Program Listing for File message_buffer.hpp

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#ifndef FUSE_CORE__MESSAGE_BUFFER_HPP_
#define FUSE_CORE__MESSAGE_BUFFER_HPP_

#include <deque>
#include <utility>

#include <boost/range/any_range.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <rclcpp/duration.hpp>
#include <rclcpp/time.hpp>

namespace fuse_core
{

template<typename Message>
class MessageBuffer
{
public:
  FUSE_SMART_PTR_DEFINITIONS(MessageBuffer<Message>)


  using message_range = boost::any_range<const std::pair<rclcpp::Time, Message>,
      boost::forward_traversal_tag>;

  using stamp_range = boost::any_range<const rclcpp::Time, boost::forward_traversal_tag>;

  explicit MessageBuffer(const rclcpp::Duration & buffer_length = rclcpp::Duration::max());

  virtual ~MessageBuffer() = default;

  const rclcpp::Duration & bufferLength() const
  {
    return buffer_length_;
  }

  void bufferLength(const rclcpp::Duration & buffer_length)
  {
    buffer_length_ = buffer_length;
  }

  void insert(const rclcpp::Time & stamp, const Message & msg);

  message_range query(
    const rclcpp::Time & beginning_stamp, const rclcpp::Time & ending_stamp,
    bool extended_range = true);

  stamp_range stamps() const;

protected:
  using Buffer = std::deque<std::pair<rclcpp::Time, Message>>;
  Buffer buffer_;
  rclcpp::Duration buffer_length_;

  static const rclcpp::Time & extractStamp(const typename Buffer::value_type & element)
  {
    return element.first;
  }

  void purgeHistory();
};

}  // namespace fuse_core

#include <fuse_core/message_buffer_impl.hpp>

#endif  // FUSE_CORE__MESSAGE_BUFFER_HPP_