MIRA
ChannelInterval.h
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38 
47 #ifndef _MIRA_CHANNELINTERVAL_H_
48 #define _MIRA_CHANNELINTERVAL_H_
49 
50 #include <fw/ChannelReadWrite.h>
51 #include <fw/Framework.h>
52 
53 namespace mira {
54 
56 
81 template <typename T>
83 {
84 public:
86  mInterval(Duration::microseconds(0)),
87  mLast(Time::unixEpoch())
88  {}
89 
91  mInterval(iv),
92  mLast(Time::unixEpoch())
93  {}
94 
103  const std::string& channelID,
104  boost::function<void (ChannelRead<T>)> fn)
105  {
106  mFunction = fn;
107  return authority.subscribe<T>(channelID, &ChannelInterval<T>::callback, this);
108  }
109 
113  template<typename Class>
115  const std::string& channelID,
116  void (Class::*f)(ChannelRead<T>), Class* obj)
117  {
118  return subscribe(authority, channelID, boost::bind(f, obj, _1));
119  }
120 
122  {
123  mInterval = iv;
124  }
125 
127  {
128  return mInterval;
129  }
130 
131  Time last() const
132  {
133  return mLast;
134  }
135 
138  {
139  const Time ts = Time::now();
140  if (ts - mLast < mInterval || !mFunction)
141  return;
142  mFunction(value);
143  mLast = ts;
144  }
145 
146 private:
147  boost::function<void (ChannelRead<T>)> mFunction;
148  Duration mInterval;
149  Time mLast;
150 };
151 
153 
154 }
155 
156 #endif
An exception that occurs whenever a channel has no data.
Definition: Channel.h:88
specialize cv::DataType for our ImgPixel and inherit from cv::DataType<Vec>
Definition: IOService.h:67
void setInterval(Duration iv)
Definition: ChannelInterval.h:121
Class object which supports some kind of class reflection.
Definition: Class.h:97
Time last() const
Definition: ChannelInterval.h:131
Channel< T > subscribe(Authority &authority, const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj)
Same as above but with a function and object pointer.
Definition: ChannelInterval.h:114
An object that allows read access to data of a channel.
Definition: ChannelReadWrite.h:494
Wrapper class for boost::posix_time::ptime for adding more functionality to it.
Definition: Time.h:418
Classes for automatic locking/unlocking when reading and writing to channels.
Use this class to represent time durations.
Definition: Time.h:106
Authorities act as a facade to the framework.
Definition: Authority.h:94
ChannelInterval(Duration iv)
Definition: ChannelInterval.h:90
Class that can be registered as a filter when subscribing to channels to only get a callback in a spe...
Definition: ChannelInterval.h:82
Duration interval() const
Definition: ChannelInterval.h:126
Channel< T > subscribe(Authority &authority, const std::string &channelID, boost::function< void(ChannelRead< T >)> fn)
Call this instead of Authority::subscribe()
Definition: ChannelInterval.h:102
static Time now() static Time eternity()
Returns the current utc based time.
Definition: Time.h:481
ChannelInterval()
Definition: ChannelInterval.h:85
void callback(ChannelRead< T > value)
Called when channel has new data.
Definition: ChannelInterval.h:137
The framework that holds all manager classes and provides startup and shutdown of all framework relat...
Channel< T > subscribe(const std::string &channelID, const Duration &storageDuration=Duration::seconds(0))
Subscribes authority to a given channel.