event_detector::BufferManager::DataBuffers< T > Class Template Reference

Template class designed to hold all buffers for a specific data type. More...

#include <BufferManager.hpp>

Public Member Functions
	DataBuffers ()
	Creates a new DataBuffers instance.
void	setBufferManager (BufferManager *manager)
	Assigns the managing BufferManager.
void	update (const std::vector< ClientConnection > &clients)
	Creates buffers and mutexes for topics mentioned in clients. If a buffer and mutex already exists for a topic, the old buffer and mutex will be retained and no new buffer and mutex will be created. Existing mutexes and buffers for topics that are not mentioned in clients will be deleted.
void	insert (const typename std::shared_ptr< const T > &sample, const rclcpp::Time &stamp, const std::string &client_id, const std::string &topic, const bool clear_if_time_is_running_backwards=true)
	Inserts a new ROS message into the buffer.
std::vector< std::string >	getClients ()
	Gets the clients IDs that have buffered data.
std::vector< std::string >	getFrames (const std::string &client_id)
	Gets the frame IDs for a specific client that has buffered data.
std::vector< Stamped< T > >	get (const std::string &client_id="", const std::string &frame_id="", const std::string &topic="")
	Fetches all buffer samples.
std::vector< Stamped< T > >	get (const int k, const std::string &client_id="", const std::string &frame_id="", const std::string &topic="")
	Fetches most recent k buffer samples.
std::vector< Stamped< T > >	get (const rclcpp::Time &start_time, const rclcpp::Time &end_time, const std::string &client_id="", const std::string &frame_id="", const std::string &topic="")
	Fetches all buffer samples within specified timeframe.
std::vector< Stamped< T > >	get (const int k, const rclcpp::Time &start_time, const rclcpp::Time &end_time, const std::string &client_id="", const std::string &frame_id="", const std::string &topic="")
	Fetches most recent k buffer samples within specified timeframe.
string_map< std::vector< Stamped< T > > >	getWithTopic (const int k, const rclcpp::Time &start_time, const rclcpp::Time &end_time, const std::string &client_id="", const std::string &frame_id="", const std::string &topic="")
	Same as corresponding get, but returns samples grouped by topic.
std::string	getInfo () const
	Returns a string representation of the buffers that are currently present.
void	clearBuffer (const std::string &client_id, const std::string &topic)
	Clears buffer for a specific client and topic.
bool	timeIsRunningBackwards (const std::string &client_id, const std::string &topic, const rclcpp::Time &stamp)
	Checks whether time is running backwards for a specific client and topic.

Protected Attributes
BufferManager *	manager_ = nullptr
	managing BufferManager
string_map_2d< Buffer< std::shared_ptr< const T > > >	buffer_by_client_topic_
	container for data buffers, stored by client ID and topic
string_map_2d< std::string >	frame_by_client_topic_
	container to store frame ID by client ID and topic
string_map_2d< rclcpp::Time >	last_stamp_by_client_topic_
	container to store the last time stamp for each client and topic
string_map_2d< std::shared_ptr< std::shared_mutex > >	mutex_by_client_topic_
	container to store mutexes for locking buffer access
std::shared_mutex	reconfigure_mutex_

Detailed Description

template<typename T>
class event_detector::BufferManager::DataBuffers< T >

Template class designed to hold all buffers for a specific data type.

An instance of this class manages the buffers for multiple clients / frames for a specific data type. It provides multiple generic getter functions.

Template Parameters

T	ROS data type to buffer

Definition at line 66 of file BufferManager.hpp.

Member Function Documentation

clearBuffer()

template<typename T >

void event_detector::BufferManager::DataBuffers< T >::clearBuffer	(	const std::string &	client_id,
		const std::string &	topic
	)

Clears buffer for a specific client and topic.

Parameters

client_id	client ID
topic	topic

get() [1/4]

template<typename T >

std::vector< Stamped< T > > event_detector::BufferManager::DataBuffers< T >::get	(	const int	k,
		const rclcpp::Time &	start_time,
		const rclcpp::Time &	end_time,
		const std::string &	client_id = "",
		const std::string &	frame_id = "",
		const std::string &	topic = ""
	)

Fetches most recent k buffer samples within specified timeframe.

If end_time is 0, time filter is not used. If k is negative, no limit on the number of samples is imposed.

If no client or frame ID is given, data from all clients/frames is returned.

The returned data samples are stamped and sorted in ascending order.

Parameters

k	how many recent samples to return
start_time	starting time filter
end_time	ending time filter
client_id	client ID (optional)
frame_id	frame ID (optional)
topic	topic (optional)

Returns

std::vector<Stamped<T>> data samples

get() [2/4]

template<typename T >

std::vector< Stamped< T > > event_detector::BufferManager::DataBuffers< T >::get	(	const int	k,
		const std::string &	client_id = "",
		const std::string &	frame_id = "",
		const std::string &	topic = ""
	)

Fetches most recent k buffer samples.

If k is negative, no limit on the number of samples is imposed.

If no client or frame ID is given, data from all clients/frames is returned.

The returned data samples are stamped and sorted in ascending order.

Parameters

k	how many recent samples to return
client_id	client ID (optional)
frame_id	frame ID (optional)
topic	topic (optional)

Returns

std::vector<Stamped<T>> data samples

get() [3/4]

template<typename T >

std::vector< Stamped< T > > event_detector::BufferManager::DataBuffers< T >::get	(	const rclcpp::Time &	start_time,
		const rclcpp::Time &	end_time,
		const std::string &	client_id = "",
		const std::string &	frame_id = "",
		const std::string &	topic = ""
	)

Fetches all buffer samples within specified timeframe.

