user_filter.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_USER_FILTER_H_
#define INCLUDE_FKIE_MESSAGE_FILTERS_USER_FILTER_H_
 
#include "filter.h"
#include <functional>
 
namespace fkie_message_filters
{
 
#ifndef DOXYGEN
template<class In, class Out>
class UserFilter;
#endif
 
#ifndef DOXYGEN
template<class... Inputs, class... Outputs>
class UserFilter<IO<Inputs...>, IO<Outputs...>> : public Filter<IO<Inputs...>, IO<Outputs...>>
#else
template<class... Inputs, class... Outputs>
class UserFilter : public Filter<IO<Inputs...>, IO<Outputs...>>
#endif
{
public:
    using CallbackFunction = FilterCB<Outputs...>;
    using ProcessingFunction = std::function<void(const Inputs&..., const CallbackFunction&)>;
    void set_processing_function (const ProcessingFunction& f) noexcept;
protected:
    void receive (const Inputs&... in) override;
private:
    ProcessingFunction f_;
};
 
} // namespace fkie_message_filters
 
#include "user_filter_impl.h"
 
#endif /* INCLUDE_FKIE_MESSAGE_FILTERS_USER_FILTER_H_ */