A class for priority-based muxing of topics. More...

#include <priority_mux_base.h>

Inheritance diagram for cras::PriorityMux:

Public Types
typedef ::std::function< void(const ::std::string &name, const ::ros::Duration &timeout)>	SetTimerFn
	The function to call when the mux needs to schedule a call to `update()` after some time. More...

Public Member Functions
virtual bool	cb (const ::std::string &inTopic, const ::ros::Time &stamp, const ::ros::Time &now)
	Callback function run when input topic message is received. More...

virtual void	disableCb (const ::std::string &inTopic, const ::ros::Time &stamp, bool disable, const ::ros::Time &now)
	Callback function to disable/enable an input topic. More...

int	getActivePriority () const
	Return the active priority level. More...

const ::std::unordered_map<::std::string, ::std::string > &	getLastSelectedTopics () const
	Return the last selected topic for each output topic. More...

bool	isDisabled (const ::std::string &inTopic, const ::ros::Time &now)

virtual void	lockCb (const ::std::string &topic, const ::ros::Time &stamp, bool locked, const ::ros::Time &now)
	Callback function run when a lock message is received. More...

	PriorityMux (const ::std::unordered_map<::std::string, ::cras::priority_mux::TopicConfig > &topicConfigs, const ::std::unordered_map<::std::string, ::cras::priority_mux::LockConfig > &lockConfigs, const SetTimerFn &setTimerFn, const ::ros::Time &now, const ::cras::LogHelperPtr &log, const ::std::string &noneTopic="__none", int nonePriority=0)
	Constructs a PriorityMux object. More...

virtual void	reset (const ::ros::Time &now)
	Resets the mux to its initial state. More...

virtual void	update (const ::ros::Time &now)
	Updates the mux after changes have been made to some of its internal state. More...

Public Member Functions inherited from cras::HasLogger
::cras::LogHelperConstPtr	getCrasLogger () const

	HasLogger (const ::cras::LogHelperPtr &log)

void	setCrasLogger (const ::cras::LogHelperPtr &log)

Protected Member Functions
int	getHighestLockedPriority (const ::ros::Time &now)
	Gets the highest locked priority. More...

Protected Attributes
::std::map<::std::pair< int, ::std::string >, ::ros::Time >	disabledStamps
	The timestamps of the last received disable message for each input topic. More...

int	lastActivePriority
	The currently active priority level. More...

::std::map<::std::pair< int, ::std::string >, ::ros::Time >	lastLockStamps
	The timestamps of the last received lock message for each lock topic. More...

::std::map<::std::pair< int, ::std::string >, ::ros::Time >	lastReceiveStamps
	The timestamps of the last received message for each input topic. More...

::std::unordered_map<::std::string, ::std::string >	lastSelectedTopics
	The currently selected topic for each output topic. More...

::std::unordered_map<::std::string, ::cras::priority_mux::LockConfig >	lockConfigs
	Configurations of lock topics. More...

::std::map<::std::pair< int, ::std::string >, bool >	lockStates
	Current lock status of each lock topic (whether the lock is explicitly locked or not). More...

int	nonePriority
	Priority level signalling that no priority is active. More...

::std::string	noneTopic
	Virtual name of a topic reported as selected when no priority is active. More...

SetTimerFn	setTimer
	The function to call when the mux needs to schedule a call to `update()` after some time. More...

::std::unordered_map<::std::string, ::cras::priority_mux::TopicConfig >	topicConfigs
	Configurations of input topics. More...

Protected Attributes inherited from cras::HasLogger
::cras::LogHelperPtr	log

Private Member Functions
void	resetImpl (const ::ros::Time &now)
	Reset the mux to its original state. More...

Detailed Description

A class for priority-based muxing of topics.

This class provides the functionality for priority-based muxing of topics. It allows to control access to one or more output topics which several input topics are aiming for. Priorities are assigned to each input topic to decide which one gets access to its desired output. A validity period is also assigned to each input topic which needs to be renewed whenever a message is received from the topic. An input topic can be disabled explicitly via a topic.

