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Deprecating all C headers (#135)
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Signed-off-by: CursedRock17 <[email protected]>
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CursedRock17 authored Jul 18, 2024
1 parent ffef8e5 commit 5551518
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6 changes: 3 additions & 3 deletions doc/Tutorials/Approximate-Synchronizer-Cpp.rst
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Expand Up @@ -18,9 +18,9 @@ If you have not done so already `create a workspace <https://docs.ros.org/en/rol
#include <functional>
#include <memory>

#include "message_filters/subscriber.h"
#include "message_filters/synchronizer.h"
#include "message_filters/sync_policies/approximate_time.h"
#include "message_filters/subscriber.hpp"
#include "message_filters/synchronizer.hpp"
#include "message_filters/sync_policies/approximate_time.hpp"

#include "sensor_msgs/msg/temperature.hpp"
#include "sensor_msgs/msg/fluid_pressure.hpp"
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4 changes: 2 additions & 2 deletions doc/Tutorials/Writing-A-Time-Synchronizer-Cpp.rst
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Expand Up @@ -19,8 +19,8 @@ If you have not done so already `create a workspace <https://docs.ros.org/en/rol
#include <functional>
#include <memory>

#include "message_filters/subscriber.h"
#include "message_filters/time_synchronizer.h"
#include "message_filters/subscriber.hpp"
#include "message_filters/time_synchronizer.hpp"

#include "sensor_msgs/msg/temperature.hpp"
#include "sensor_msgs/msg/fluid_pressure.hpp"
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344 changes: 12 additions & 332 deletions include/message_filters/cache.h
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@@ -1,342 +1,22 @@
// Copyright 2008, Willow Garage, Inc. All rights reserved.
// Copyright 2024 Open Source Robotics Foundation, Inc. All rights reserved.
//
// 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_

#include <cstddef>
#include <deque>
#include <memory>
#include <functional>
#include <vector>

#include <rclcpp/rclcpp.hpp>

#include "message_filters/connection.h"
#include "message_filters/simple_filter.h"
#include "message_filters/message_traits.h"

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;

// 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);
}

/**
* \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;
}


/**
* \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;

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;
}

/**
* \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;

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;
}

/**
* \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;

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;
}

/**
* \brief Returns the timestamp associated with the newest packet cache
*/
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;
}

/**
* \brief Returns the timestamp associated with the oldest packet cache
*/
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_; //!< 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

Connection incoming_connection_;
};
} // namespace message_filters
#include <message_filters/cache.hpp>

#endif // MESSAGE_FILTERS__CACHE_H_
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