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Deprecating all C headers #135
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,342 +1,22 @@ | ||
| // Copyright 2008, Willow Garage, Inc. All rights reserved. | ||
| // Copyright 2024 Open Source Robotics Foundation, Inc. | ||
| // | ||
| // Redistribution and use in source and binary forms, with or without | ||
| // modification, are permitted provided that the following conditions are met: | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimer. | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // * Redistributions in binary form must reproduce the above copyright | ||
| // notice, this list of conditions and the following disclaimer in the | ||
| // documentation and/or other materials provided with the distribution. | ||
| // | ||
| // * Neither the name of the Willow Garage nor the names of its | ||
| // contributors may be used to endorse or promote products derived from | ||
| // this software without specific prior written permission. | ||
| // | ||
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| // POSSIBILITY OF SUCH DAMAGE. | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #ifndef MESSAGE_FILTERS__CACHE_H_ | ||
| #define MESSAGE_FILTERS__CACHE_H_ | ||
|
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| #include <cstddef> | ||
| #include <deque> | ||
| #include <memory> | ||
| #include <functional> | ||
| #include <vector> | ||
|
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| #include <rclcpp/rclcpp.hpp> | ||
|
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| #include "message_filters/connection.h" | ||
| #include "message_filters/simple_filter.h" | ||
| #include "message_filters/message_traits.h" | ||
|
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||
| namespace message_filters | ||
| { | ||
| /** | ||
| * \brief Stores a time history of messages | ||
| * | ||
| * Given a stream of messages, the most recent N messages are cached in a ring buffer, | ||
| * from which time intervals of the cache can then be retrieved by the client. | ||
| * | ||
| * Cache immediately passes messages through to its output connections. | ||
| * | ||
| * \section connections CONNECTIONS | ||
| * | ||
| * Cache's input and output connections are both of the same signature as rclcpp subscription callbacks, ie. | ||
| \verbatim | ||
| void callback(const std::shared_ptr<M const> &); | ||
| \endverbatim | ||
| */ | ||
| 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); | ||
| } | ||
|
|
||
| /** | ||
| * Initializes a Message Cache without specifying a parent filter. This implies that in | ||
| * order to populate the cache, the user then has to call add themselves, or connectInput() is | ||
| * called later | ||
| */ | ||
| 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(); | ||
| } | ||
|
|
||
| /** | ||
| * Set the size of the cache. | ||
| * \param cache_size The new size the cache should be. Must be > 0 | ||
| */ | ||
| void setCacheSize(unsigned int cache_size) | ||
| { | ||
| if (cache_size == 0) { | ||
| // ROS_ERROR("Cannot set max_size to 0"); | ||
| return; | ||
| } | ||
|
|
||
| cache_size_ = cache_size; | ||
| } | ||
|
|
||
| /** | ||
| * \brief Add a message to the cache, and pop off any elements that are too old. | ||
| * This method is registered with a data provider when connectTo is called. | ||
| */ | ||
| void add(const MConstPtr & msg) | ||
| { | ||
| add(EventType(msg)); | ||
| } | ||
|
|
||
| /** | ||
| * \brief Add a message to the cache, and pop off any elements that are too old. | ||
| * This method is registered with a data provider when connectTo is called. | ||
| */ | ||
| void add(const EventType & evt) | ||
| { | ||
| namespace mt = message_filters::message_traits; | ||
|
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| // printf(" Cache Size: %u\n", cache_.size()); | ||
| { | ||
| std::lock_guard<std::mutex> lock(cache_lock_); | ||
|
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||
| // 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(); | ||
|
|
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| // 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++; | ||
| } | ||
|
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| // Add msg to the cache | ||
| cache_.insert(rev_it.base(), evt); | ||
| } | ||
|
|
||
| this->signalMessage(evt); | ||
| } | ||
|
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| /** | ||
| * \brief Receive a vector of messages that occur between a start and end time (inclusive). | ||
| * | ||
| * This call is non-blocking, and only aggregates messages it has already received. | ||
| * It will not wait for messages have not yet been received, but occur in the interval. | ||
| * \param start The start of the requested interval | ||
| * \param end The end of the requested interval | ||
| */ | ||
| 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; | ||
| } | ||
|
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||
|
|
||
| /** | ||
| * \brief Retrieve the smallest interval of messages that surrounds an interval from start to end. | ||
| * | ||
