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Adding Uncrustify Changes (#124)
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Signed-off-by: CursedRock17 <[email protected]>
Signed-off-by: Lucas Wendland <[email protected]>
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@CursedRock17
CursedRock17 authored May 21, 2024
1 parent 71fd32b commit ab0f734
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Showing 35 changed files with 1,425 additions and 1,198 deletions.
2 changes: 2 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -58,10 +58,12 @@ ament_export_dependencies(rclcpp rcutils std_msgs)

if(BUILD_TESTING)
find_package(ament_cmake_copyright)
find_package(ament_cmake_uncrustify REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(sensor_msgs REQUIRED)

ament_copyright()
ament_uncrustify(LANGUAGE "c++")

find_package(ament_cmake_gtest)

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172 changes: 89 additions & 83 deletions include/message_filters/cache.h
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Original file line number Diff line number Diff line change
Expand Up @@ -29,9 +29,11 @@
#ifndef MESSAGE_FILTERS__CACHE_H_
#define MESSAGE_FILTERS__CACHE_H_

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

#include <rclcpp/rclcpp.hpp>

Expand All @@ -53,7 +55,7 @@ namespace message_filters
*
* 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>&);
void callback(const std::shared_ptr<M const> &);
\endverbatim
*/
template<class M>
Expand All @@ -64,27 +66,28 @@ class Cache : public SimpleFilter<M>
typedef MessageEvent<M const> EventType;

template<class F>
Cache(F& f, unsigned int cache_size = 1)
explicit Cache(F & f, unsigned int cache_size = 1)
{
setCacheSize(cache_size) ;
connectInput(f) ;
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
*/
Cache(unsigned int cache_size = 1)
explicit Cache(unsigned int cache_size = 1)
{
setCacheSize(cache_size);
}

template<class F>
void connectInput(F& f)
void connectInput(F & f)
{
incoming_connection_ = f.registerCallback(typename SimpleFilter<M>::EventCallback(
std::bind(&Cache::callback, this, std::placeholders::_1)));
incoming_connection_ = f.registerCallback(
typename SimpleFilter<M>::EventCallback(
std::bind(&Cache::callback, this, std::placeholders::_1)));
}

~Cache()
Expand All @@ -98,20 +101,19 @@ class Cache : public SimpleFilter<M>
*/
void setCacheSize(unsigned int cache_size)
{
if (cache_size == 0)
{
//ROS_ERROR("Cannot set max_size to 0") ;
return ;
if (cache_size == 0) {
// ROS_ERROR("Cannot set max_size to 0");
return;
}

cache_size_ = cache_size ;
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)
void add(const MConstPtr & msg)
{
add(EventType(msg));
}
Expand All @@ -120,31 +122,37 @@ class Cache : public SimpleFilter<M>
* \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)
void add(const EventType & evt)
{
namespace mt = message_filters::message_traits;

//printf(" Cache Size: %u\n", cache_.size()) ;
// printf(" Cache Size: %u\n", cache_.size());
{
std::lock_guard<std::mutex> lock(cache_lock_);

while (cache_.size() >= cache_size_) // Keep popping off old data until we have space for a new msg
cache_.pop_front() ; // The front of the deque has the oldest elem, so we can get rid of it
// 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
// cache_.push_back(msg);
// Add the newest message to the back of the deque

typename std::deque<EventType >::reverse_iterator rev_it = cache_.rbegin();
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
// 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)
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);
Expand All @@ -158,35 +166,34 @@ class Cache : public SimpleFilter<M>
* \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
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)
size_t start_index = 0;
while (start_index < cache_.size() &&
mt::TimeStamp<M>::value(*cache_[start_index].getMessage()) < start)
{
start_index++ ;
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)
size_t end_index = start_index;
while (end_index < cache_.size() &&
mt::TimeStamp<M>::value(*cache_[end_index].getMessage()) <= end)
{
end_index++ ;
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()) ;
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 ;
return interval_elems;
}


Expand All @@ -196,31 +203,31 @@ class Cache : public SimpleFilter<M>
* 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
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)
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)
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()) ;
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;
Expand All @@ -231,57 +238,55 @@ class Cache : public SimpleFilter<M>
* \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
MConstPtr getElemBeforeTime(const rclcpp::Time & time) const
{
namespace mt = message_filters::message_traits;

std::lock_guard<std::mutex> lock(cache_lock_);

MConstPtr out ;
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++ ;
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() ;
if (elem_index >= 0) {
out = cache_[elem_index].getMessage();
}

return out ;
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
MConstPtr getElemAfterTime(const rclcpp::Time & time) const
{
namespace mt = message_filters::message_traits;

std::lock_guard<std::mutex> lock(cache_lock_);

MConstPtr out ;
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-- ;
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() ;
if (elem_index >= 0) {
out = cache_[elem_index].getMessage();
} else {
out.reset();
}

return out ;
return out;
}

/**
Expand All @@ -295,10 +300,11 @@ class Cache : public SimpleFilter<M>

rclcpp::Time latest_time;

if (cache_.size() > 0)
if (cache_.size() > 0) {
latest_time = mt::TimeStamp<M>::value(*cache_.back().getMessage());
}

return latest_time ;
return latest_time;
}

/**
Expand All @@ -312,25 +318,25 @@ class Cache : public SimpleFilter<M>

rclcpp::Time oldest_time;

if (cache_.size() > 0)
if (cache_.size() > 0) {
oldest_time = mt::TimeStamp<M>::value(*cache_.front().getMessage());
}

return oldest_time ;
return oldest_time;
}


private:
void callback(const EventType& evt)
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.
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.

Connection incoming_connection_;
};
} // namespace message_filters;
} // namespace message_filters

#endif // MESSAGE_FILTERS__CACHE_H_
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