Program Listing for File timestamp_manager.hpp

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#ifndef FUSE_CORE__TIMESTAMP_MANAGER_HPP_
#define FUSE_CORE__TIMESTAMP_MANAGER_HPP_

#include <functional>
#include <map>
#include <vector>

#include <boost/range/any_range.hpp>
#include <fuse_core/constraint.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/transaction.hpp>
#include <fuse_core/variable.hpp>
#include <rclcpp/duration.hpp>

namespace fuse_core
{

class TimestampManager
{
public:
  FUSE_SMART_PTR_DEFINITIONS(TimestampManager)


  using MotionModelFunction = std::function<void (const rclcpp::Time & beginning_stamp,
      const rclcpp::Time & ending_stamp,
      std::vector<Constraint::SharedPtr> & constraints,
      std::vector<Variable::SharedPtr> & variables)>;

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

  explicit TimestampManager(
    MotionModelFunction generator,
    const rclcpp::Duration & buffer_length = rclcpp::Duration::max());

  template<class T>
  TimestampManager(
    void(T::* fp)(
      const rclcpp::Time & beginning_stamp,
      const rclcpp::Time & ending_stamp,
      std::vector<Constraint::SharedPtr> & constraints,
      std::vector<Variable::SharedPtr> & variables),
    T * obj,
    const rclcpp::Duration & buffer_length = rclcpp::Duration::max());

  template<class T>
  TimestampManager(
    void(T::* fp)(
      const rclcpp::Time & beginning_stamp,
      const rclcpp::Time & ending_stamp,
      std::vector<Constraint::SharedPtr> & constraints,
      std::vector<Variable::SharedPtr> & variables) const,
    T * obj,
    const rclcpp::Duration & buffer_length = rclcpp::Duration::max());

  virtual ~TimestampManager() = default;

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

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

  void clear()
  {
    motion_model_history_.clear();
  }

  void query(Transaction & transaction, bool update_variables = false);

  const_stamp_range stamps() const;

protected:
  struct MotionModelSegment
  {
    rclcpp::Time beginning_stamp;
    rclcpp::Time ending_stamp;
    std::vector<Constraint::SharedPtr> constraints;
    std::vector<Variable::SharedPtr> variables;

    explicit MotionModelSegment(rcl_clock_type_t clock_t)
    : beginning_stamp{0, 0, clock_t},
      ending_stamp{0, 0, clock_t}
    {
    }

    MotionModelSegment(
      const rclcpp::Time & beginning_stamp,
      const rclcpp::Time & ending_stamp,
      const std::vector<Constraint::SharedPtr> & constraints,
      const std::vector<Variable::SharedPtr> & variables)
    : beginning_stamp(beginning_stamp),
      ending_stamp(ending_stamp),
      constraints(constraints),
      variables(variables)
    {
    }
  };

  using MotionModelHistory = std::map<rclcpp::Time, MotionModelSegment>;

  MotionModelFunction generator_;
  rclcpp::Duration buffer_length_;
  MotionModelHistory motion_model_history_;

  void addSegment(
    const rclcpp::Time & beginning_stamp,
    const rclcpp::Time & ending_stamp,
    Transaction & transaction);

  void removeSegment(
    MotionModelHistory::iterator & iter,
    Transaction & transaction);

  void splitSegment(
    MotionModelHistory::iterator & iter,
    const rclcpp::Time & stamp,
    Transaction & transaction);

  void purgeHistory();
};

template<class T>
TimestampManager::TimestampManager(
  void(T::* fp)(
    const rclcpp::Time & beginning_stamp,
    const rclcpp::Time & ending_stamp,
    std::vector<Constraint::SharedPtr> & constraints,
    std::vector<Variable::SharedPtr> & variables),
  T * obj,
  const rclcpp::Duration & buffer_length)
: TimestampManager(std::bind(fp,
    obj,
    std::placeholders::_1,
    std::placeholders::_2,
    std::placeholders::_3,
    std::placeholders::_4),
    buffer_length)
{
}

template<class T>
TimestampManager::TimestampManager(
  void(T::* fp)(
    const rclcpp::Time & beginning_stamp,
    const rclcpp::Time & ending_stamp,
    std::vector<Constraint::SharedPtr> & constraints,
    std::vector<Variable::SharedPtr> & variables) const,
  T * obj,
  const rclcpp::Duration & buffer_length)
: TimestampManager(std::bind(fp,
    obj,
    std::placeholders::_1,
    std::placeholders::_2,
    std::placeholders::_3,
    std::placeholders::_4),
    buffer_length)
{
}

}  // namespace fuse_core

#endif  // FUSE_CORE__TIMESTAMP_MANAGER_HPP_