Definition at line 83 of file priority_mux_base.h.

Member Typedef Documentation

◆ SetTimerFn

typedef ::std::function<void(const ::std::string& name, const ::ros::Duration& timeout)> cras::PriorityMux::SetTimerFn

The function to call when the mux needs to schedule a call to update() after some time.

Parameters

[in]	name	Name of the timer (subsequent calls with the same name will cancel the preceding requests).
[in]	timeout	The time after which `update()` should be called.

Definition at line 92 of file priority_mux_base.h.

Constructor & Destructor Documentation

◆ PriorityMux()

cras::PriorityMux::PriorityMux	(	const ::std::unordered_map<::std::string, ::cras::priority_mux::TopicConfig > &	topicConfigs,
		const ::std::unordered_map<::std::string, ::cras::priority_mux::LockConfig > &	lockConfigs,
		const SetTimerFn &	setTimerFn,
		const ::ros::Time &	now,
		const ::cras::LogHelperPtr &	log,
		const ::std::string &	noneTopic = `"__none"`,
		int	nonePriority = `0`
	)

Constructs a PriorityMux object.

Parameters

[in]	topicConfigs	Configurations of input topics.
[in]	lockConfigs	Configurations of lock topics.
[in]	setTimerFn	The function to call when the mux needs to schedule a call to `update()` after some time.
[in]	now	Current time.
[in]	log	The CRAS logger to use for printing log messages.
[in]	noneTopic	Virtual name of a topic reported as selected when no priority is active.
[in]	nonePriority	Priority level signalling that no priority is active.

Definition at line 21 of file priority_mux_base.cpp.

Member Function Documentation

◆ cb()

bool cras::PriorityMux::cb	(	const ::std::string &	inTopic,
		const ::ros::Time &	stamp,
		const ::ros::Time &	now
	)

virtual

Callback function run when input topic message is received.

Parameters

[in]	inTopic	Name of the input topic.
[in]	stamp	ROS time stamp of the message.
[in]	now	Current ROS time.

Returns: True if the input message should be relayed to its output topic.

Definition at line 43 of file priority_mux_base.cpp.

◆ disableCb()

void cras::PriorityMux::disableCb	(	const ::std::string &	inTopic,
		const ::ros::Time &	stamp,
		bool	disable,
		const ::ros::Time &	now
	)

virtual

Callback function to disable/enable an input topic.

Parameters

[in]	inTopic	Name of the input topic to disable/enable.
[in]	stamp	ROS time stamp of the message.
[in]	disable	Whether to disable the input topic or enable it (`true` means disable).
[in]	now	Current ROS time.

Definition at line 78 of file priority_mux_base.cpp.

◆ getActivePriority()

int cras::PriorityMux::getActivePriority ( ) const

Return the active priority level.

Returns: The active priority level.

Definition at line 220 of file priority_mux_base.cpp.

◆ getHighestLockedPriority()

int cras::PriorityMux::getHighestLockedPriority ( const ::ros::Time & now )

protected

Gets the highest locked priority.

Parameters

[in] now Current ROS time.

Returns: The highest locked priority.

Definition at line 195 of file priority_mux_base.cpp.

◆ getLastSelectedTopics()

const std::unordered_map< std::string, std::string > & cras::PriorityMux::getLastSelectedTopics ( ) const

Return the last selected topic for each output topic.

Returns: The last selected topic for each output topic.

Definition at line 215 of file priority_mux_base.cpp.

◆ isDisabled()

bool cras::PriorityMux::isDisabled	(	const ::std::string &	inTopic,
		const ::ros::Time &	now
	)

Whether the given topic is currently disabled.

Parameters

[in]	inTopic	The topic name.
[in]	now	Current time.

Returns: Whether the topic is disabled.

Definition at line 250 of file priority_mux_base.cpp.

◆ lockCb()

void cras::PriorityMux::lockCb	(	const ::std::string &	topic,
		const ::ros::Time &	stamp,
		bool	locked,
		const ::ros::Time &	now
	)

virtual

Callback function run when a lock message is received.

