/usr/include/message_filters/chain.h is in libmessage-filters-dev 1.12.6-2.
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#ifndef MESSAGE_FILTERS_CHAIN_H
#define MESSAGE_FILTERS_CHAIN_H
#include "simple_filter.h"
#include "pass_through.h"
#include <vector>
namespace message_filters
{
/**
* \brief Base class for Chain, allows you to store multiple chains in the same container. Provides filter retrieval
* by index.
*/
class ChainBase
{
public:
virtual ~ChainBase() {}
/**
* \brief Retrieve a filter from this chain by index. Returns an empty shared_ptr if the index is greater than
* the size of the chain. \b NOT type-safe
*
* \param F [template] The type of the filter
* \param index The index of the filter (returned by addFilter())
*/
template<typename F>
boost::shared_ptr<F> getFilter(size_t index) const
{
boost::shared_ptr<void> filter = getFilterForIndex(index);
if (filter)
{
return boost::static_pointer_cast<F>(filter);
}
return boost::shared_ptr<F>();
}
protected:
virtual boost::shared_ptr<void> getFilterForIndex(size_t index) const = 0;
};
typedef boost::shared_ptr<ChainBase> ChainBasePtr;
/**
* \brief Chains a dynamic number of simple filters together. Allows retrieval of filters by index after they are added.
*
* The Chain filter provides a container for simple filters. It allows you to store an N-long set of filters inside a single
* structure, making it much easier to manage them.
*
* Adding filters to the chain is done by adding shared_ptrs of them to the filter. They are automatically connected to each other
* and the output of the last filter in the chain is forwarded to the callback you've registered with Chain::registerCallback
*
* Example:
\verbatim
void myCallback(const MsgConstPtr& msg)
{
}
Chain<Msg> c;
c.addFilter(boost::make_shared<PassThrough<Msg> >());
c.addFilter(boost::make_shared<PassThrough<Msg> >());
c.registerCallback(myCallback);
\endverbatim
*
* It is also possible to pass bare pointers in, which will not be automatically deleted when Chain is destructed:
\verbatim
Chain<Msg> c;
PassThrough<Msg> p;
c.addFilter(&p);
c.registerCallback(myCallback);
\endverbatim
*
*/
template<typename M>
class Chain : public ChainBase, public SimpleFilter<M>
{
public:
typedef boost::shared_ptr<M const> MConstPtr;
typedef ros::MessageEvent<M const> EventType;
/**
* \brief Default constructor
*/
Chain()
{
}
/**
* \brief Constructor with filter. Calls connectInput(f)
*/
template<typename F>
Chain(F& f)
{
connectInput(f);
}
struct NullDeleter
{
void operator()(void const*) const
{
}
};
/**
* \brief Add a filter to this chain, by bare pointer. Returns the index of that filter in the chain.
*/
template<class F>
size_t addFilter(F* filter)
{
boost::shared_ptr<F> ptr(filter, NullDeleter());
return addFilter(ptr);
}
/**
* \brief Add a filter to this chain, by shared_ptr. Returns the index of that filter in the chain
*/
template<class F>
size_t addFilter(const boost::shared_ptr<F>& filter)
{
FilterInfo info;
info.add_func = boost::bind((void(F::*)(const EventType&))&F::add, filter.get(), _1);
info.filter = filter;
info.passthrough = boost::make_shared<PassThrough<M> >();
last_filter_connection_.disconnect();
info.passthrough->connectInput(*filter);
last_filter_connection_ = info.passthrough->registerCallback(typename SimpleFilter<M>::EventCallback(boost::bind(&Chain::lastFilterCB, this, _1)));
if (!filters_.empty())
{
filter->connectInput(*filters_.back().passthrough);
}
uint32_t count = filters_.size();
filters_.push_back(info);
return count;
}
/**
* \brief Retrieve a filter from this chain by index. Returns an empty shared_ptr if the index is greater than
* the size of the chain. \b NOT type-safe
*
* \param F [template] The type of the filter
* \param index The index of the filter (returned by addFilter())
*/
template<typename F>
boost::shared_ptr<F> getFilter(size_t index) const
{
if (index >= filters_.size())
{
return boost::shared_ptr<F>();
}
return boost::static_pointer_cast<F>(filters_[index].filter);
}
/**
* \brief Connect this filter's input to another filter's output.
*/
template<class F>
void connectInput(F& f)
{
incoming_connection_.disconnect();
incoming_connection_ = f.registerCallback(typename SimpleFilter<M>::EventCallback(boost::bind(&Chain::incomingCB, this, _1)));
}
/**
* \brief Add a message to the start of this chain
*/
void add(const MConstPtr& msg)
{
add(EventType(msg));
}
void add(const EventType& evt)
{
if (!filters_.empty())
{
filters_[0].add_func(evt);
}
}
protected:
virtual boost::shared_ptr<void> getFilterForIndex(size_t index) const
{
if (index >= filters_.size())
{
return boost::shared_ptr<void>();
}
return filters_[index].filter;
}
private:
void incomingCB(const EventType& evt)
{
add(evt);
}
void lastFilterCB(const EventType& evt)
{
this->signalMessage(evt);
}
struct FilterInfo
{
boost::function<void(const EventType&)> add_func;
boost::shared_ptr<void> filter;
boost::shared_ptr<PassThrough<M> > passthrough;
};
typedef std::vector<FilterInfo> V_FilterInfo;
V_FilterInfo filters_;
Connection incoming_connection_;
Connection last_filter_connection_;
};
}
#endif // MESSAGE_FILTERS_CHAIN_H
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