#include <filter_chain.hpp>

Inheritance diagram for cras::FilterChain< F >:

Public Types
typedef ::std::function< void(const F &data, const size_t filterNum, const ::std::string &name, const ::std::string &type, bool success)>	FilterFinishedCallback
	Callback to be called after each filter processes the data. More...

typedef ::std::function< void(const F &data, const size_t filterNum, const ::std::string &name, const ::std::string &type)>	FilterStartCallback
	Callback to be called before each filter processes the data. More...

Public Member Functions
bool	clear ()
	Clear all filters from this chain. This function intentionally shadows filters::FilterChain::clear() which is non-virtual. More...

void	disableFilter (const ::std::string &name)
	Temporarily disable the filter with the given name. More...

void	enableFilter (const ::std::string &name)
	Enable the temporarily disabled filter with the given name. More...

	FilterChain (const ::std::string &dataType, const FilterFinishedCallback &filterFinishedCallback={}, const FilterStartCallback &filterStartCallback={}, const ::cras::LogHelperPtr &logHelper=::std::make_shared<::cras::NodeLogHelper >())
	Construct a filter chain. More...

::std::vector<::std::shared_ptr<::filters::FilterBase< F > > >	getActiveFilters () const
	Get a copy of the list of active filters. More...

::std::unordered_set<::std::string >	getDisabledFilters () const
	Get which filters are temporarily disabled. More...

void	setDisabledFilters (::std::unordered_set<::std::string > filters)
	Set which filters are temporarily disabled. This overrides any previous calls to disableFilter() and enableFilter(). More...

void	setFilterFinishedCallback (const FilterFinishedCallback &callback)
	Set the filter finished callback. More...

void	setFilterStartCallback (const FilterStartCallback &callback)
	Set the filter start callback. More...

void	setNodelet (const ::nodelet::Nodelet *nodelet)
	Inform this chain that it is running in the given nodelet, so that it can do appropriate optimizations. This should be done after the filters are configured. More...

bool	update (const F &data_in, F &data_out)
	Do the filtering. This function intentionally shadows filters::FilterChain::update() which is non-virtual. More...

Public Member Functions inherited from filters::FilterChain< F >
bool	clear ()

bool	configure (std::string param_name, ros::NodeHandle node=ros::NodeHandle())

bool	configure (XmlRpc::XmlRpcValue &config, const std::string &filter_ns)

	FilterChain (std::string data_type)

std::vector< std::shared_ptr< filters::FilterBase< T > > >	getFilters () const

bool	update (const T &data_in, T &data_out)

	~FilterChain ()

Protected Member Functions
void	callFinishedCallback (const F &data, size_t filterNum, bool succeeded)
	If filterFinishedCallback is set, call it. More...

void	callStartCallback (const F &data, size_t filterNum)
	If filterStartCallback is set, call it. More...

void	updateActiveFilters ()
	Update the contents of activeFilters with just the filters that have not been disabled. More...

Protected Attributes
::std::vector<::std::shared_ptr<::filters::FilterBase< F > > >	activeFilters
	A list of filters that should be treated as active and should act on the input data. More...

mutable ::std::mutex	activeFiltersMutex
	Mutex protecting activeFilters access. More...

F	buffer0
	A temporary intermediate buffer. More...

F	buffer1
	A temporary intermediate buffer. More...

::std::unordered_set<::std::string >	disabledFilters
	A set of filters that have been temporarily disabled. More...

FilterFinishedCallback	filterFinishedCallback
	The optional callback to call when a filter finishes its work. More...

FilterStartCallback	filterStartCallback
	The optional callback to call when a filter starts its work. More...

bool	initialized {false}
	Whether this filter chain has been initialized (gets set by first `update()` and cleared by `clear()`). More...

Additional Inherited Members
Private Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const
	This is the function picked up by `CRAS_*` logging macros. More...

	HasLogger (const ::cras::LogHelperPtr &log)
	Associate the logger with this interface. More...

void	setCrasLogger (const ::cras::LogHelperPtr &log)
	Set the logger to be used for logging. More...

Private Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log
	Log helper. More...

Detailed Description

template<typename F>
class cras::FilterChain< F >

This filter chain implementation allows for selectively disabling/enabling filters during run time. It also adds a callback with the input and result of each filter run, so that you can e.g. publish the output of each filter.

Template Parameters

F	Type of the filtered data.

Definition at line 42 of file filter_chain.hpp.

Member Typedef Documentation

◆ FilterFinishedCallback

template<typename F >

typedef ::std::function< void(const F& data, const size_t filterNum, const ::std::string& name, const ::std::string& type, bool success)> cras::FilterChain< F >::FilterFinishedCallback

Callback to be called after each filter processes the data.

Parameters

[in]	data	The data after application of the filter.
[in]	filterNum	The number of the filter in the filtering chain.
[in]	name	Name of the filter that processed the data.
[in]	type	Type of the filter that processed the data.
[in]	success	Whether the filter succeeded (its update() function returned true).

Definition at line 68 of file filter_chain.hpp.

◆ FilterStartCallback

template<typename F >

typedef ::std::function< void(const F& data, const size_t filterNum, const ::std::string& name, const ::std::string& type)> cras::FilterChain< F >::FilterStartCallback

Callback to be called before each filter processes the data.