Parameters

[in]	topic	Name of the lock topic.
[in]	stamp	ROS time stamp of the message.
[in]	locked	Whether to lock the lock or unlock it (`true` means lock).
[in]	now	Current ROS time.

Definition at line 110 of file priority_mux_base.cpp.

◆ reset()

void cras::PriorityMux::reset ( const ::ros::Time & now )

virtual

Resets the mux to its initial state.

Parameters

[in] now Current time.

Definition at line 225 of file priority_mux_base.cpp.

◆ resetImpl()

void cras::PriorityMux::resetImpl ( const ::ros::Time & now )

private

Reset the mux to its original state.

Parameters

[in] now Current time.

Definition at line 230 of file priority_mux_base.cpp.

◆ update()

void cras::PriorityMux::update ( const ::ros::Time & now )

virtual

Updates the mux after changes have been made to some of its internal state.

Parameters

[in] now Current ROS time.

Definition at line 136 of file priority_mux_base.cpp.

Member Data Documentation

◆ disabledStamps

::std::map<::std::pair<int, ::std::string>, ::ros::Time> cras::PriorityMux::disabledStamps

protected

The timestamps of the last received disable message for each input topic.

Definition at line 204 of file priority_mux_base.h.

◆ lastActivePriority

int cras::PriorityMux::lastActivePriority

protected

The currently active priority level.

Definition at line 219 of file priority_mux_base.h.

◆ lastLockStamps

::std::map<::std::pair<int, ::std::string>, ::ros::Time> cras::PriorityMux::lastLockStamps

protected

The timestamps of the last received lock message for each lock topic.

Definition at line 207 of file priority_mux_base.h.

◆ lastReceiveStamps

::std::map<::std::pair<int, ::std::string>, ::ros::Time> cras::PriorityMux::lastReceiveStamps

protected

The timestamps of the last received message for each input topic.

Definition at line 201 of file priority_mux_base.h.

◆ lastSelectedTopics

::std::unordered_map<::std::string, ::std::string> cras::PriorityMux::lastSelectedTopics

protected

The currently selected topic for each output topic.

Definition at line 222 of file priority_mux_base.h.

◆ lockConfigs

::std::unordered_map<::std::string, ::cras::priority_mux::LockConfig> cras::PriorityMux::lockConfigs

protected

Configurations of lock topics.

Definition at line 189 of file priority_mux_base.h.

◆ lockStates

::std::map<::std::pair<int, ::std::string>, bool> cras::PriorityMux::lockStates

protected

Current lock status of each lock topic (whether the lock is explicitly locked or not).

Definition at line 210 of file priority_mux_base.h.

◆ nonePriority

int cras::PriorityMux::nonePriority

protected

Priority level signalling that no priority is active.

Definition at line 216 of file priority_mux_base.h.

◆ noneTopic

::std::string cras::PriorityMux::noneTopic

protected

Virtual name of a topic reported as selected when no priority is active.

Definition at line 213 of file priority_mux_base.h.

◆ setTimer

SetTimerFn cras::PriorityMux::setTimer

protected

The function to call when the mux needs to schedule a call to update() after some time.

Definition at line 192 of file priority_mux_base.h.

◆ topicConfigs

::std::unordered_map<::std::string, ::cras::priority_mux::TopicConfig> cras::PriorityMux::topicConfigs

protected

Configurations of input topics.

Definition at line 186 of file priority_mux_base.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Member Typedef Documentation

◆ SetTimerFn

Constructor & Destructor Documentation

◆ PriorityMux()

Member Function Documentation

◆ cb()

◆ disableCb()

◆ getActivePriority()

◆ getHighestLockedPriority()

◆ getLastSelectedTopics()

◆ isDisabled()

◆ lockCb()

◆ reset()

◆ resetImpl()

◆ update()

Member Data Documentation

◆ disabledStamps

◆ lastActivePriority

◆ lastLockStamps

◆ lastReceiveStamps

◆ lastSelectedTopics

◆ lockConfigs

◆ lockStates

◆ nonePriority

◆ noneTopic

◆ setTimer

◆ topicConfigs