Program Listing for File cache.hpp
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// Copyright 2008, Willow Garage, Inc. All rights reserved.
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#ifndef MESSAGE_FILTERS__CACHE_HPP_
#define MESSAGE_FILTERS__CACHE_HPP_
#include <cstddef>
#include <deque>
#include <memory>
#include <functional>
#include <vector>
#include <rclcpp/rclcpp.hpp>
#include "message_filters/connection.hpp"
#include "message_filters/simple_filter.hpp"
#include "message_filters/message_traits.hpp"
namespace message_filters
{
template<class M>
class Cache : public SimpleFilter<M>
{
public:
typedef std::shared_ptr<M const> MConstPtr;
typedef MessageEvent<M const> EventType;
template<class F>
explicit Cache(F & f, unsigned int cache_size = 1)
{
setCacheSize(cache_size);
connectInput(f);
}
explicit Cache(unsigned int cache_size = 1)
{
setCacheSize(cache_size);
}
template<class F>
void connectInput(F & f)
{
incoming_connection_ = f.registerCallback(
typename SimpleFilter<M>::EventCallback(
std::bind(&Cache::callback, this, std::placeholders::_1)));
}
~Cache()
{
incoming_connection_.disconnect();
}
void setCacheSize(unsigned int cache_size)
{
if (cache_size == 0) {
// ROS_ERROR("Cannot set max_size to 0");
return;
}
cache_size_ = cache_size;
}
void add(const MConstPtr & msg)
{
add(EventType(msg));
}
void add(const EventType & evt)
{
namespace mt = message_filters::message_traits;
// printf(" Cache Size: %u\n", cache_.size());
{
std::lock_guard<std::mutex> lock(cache_lock_);
// Keep popping off old data until we have space for a new msg
// The front of the deque has the oldest elem, so we can get rid of it
while (cache_.size() >= cache_size_) {
cache_.pop_front();
}
// No longer naively pushing msgs to back. Want to make sure they're sorted correctly
// cache_.push_back(msg);
// Add the newest message to the back of the deque
typename std::deque<EventType>::reverse_iterator rev_it = cache_.rbegin();
// Keep walking backwards along deque until we hit the beginning,
// or until we find a timestamp that's smaller than (or equal to) msg's timestamp
rclcpp::Time evt_stamp = mt::TimeStamp<M>::value(*evt.getMessage());
while (rev_it != cache_.rend() &&
mt::TimeStamp<M>::value(*(*rev_it).getMessage()) > evt_stamp)
{
rev_it++;
}
// Add msg to the cache
cache_.insert(rev_it.base(), evt);
}
this->signalMessage(evt);
}
std::vector<MConstPtr> getInterval(const rclcpp::Time & start, const rclcpp::Time & end) const
{
namespace mt = message_filters::message_traits;
std::lock_guard<std::mutex> lock(cache_lock_);
// Find the starting index. (Find the first index after [or at] the start of the interval)
size_t start_index = 0;
while (start_index < cache_.size() &&
mt::TimeStamp<M>::value(*cache_[start_index].getMessage()) < start)
{
start_index++;
}
// Find the ending index. (Find the first index after the end of interval)
size_t end_index = start_index;
while (end_index < cache_.size() &&
mt::TimeStamp<M>::value(*cache_[end_index].getMessage()) <= end)
{
end_index++;
}
std::vector<MConstPtr> interval_elems;
interval_elems.reserve(end_index - start_index);
for (size_t i = start_index; i < end_index; i++) {
interval_elems.push_back(cache_[i].getMessage());
}
return interval_elems;
}
std::vector<MConstPtr> getSurroundingInterval(
const rclcpp::Time & start, const rclcpp::Time & end) const
{
namespace mt = message_filters::message_traits;
std::lock_guard<std::mutex> lock(cache_lock_);
// Find the starting index. (Find the first index after [or at] the start of the interval)
int start_index = static_cast<int>(cache_.size()) - 1;
while (start_index > 0 &&
mt::TimeStamp<M>::value(*cache_[start_index].getMessage()) > start)
{
start_index--;
}
int end_index = start_index;
while (end_index < static_cast<int>(cache_.size()) - 1 &&
mt::TimeStamp<M>::value(*cache_[end_index].getMessage()) < end)
{
end_index++;
}
std::vector<MConstPtr> interval_elems;
interval_elems.reserve(end_index - start_index + 1);
for (int i = start_index; i <= end_index; i++) {
interval_elems.push_back(cache_[i].getMessage());
}
return interval_elems;
}
MConstPtr getElemBeforeTime(const rclcpp::Time & time) const
{
namespace mt = message_filters::message_traits;
std::lock_guard<std::mutex> lock(cache_lock_);
MConstPtr out;
unsigned int i = 0;
int elem_index = -1;
while (i < cache_.size() && mt::TimeStamp<M>::value(*cache_[i].getMessage()) < time) {
elem_index = i;
i++;
}
if (elem_index >= 0) {
out = cache_[elem_index].getMessage();
}
return out;
}
MConstPtr getElemAfterTime(const rclcpp::Time & time) const
{
namespace mt = message_filters::message_traits;
std::lock_guard<std::mutex> lock(cache_lock_);
MConstPtr out;
int i = static_cast<int>(cache_.size()) - 1;
int elem_index = -1;
while (i >= 0 && mt::TimeStamp<M>::value(*cache_[i].getMessage()) > time) {
elem_index = i;
i--;
}
if (elem_index >= 0) {
out = cache_[elem_index].getMessage();
} else {
out.reset();
}
return out;
}
rclcpp::Time getLatestTime() const
{
namespace mt = message_filters::message_traits;
std::lock_guard<std::mutex> lock(cache_lock_);
rclcpp::Time latest_time;
if (cache_.size() > 0) {
latest_time = mt::TimeStamp<M>::value(*cache_.back().getMessage());
}
return latest_time;
}
rclcpp::Time getOldestTime() const
{
namespace mt = message_filters::message_traits;
std::lock_guard<std::mutex> lock(cache_lock_);
rclcpp::Time oldest_time;
if (cache_.size() > 0) {
oldest_time = mt::TimeStamp<M>::value(*cache_.front().getMessage());
}
return oldest_time;
}
private:
void callback(const EventType & evt)
{
add(evt);
}
mutable std::mutex cache_lock_;
std::deque<EventType> cache_;
unsigned int cache_size_;
Connection incoming_connection_;
};
} // namespace message_filters
#endif // MESSAGE_FILTERS__CACHE_HPP_