Parameters

[in]	data	The data before application of the filter.
[in]	filterNum	The number of the filter in the filtering chain.
[in]	name	Name of the filter that processed the data.
[in]	type	Type of the filter that processed the data.

Definition at line 55 of file filter_chain.hpp.

Constructor & Destructor Documentation

◆ FilterChain()

template<typename F >

cras::FilterChain< F >::FilterChain	(	const ::std::string &	dataType,
		const FilterFinishedCallback &	filterFinishedCallback = `{}`,
		const FilterStartCallback &	filterStartCallback = `{}`,
		const ::cras::LogHelperPtr &	logHelper = `::std::make_shared<::cras::NodeLogHelper >()`
	)

explicit

Construct a filter chain.

Parameters

[in]	dataType	Textual representation of the data type.
[in]	filterFinishedCallback	Optional callback to be called after each filter finishes its work.
[in]	filterStartCallback	Optional callback to be called before each filter starts its work.
[in]	logHelper	The log helper used for printing console messages.

Member Function Documentation

◆ callFinishedCallback()

template<typename F >

void cras::FilterChain< F >::callFinishedCallback	(	const F &	data,
		size_t	filterNum,
		bool	succeeded
	)

protected

If filterFinishedCallback is set, call it.

Parameters

[in]	data	The filtered data to pass to the callback.
[in]	filterNum	Number of the filter to pass to the callback.
[in]	succeeded	Whether the filter succeeded (its update() function returned true).

◆ callStartCallback()

template<typename F >

void cras::FilterChain< F >::callStartCallback	(	const F &	data,
		size_t	filterNum
	)

protected

If filterStartCallback is set, call it.

Parameters

[in]	data	The filtered data to pass to the callback.
[in]	filterNum	Number of the filter to pass to the callback.

◆ clear()

template<typename F >

bool cras::FilterChain< F >::clear ( )

Clear all filters from this chain. This function intentionally shadows filters::FilterChain::clear() which is non-virtual.

Returns: Always true.

◆ disableFilter()

template<typename F >

void cras::FilterChain< F >::disableFilter ( const ::std::string & name )

Temporarily disable the filter with the given name.

Parameters

[in] name Name of the filter to disable. If the filter is not found, nothing happens.

◆ enableFilter()

template<typename F >

void cras::FilterChain< F >::enableFilter ( const ::std::string & name )

Enable the temporarily disabled filter with the given name.

Parameters

[in] name Name of the filter to enable. If the filter is not found, nothing happens.

◆ getActiveFilters()

template<typename F >

::std::vector<::std::shared_ptr<::filters::FilterBase<F> > > cras::FilterChain< F >::getActiveFilters ( ) const

Get a copy of the list of active filters.

Returns: The active filters.

◆ getDisabledFilters()

template<typename F >

::std::unordered_set<::std::string> cras::FilterChain< F >::getDisabledFilters ( ) const

Get which filters are temporarily disabled.

Returns: The disabled filters.

◆ setDisabledFilters()

template<typename F >

void cras::FilterChain< F >::setDisabledFilters ( ::std::unordered_set<::std::string > filters )

Set which filters are temporarily disabled. This overrides any previous calls to disableFilter() and enableFilter().

Parameters

[in] filters The filters to disable.

◆ setFilterFinishedCallback()

template<typename F >

void cras::FilterChain< F >::setFilterFinishedCallback ( const FilterFinishedCallback & callback )

Set the filter finished callback.

Parameters

[in] callback The callback to set.

◆ setFilterStartCallback()

template<typename F >

void cras::FilterChain< F >::setFilterStartCallback ( const FilterStartCallback & callback )

Set the filter start callback.

Parameters

[in] callback The callback to set.

◆ setNodelet()

template<typename F >

void cras::FilterChain< F >::setNodelet ( const ::nodelet::Nodelet * nodelet )

Inform this chain that it is running in the given nodelet, so that it can do appropriate optimizations. This should be done after the filters are configured.

Parameters

[in] nodelet The nodelet this chain is running in. Setting to nullptr will inform the chain it is not running inside a nodelet.

◆ update()

template<typename F >

bool cras::FilterChain< F >::update	(	const F &	data_in,
		F &	data_out
	)

Do the filtering. This function intentionally shadows filters::FilterChain::update() which is non-virtual.

Parameters

[in]	data_in	Input data.
[out]	data_out	The filtered data.

Returns: Whether the filtering succeeded. If false, data_out should not be considered valid.

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

filter_chain.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename F> class cras::FilterChain< F >

Member Typedef Documentation

◆ FilterFinishedCallback

◆ FilterStartCallback

Constructor & Destructor Documentation

◆ FilterChain()

Member Function Documentation

◆ callFinishedCallback()

◆ callStartCallback()

◆ clear()

◆ disableFilter()

◆ enableFilter()

◆ getActiveFilters()

◆ getDisabledFilters()

◆ setDisabledFilters()

◆ setFilterFinishedCallback()

◆ setFilterStartCallback()

◆ setNodelet()

◆ update()

◆ updateActiveFilters()

Member Data Documentation

◆ activeFilters

◆ activeFiltersMutex

◆ buffer0

◆ buffer1

◆ disabledFilters

◆ filterFinishedCallback

◆ filterStartCallback

◆ initialized

template<typename F>
class cras::FilterChain< F >