sequencer.h

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/****************************************************************************
 *
 * fkie_message_filters
 * Copyright © 2018-2020 Fraunhofer FKIE
 * Author: Timo Röhling
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 ****************************************************************************/
 
#ifndef INCLUDE_FKIE_MESSAGE_FILTERS_SEQUENCER_H_
#define INCLUDE_FKIE_MESSAGE_FILTERS_SEQUENCER_H_
 
#include "filter.h"
#include <ros/time.h>
#include <ros/duration.h>
#include <map>
 
namespace fkie_message_filters
{
 
template<class... Inputs>
class Sequencer : public Filter<IO<Inputs...>, IO<Inputs...>>
{
public:
    explicit Sequencer (const ros::Duration& max_delay = ros::Duration(1, 0)) noexcept;
    void set_max_delay (const ros::Duration& max_delay) noexcept;
    void flush();
    void reset() noexcept override;
protected:
    void receive (const Inputs&... in) override;
private:
    using QueueElement = std::tuple<Inputs...>;
    using Queue = std::multimap<ros::Time, QueueElement>;
    std::mutex mutex_;
    ros::Duration max_delay_;
    ros::Time cutoff_;
    Queue queue_;
};
 
template<class... Inputs>
class Sequencer<IO<Inputs...>> : public Sequencer<Inputs...>
{
public:
    explicit Sequencer(const ros::Duration& max_delay = ros::Duration(1, 0)) noexcept
    : Sequencer<Inputs...>(max_delay) {}
};
 
} // namespace fkie_message_filters
 
#include "sequencer_impl.h"
 
#endif /* INCLUDE_FKIE_MESSAGE_FILTERS_SEQUENCER_H_ */