Program Listing for File batch_optimizer.hpp

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#ifndef FUSE_OPTIMIZERS__BATCH_OPTIMIZER_HPP_
#define FUSE_OPTIMIZERS__BATCH_OPTIMIZER_HPP_

#include <atomic>
#include <condition_variable>
#include <map>
#include <mutex>
#include <set>
#include <string>
#include <thread>
#include <utility>
#include <vector>

#include <fuse_core/graph.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/transaction.hpp>
#include <fuse_optimizers/batch_optimizer_params.hpp>
#include <fuse_optimizers/optimizer.hpp>
#include <fuse_graphs/hash_graph.hpp>


namespace fuse_optimizers
{

class BatchOptimizer : public Optimizer
{
public:
  FUSE_SMART_PTR_DEFINITIONS(BatchOptimizer)
  using ParameterType = BatchOptimizerParams;

  BatchOptimizer(
    fuse_core::node_interfaces::NodeInterfaces<ALL_FUSE_CORE_NODE_INTERFACES> interfaces,
    fuse_core::Graph::UniquePtr graph = nullptr
  );

  virtual ~BatchOptimizer();

protected:
  struct TransactionQueueElement
  {
    std::string sensor_name;
    fuse_core::Transaction::SharedPtr transaction;

    TransactionQueueElement(
      const std::string & sensor_name,
      fuse_core::Transaction::SharedPtr transaction)
    : sensor_name(sensor_name),
      transaction(std::move(transaction)) {}
  };

  using TransactionQueue = std::multimap<rclcpp::Time, TransactionQueueElement>;

  fuse_core::Transaction::SharedPtr combined_transaction_;
  std::mutex combined_transaction_mutex_;
  ParameterType params_;
  std::atomic<bool> optimization_request_;
  std::condition_variable optimization_requested_;
  std::mutex optimization_requested_mutex_;
  std::thread optimization_thread_;
  rclcpp::TimerBase::SharedPtr optimize_timer_;
  TransactionQueue pending_transactions_;
  std::mutex pending_transactions_mutex_;
  rclcpp::Time start_time_;
  bool started_;

  void applyMotionModelsToQueue();

  void optimizationLoop();

  void optimizerTimerCallback();

  void transactionCallback(
    const std::string & sensor_name,
    fuse_core::Transaction::SharedPtr transaction) override;

  void setDiagnostics(diagnostic_updater::DiagnosticStatusWrapper & status) override;
};

}  // namespace fuse_optimizers

#endif  // FUSE_OPTIMIZERS__BATCH_OPTIMIZER_HPP_