filter_chain.hpp

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#pragma once
 
#include <functional>
#include <memory>
#include <mutex>
#include <string>
#include <unordered_set>
#include <vector>
 
#include <ros/common.h>
#if ROS_VERSION_MINIMUM(1, 15, 0)
#include <filters/filter_base.hpp>
#include <filters/filter_chain.hpp>
#else
#include <filters/filter_base.h>
#include <filters/filter_chain.h>
#endif
 
#include <nodelet/nodelet.h>
 
#include <cras_cpp_common/log_utils.h>
#include <cras_cpp_common/log_utils/node.h>
 
namespace cras
{
 
template<typename F>
class FilterChain : public ::filters::FilterChain<F>, ::cras::HasLogger
{
public:
  typedef ::std::function<
    void(const F& data, const size_t filterNum, const ::std::string& name, const ::std::string& type)>
    FilterStartCallback;
 
  typedef ::std::function<
    void(const F& data, const size_t filterNum, const ::std::string& name, const ::std::string& type, bool success)>
    FilterFinishedCallback;
 
  explicit FilterChain(const ::std::string& dataType, const FilterFinishedCallback& filterFinishedCallback = {},
    const FilterStartCallback& filterStartCallback = {},
    const ::cras::LogHelperPtr& logHelper = ::std::make_shared<::cras::NodeLogHelper>());
 
  void setNodelet(const ::nodelet::Nodelet* nodelet);
 
  void setFilterStartCallback(const FilterStartCallback& callback);
 
  void setFilterFinishedCallback(const FilterFinishedCallback& callback);
 
  bool update(const F& data_in, F& data_out);
 
  void disableFilter(const ::std::string& name);
 
  void enableFilter(const ::std::string& name);
 
  void setDisabledFilters(::std::unordered_set<::std::string> filters);
 
  ::std::unordered_set<::std::string> getDisabledFilters() const;
 
  bool clear();
 
  ::std::vector<::std::shared_ptr<::filters::FilterBase<F>>> getActiveFilters() const;
 
protected:
  void callStartCallback(const F& data, size_t filterNum);
 
  void callFinishedCallback(const F& data, size_t filterNum, bool succeeded);
 
  void updateActiveFilters();
 
  FilterStartCallback filterStartCallback;
 
  FilterFinishedCallback filterFinishedCallback;
 
  ::std::unordered_set<::std::string> disabledFilters;
 
  ::std::vector<::std::shared_ptr<::filters::FilterBase<F>>> activeFilters;
 
  mutable ::std::mutex activeFiltersMutex;
 
  bool initialized {false};
 
  // Parent class buffers are private, so we create our own
 
  F buffer0;
 
  F buffer1;
};
 
}
 
#include "impl/filter_chain.hpp"