fkie_message_filters::Combiner< PolicyTmpl, IOs >::connect_to_sources ( helpers::io_rewrap_t< IOs, Source > &... sources )

noexcept

Convenience function to connect all sinks at once.

Definition at line 137 of file combiner_impl.h.

◆ connect_to_sources_impl() [1/2]

template<template< typename... > class PolicyTmpl, class... IOs>

template<std::size_t N, typename ThisSource , typename... OtherSources>

void fkie_message_filters::Combiner< PolicyTmpl, IOs >::connect_to_sources_impl	(	Connections &	conn,
		ThisSource &	src,
		OtherSources &...	sources
	)

privatenoexcept

Definition at line 130 of file combiner_impl.h.

◆ connect_to_sources_impl() [2/2]

template<template< typename... > class PolicyTmpl, class... IOs>

template<std::size_t N>

void fkie_message_filters::Combiner< PolicyTmpl, IOs >::connect_to_sources_impl ( Connections & conn )

privatenoexcept

Definition at line 124 of file combiner_impl.h.

◆ disconnect()

template<template< typename... > class PolicyTmpl, class... IOs>

void fkie_message_filters::Combiner< PolicyTmpl, IOs >::disconnect ( )

overridenoexcept

Disconnect from all connected sources and sinks.

Definition at line 116 of file combiner_impl.h.

◆ disconnect_from_all_sources()

template<template< typename... > class PolicyTmpl, class... IOs>

void fkie_message_filters::Combiner< PolicyTmpl, IOs >::disconnect_from_all_sources ( )

noexcept

Disconnect the sinks from their sources.

Definition at line 105 of file combiner_impl.h.

◆ policy()

template<template< typename... > class PolicyTmpl, class... IOs>

const Combiner< PolicyTmpl, IOs... >::Policy & fkie_message_filters::Combiner< PolicyTmpl, IOs >::policy ( ) const

noexcept

Access combiner policy.

Definition at line 99 of file combiner_impl.h.

◆ reset()

template<template< typename... > class PolicyTmpl, class... IOs>

void fkie_message_filters::Combiner< PolicyTmpl, IOs >::reset ( )

overridenoexcept

Reset filter.

This will reset the internal state by calling the PolicyTmpl::reset() method

Definition at line 78 of file combiner_impl.h.

◆ set_policy()

template<template< typename... > class PolicyTmpl, class... IOs>

void fkie_message_filters::Combiner< PolicyTmpl, IOs >::set_policy ( const Policy & policy )

noexcept

Set combiner policy.

Any previous policy is superseded. Implies a call to reset().

Definition at line 70 of file combiner_impl.h.

◆ sink() [1/4]

template<template< typename... > class PolicyTmpl, class... IOs>

template<std::size_t N>

Combiner<PolicyTmpl, IOs...>::template SinkType<N>& fkie_message_filters::Combiner< PolicyTmpl, IOs >::sink ( )

noexcept

Definition at line 86 of file combiner_impl.h.

◆ sink() [2/4]

template<template< typename... > class PolicyTmpl, class... IOs>

template<std::size_t N>

const Combiner<PolicyTmpl, IOs...>::template SinkType<N>& fkie_message_filters::Combiner< PolicyTmpl, IOs >::sink ( ) const

noexcept

Definition at line 93 of file combiner_impl.h.

◆ sink() [3/4]

template<template< typename... > class PolicyTmpl, class... IOs>

template<std::size_t N>

SinkType<N>& fkie_message_filters::Combiner< PolicyTmpl, IOs >::sink ( )

noexcept

Access the sink for the Nth input.

◆ sink() [4/4]

template<template< typename... > class PolicyTmpl, class... IOs>

template<std::size_t N>

const SinkType<N>& fkie_message_filters::Combiner< PolicyTmpl, IOs >::sink ( ) const

noexcept

Access the sink for the Nth input.

Member Data Documentation

◆ combiner_mutex_

template<template< typename... > class PolicyTmpl, class... IOs>

std::mutex fkie_message_filters::Combiner< PolicyTmpl, IOs >::combiner_mutex_

private

Definition at line 148 of file combiner.h.

◆ NUM_SINKS

template<template< typename... > class PolicyTmpl, class... IOs>

constexpr std::size_t fkie_message_filters::Combiner< PolicyTmpl, IOs >::NUM_SINKS = sizeof...(IOs)

static

Number of sinks.

Definition at line 80 of file combiner.h.

◆ policy_

template<template< typename... > class PolicyTmpl, class... IOs>

Policy fkie_message_filters::Combiner< PolicyTmpl, IOs >::policy_

private

Definition at line 149 of file combiner.h.

◆ sinks_

template<template< typename... > class PolicyTmpl, class... IOs>

std::tuple<typename IOs::template Rewrap<CombinerSink>...> fkie_message_filters::Combiner< PolicyTmpl, IOs >::sinks_

private

Definition at line 150 of file combiner.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

template<template< typename... > class PolicyTmpl, class... IOs> class fkie_message_filters::Combiner< PolicyTmpl, IOs >

Member Typedef Documentation

◆ Connections

◆ IncomingTuples

◆ OutgoingTuple

◆ Policy

◆ SinkType

Constructor & Destructor Documentation

◆ Combiner()

Member Function Documentation

◆ connect_policy()

◆ connect_to_sources()

◆ connect_to_sources_impl() [1/2]

◆ connect_to_sources_impl() [2/2]

◆ disconnect()

◆ disconnect_from_all_sources()

◆ policy()

◆ reset()

◆ set_policy()

◆ sink() [1/4]

◆ sink() [2/4]

◆ sink() [3/4]

◆ sink() [4/4]

Member Data Documentation

◆ combiner_mutex_

◆ NUM_SINKS

◆ policy_

◆ sinks_

template<template< typename... > class PolicyTmpl, class... IOs>
class fkie_message_filters::Combiner< PolicyTmpl, IOs >