time_cache.hpp

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// Copyright 2008, Willow Garage, Inc. All rights reserved.
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#ifndef TF2__TIME_CACHE_HPP_
#define TF2__TIME_CACHE_HPP_
 
#include <chrono>
#include <memory>
#include <list>
#include <sstream>
#include <string>
#include <utility>
 
#include "tf2/visibility_control.h"
 
#include "tf2/transform_storage.hpp"
#include "tf2/exceptions.hpp"
 
namespace tf2
{
typedef std::pair<tf2::TimePoint, tf2::CompactFrameID> P_TimeAndFrameID;
 
class TimeCacheInterface
{
public:
  TF2_PUBLIC
  virtual ~TimeCacheInterface() = default;
 
  TF2_PUBLIC
  virtual bool getData(
    tf2::TimePoint time, tf2::TransformStorage & data_out,
    std::string * error_str = nullptr, TF2Error * error_code = nullptr) = 0;
 
  TF2_PUBLIC
  virtual bool insertData(const tf2::TransformStorage & new_data) = 0;
 
  TF2_PUBLIC
  virtual void clearList() = 0;
 
  TF2_PUBLIC
  virtual CompactFrameID getParent(
    tf2::TimePoint time, std::string * error_str = nullptr, TF2Error * error_code = nullptr) = 0;
 
  TF2_PUBLIC
  virtual P_TimeAndFrameID getLatestTimeAndParent() = 0;
 
 
  TF2_PUBLIC
  virtual unsigned int getListLength() = 0;
 
  TF2_PUBLIC
  virtual tf2::TimePoint getLatestTimestamp() = 0;
 
  TF2_PUBLIC
  virtual tf2::TimePoint getOldestTimestamp() = 0;
};
 
using TimeCacheInterfacePtr = std::shared_ptr<TimeCacheInterface>;
 
constexpr tf2::Duration TIMECACHE_DEFAULT_MAX_STORAGE_TIME = std::chrono::seconds(10);
 
class TimeCache : public TimeCacheInterface
{
public:
  TF2_PUBLIC
  explicit TimeCache(tf2::Duration max_storage_time = TIMECACHE_DEFAULT_MAX_STORAGE_TIME);
 
 
  TF2_PUBLIC
  bool getData(
    tf2::TimePoint time, tf2::TransformStorage & data_out,
    std::string * error_str = nullptr, TF2Error * error_code = nullptr) override;
  TF2_PUBLIC
  bool insertData(const tf2::TransformStorage & new_data) override;
  TF2_PUBLIC
  void clearList() override;
  TF2_PUBLIC
  tf2::CompactFrameID getParent(
    tf2::TimePoint time, std::string * error_str = nullptr,
    TF2Error * error_code = nullptr) override;
  TF2_PUBLIC
  P_TimeAndFrameID getLatestTimeAndParent() override;
 
  TF2_PUBLIC
  unsigned int getListLength() override;
  TF2_PUBLIC
  TimePoint getLatestTimestamp() override;
  TF2_PUBLIC
  TimePoint getOldestTimestamp() override;
 
protected:
  // (Internal) Return a reference to the internal list of tf2 frames, which
  // are sorted in timestamp order.
  // Any items with the same timestamp will be in reverse order of insertion.
  TF2_PUBLIC
  const std::list<TransformStorage> & getAllItems() const;
 
private:
  typedef std::list<TransformStorage> L_TransformStorage;
  L_TransformStorage storage_;
 
  tf2::Duration max_storage_time_;
 
 
  // A helper function for getData
  // Assumes storage is already locked for it
  inline uint8_t findClosest(
    tf2::TransformStorage * & one, TransformStorage * & two,
    tf2::TimePoint target_time, std::string * error_str = nullptr, TF2Error * error_code = nullptr);
 
  inline void interpolate(
    const tf2::TransformStorage & one, const tf2::TransformStorage & two,
    tf2::TimePoint time, tf2::TransformStorage & output);
 
  void pruneList();
};
 
class StaticCache : public TimeCacheInterface
{
public:
  TF2_PUBLIC
  bool getData(
    TimePoint time, TransformStorage & data_out,
    std::string * error_str = nullptr, TF2Error * error_code = nullptr) override;
  // returns false if data unavailable (should be thrown as lookup exception
  TF2_PUBLIC
  bool insertData(const TransformStorage & new_data) override;
  TF2_PUBLIC
  void clearList() override;
  TF2_PUBLIC
  CompactFrameID getParent(
    TimePoint time, std::string * error_str = nullptr, TF2Error * error_code = nullptr) override;
  TF2_PUBLIC
  P_TimeAndFrameID getLatestTimeAndParent() override;
 
  TF2_PUBLIC
  unsigned int getListLength() override;
  TF2_PUBLIC
  TimePoint getLatestTimestamp() override;
  TF2_PUBLIC
  TimePoint getOldestTimestamp() override;
 
private:
  TransformStorage storage_;
  bool populated_{false};
};
}  // namespace tf2
#endif  // TF2__TIME_CACHE_HPP_