If end_time is 0, time filter is not used.

If no client or frame ID is given, data from all clients/frames is returned.

The returned data samples are stamped and sorted in ascending order.

Parameters

start_time	starting time filter
end_time	ending time filter
client_id	client ID (optional)
frame_id	frame ID (optional)
topic	topic (optional)

Returns

std::vector<Stamped<T>> data samples

get() [4/4]

template<typename T >

std::vector< Stamped< T > > event_detector::BufferManager::DataBuffers< T >::get	(	const std::string &	client_id = "",
		const std::string &	frame_id = "",
		const std::string &	topic = ""
	)

Fetches all buffer samples.

If no client or frame ID is given, data from all clients/frames is returned.

The returned data samples are stamped and sorted in ascending order.

Parameters

client_id	client ID (optional)
frame_id	frame ID (optional)
topic	topic (optional)

Returns

std::vector<Stamped<T>> data samples

getClients()

template<typename T >

std::vector< std::string > event_detector::BufferManager::DataBuffers< T >::getClients

(

)

Gets the clients IDs that have buffered data.

Returns

std::vector<std::string> client IDs

getFrames()

template<typename T >

std::vector< std::string > event_detector::BufferManager::DataBuffers< T >::getFrames

(

const std::string &

client_id

)

Gets the frame IDs for a specific client that has buffered data.

Parameters

client_id

client ID

Returns

std::vector<std::string> frame IDs

getInfo()

template<typename T >

std::string event_detector::BufferManager::DataBuffers< T >::getInfo

(

)

const

Returns a string representation of the buffers that are currently present.

Returns

std::string string representation of the buffers

getWithTopic()

template<typename T >

string_map< std::vector< Stamped< T > > > event_detector::BufferManager::DataBuffers< T >::getWithTopic	(	const int	k,
		const rclcpp::Time &	start_time,
		const rclcpp::Time &	end_time,
		const std::string &	client_id = "",
		const std::string &	frame_id = "",
		const std::string &	topic = ""
	)

Same as corresponding get, but returns samples grouped by topic.

Parameters

start_time	starting time filter
end_time	ending time filter
client_id	client ID (optional)
frame_id	frame ID (optional)
topic	topic (optional)

Returns

string_map<std::vector<Stamped<T>>> data samples by topic

insert()

template<typename T >

void event_detector::BufferManager::DataBuffers< T >::insert	(	const typename std::shared_ptr< const T > &	sample,
		const rclcpp::Time &	stamp,
		const std::string &	client_id,
		const std::string &	topic,
		const bool	clear_if_time_is_running_backwards = true
	)

Inserts a new ROS message into the buffer.

May be used as a ROS subscription callback. Buffer has to be initialized before first insertion. Supports ROS messages with or without header.

Parameters

sample	new data message
stamp	ROS time stamp associated with the message
client_id	client ID
topic	ROS topic
clear_if_time_is_running_backwards	whether to clear the buffer if time is running backwards

setBufferManager()

template<typename T >

void event_detector::BufferManager::DataBuffers< T >::setBufferManager

(

BufferManager *

manager

)

Assigns the managing BufferManager.

Parameters

manager

BufferManager

timeIsRunningBackwards()

template<typename T >

bool event_detector::BufferManager::DataBuffers< T >::timeIsRunningBackwards	(	const std::string &	client_id,
		const std::string &	topic,
		const rclcpp::Time &	stamp
	)

Checks whether time is running backwards for a specific client and topic.

Parameters

client_id	client ID
topic	topic
stamp	stamp to compare with the last known time stamp

Returns

bool whether time is running backwards

update()

template<typename T >

void event_detector::BufferManager::DataBuffers< T >::update

(

const std::vector< ClientConnection > &

clients

)

Creates buffers and mutexes for topics mentioned in clients. If a buffer and mutex already exists for a topic, the old buffer and mutex will be retained and no new buffer and mutex will be created. Existing mutexes and buffers for topics that are not mentioned in clients will be deleted.

Parameters

clients

client connections for which to set up buffers

Member Data Documentation

buffer_by_client_topic_

template<typename T >

string_map_2d<Buffer<std::shared_ptr<const T> > > event_detector::BufferManager::DataBuffers< T >::buffer_by_client_topic_

protected

container for data buffers, stored by client ID and topic

Definition at line 256 of file BufferManager.hpp.

frame_by_client_topic_

template<typename T >

string_map_2d<std::string> event_detector::BufferManager::DataBuffers< T >::frame_by_client_topic_

protected

container to store frame ID by client ID and topic

Definition at line 261 of file BufferManager.hpp.

last_stamp_by_client_topic_

template<typename T >

string_map_2d<rclcpp::Time> event_detector::BufferManager::DataBuffers< T >::last_stamp_by_client_topic_

protected

container to store the last time stamp for each client and topic

Definition at line 266 of file BufferManager.hpp.

manager_

template<typename T >

BufferManager* event_detector::BufferManager::DataBuffers< T >::manager_ = nullptr

protected

managing BufferManager

Definition at line 251 of file BufferManager.hpp.

mutex_by_client_topic_

template<typename T >

string_map_2d<std::shared_ptr<std::shared_mutex> > event_detector::BufferManager::DataBuffers< T >::mutex_by_client_topic_

protected

container to store mutexes for locking buffer access

Definition at line 271 of file BufferManager.hpp.

reconfigure_mutex_

template<typename T >

std::shared_mutex event_detector::BufferManager::DataBuffers< T >::reconfigure_mutex_

mutableprotected

mutex for reconfiguration

Definition at line 276 of file BufferManager.hpp.

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The documentation for this class was generated from the following file:

• event_detector/include/event_detector/BufferManager.hpp