| * If the messages in the cache do not surround (start,end), then this will return the interval | ||
| * that gets closest to surrounding (start,end) | ||
| */ | ||
| std::vector<MConstPtr> getSurroundingInterval( | ||
| const rclcpp::Time & start, const rclcpp::Time & end) const | ||
| { | ||
| namespace mt = message_filters::message_traits; | ||
|
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||
| 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--; | ||
| } | ||
|
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||
| 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++; | ||
| } | ||
|
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||
| 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()); | ||
| } | ||
|
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| return interval_elems; | ||
| } | ||
|
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| /** | ||
| * \brief Grab the newest element that occurs right before the specified time. | ||
| * \param time Time that must occur right after the returned elem | ||
| * \returns shared_ptr to the newest elem that occurs before 'time'. NULL if doesn't exist | ||
| */ | ||
| MConstPtr getElemBeforeTime(const rclcpp::Time & time) const | ||
| { | ||
| namespace mt = message_filters::message_traits; | ||
|
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| std::lock_guard<std::mutex> lock(cache_lock_); | ||
|
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| MConstPtr out; | ||
|
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| unsigned int i = 0; | ||
| int elem_index = -1; | ||
| while (i < cache_.size() && mt::TimeStamp<M>::value(*cache_[i].getMessage()) < time) { | ||
| elem_index = i; | ||
| i++; | ||
| } | ||
|
|
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| if (elem_index >= 0) { | ||
| out = cache_[elem_index].getMessage(); | ||
| } | ||
|
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| return out; | ||
| } | ||
|
|
||
| /** | ||
| * \brief Grab the oldest element that occurs right after the specified time. | ||
| * \param time Time that must occur right before the returned elem | ||
| * \returns shared_ptr to the oldest elem that occurs after 'time'. NULL if doesn't exist | ||
| */ | ||
| MConstPtr getElemAfterTime(const rclcpp::Time & time) const | ||
| { | ||
| namespace mt = message_filters::message_traits; | ||
|
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| std::lock_guard<std::mutex> lock(cache_lock_); | ||
|
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| MConstPtr out; | ||
|
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| 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(); | ||
| } | ||
|
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| return out; | ||
| } | ||
|
|
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| /** | ||
| * \brief Returns the timestamp associated with the newest packet cache | ||
| */ | ||
| rclcpp::Time getLatestTime() const | ||
| { | ||
| namespace mt = message_filters::message_traits; | ||
|
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| std::lock_guard<std::mutex> lock(cache_lock_); | ||
|
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| rclcpp::Time latest_time; | ||
|
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| if (cache_.size() > 0) { | ||
| latest_time = mt::TimeStamp<M>::value(*cache_.back().getMessage()); | ||
| } | ||
|
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| return latest_time; | ||
| } | ||
|
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| /** | ||
| * \brief Returns the timestamp associated with the oldest packet cache | ||
| */ | ||
| rclcpp::Time getOldestTime() const | ||
| { | ||
| namespace mt = message_filters::message_traits; | ||
|
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| std::lock_guard<std::mutex> lock(cache_lock_); | ||
|
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| rclcpp::Time oldest_time; | ||
|
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| if (cache_.size() > 0) { | ||
| oldest_time = mt::TimeStamp<M>::value(*cache_.front().getMessage()); | ||
| } | ||
|
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| return oldest_time; | ||
| } | ||
|
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| private: | ||
| void callback(const EventType & evt) | ||
| { | ||
| add(evt); | ||
| } | ||
|
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| mutable std::mutex cache_lock_; //!< Lock for cache_ | ||
| std::deque<EventType> cache_; //!< Cache for the messages | ||
| unsigned int cache_size_; //!< Maximum number of elements allowed in the cache. | ||
| #warning This header is obsolete, please include message_filters/cache.hpp instead | ||
|
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| Connection incoming_connection_; | ||
| }; | ||
| } // namespace message_filters | ||
| #include <message_filters/cache.hpp> | ||
|
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| #endif // MESSAGE_FILTERS__CACHE_H_ | ||
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to be consistent with the rest of headers, here and in the rest of files