chain.h
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00034 
00035 #ifndef MESSAGE_FILTERS_CHAIN_H
00036 #define MESSAGE_FILTERS_CHAIN_H
00037 
00038 #include "simple_filter.h"
00039 #include "pass_through.h"
00040 
00041 #include <vector>
00042 
00043 namespace message_filters
00044 {
00045 
00050 class ChainBase
00051 {
00052 public:
00053   virtual ~ChainBase() {}
00054 
00062   template<typename F>
00063   boost::shared_ptr<F> getFilter(size_t index) const
00064   {
00065     boost::shared_ptr<void> filter = getFilterForIndex(index);
00066     if (filter)
00067     {
00068       return boost::static_pointer_cast<F>(filter);
00069     }
00070 
00071     return boost::shared_ptr<F>();
00072   }
00073 
00074 protected:
00075   virtual boost::shared_ptr<void> getFilterForIndex(size_t index) const = 0;
00076 };
00077 typedef boost::shared_ptr<ChainBase> ChainBasePtr;
00078 
00110 template<typename M>
00111 class Chain : public ChainBase, public SimpleFilter<M>
00112 {
00113 public:
00114   typedef boost::shared_ptr<M const> MConstPtr;
00115   typedef ros::MessageEvent<M const> EventType;
00116 
00120   Chain()
00121   {
00122   }
00123 
00127   template<typename F>
00128   Chain(F& f)
00129   {
00130     connectInput(f);
00131   }
00132 
00133   struct NullDeleter
00134   {
00135     void operator()(void const*) const
00136     {
00137     }
00138   };
00139 
00143   template<class F>
00144   size_t addFilter(F* filter)
00145   {
00146     boost::shared_ptr<F> ptr(filter, NullDeleter());
00147     return addFilter(ptr);
00148   }
00149 
00153   template<class F>
00154   size_t addFilter(const boost::shared_ptr<F>& filter)
00155   {
00156     FilterInfo info;
00157     info.add_func = boost::bind((void(F::*)(const EventType&))&F::add, filter.get(), _1);
00158     info.filter = filter;
00159     info.passthrough = boost::make_shared<PassThrough<M> >();
00160 
00161     last_filter_connection_.disconnect();
00162     info.passthrough->connectInput(*filter);
00163     last_filter_connection_ = info.passthrough->registerCallback(typename SimpleFilter<M>::EventCallback(boost::bind(&Chain::lastFilterCB, this, _1)));
00164     if (!filters_.empty())
00165     {
00166       filter->connectInput(*filters_.back().passthrough);
00167     }
00168 
00169     uint32_t count = filters_.size();
00170     filters_.push_back(info);
00171     return count;
00172   }
00173 
00181   template<typename F>
00182   boost::shared_ptr<F> getFilter(size_t index) const
00183   {
00184     if (index >= filters_.size())
00185     {
00186       return boost::shared_ptr<F>();
00187     }
00188 
00189     return boost::static_pointer_cast<F>(filters_[index].filter);
00190   }
00191 
00195   template<class F>
00196   void connectInput(F& f)
00197   {
00198     incoming_connection_.disconnect();
00199     incoming_connection_ = f.registerCallback(typename SimpleFilter<M>::EventCallback(boost::bind(&Chain::incomingCB, this, _1)));
00200   }
00201 
00205   void add(const MConstPtr& msg)
00206   {
00207     add(EventType(msg));
00208   }
00209 
00210   void add(const EventType& evt)
00211   {
00212     if (!filters_.empty())
00213     {
00214       filters_[0].add_func(evt);
00215     }
00216   }
00217 
00218 protected:
00219   virtual boost::shared_ptr<void> getFilterForIndex(size_t index) const
00220   {
00221     if (index >= filters_.size())
00222     {
00223       return boost::shared_ptr<void>();
00224     }
00225 
00226     return filters_[index].filter;
00227   }
00228 
00229 private:
00230   void incomingCB(const EventType& evt)
00231   {
00232     add(evt);
00233   }
00234 
00235   void lastFilterCB(const EventType& evt)
00236   {
00237     this->signalMessage(evt);
00238   }
00239 
00240   struct FilterInfo
00241   {
00242     boost::function<void(const EventType&)> add_func;
00243     boost::shared_ptr<void> filter;
00244     boost::shared_ptr<PassThrough<M> > passthrough;
00245   };
00246   typedef std::vector<FilterInfo> V_FilterInfo;
00247 
00248   V_FilterInfo filters_;
00249 
00250   Connection incoming_connection_;
00251   Connection last_filter_connection_;
00252 };
00253 }
00254 
00255 #endif // MESSAGE_FILTERS_CHAIN_H


message_filters
Author(s): Josh Faust, Vijay Pradeep
autogenerated on Tue Mar 7 2017 04:01:23