ChannelSynchronizer< Ts > Class Template Reference

#include <filter/ChannelSynchronizer.h>

Inheritance diagram for ChannelSynchronizer< Ts >:

Public Types
enum	SynchronizationMode { BY_TIMESTAMP, BY_SEQUENCE_ID }

Public Member Functions
	ChannelSynchronizer ()
void	unsubscribe (Authority &authority)
	Call this instead of Authority::unsubscribe(...) to unsubscribe all the channels of the synchronizer. More...
void	subscribe (Authority &authority, StringArgumentHelper< Ts >... channelIDs, const Duration &t=Duration::milliseconds(100))
	Call this instead of Authority::subscribe() Function provided for convenience (if no callback function is required). More...
void	subscribe (Authority &authority, StringArgumentHelper< Ts >... channelIDs, std::function< void(ChannelRead< Ts >...)> fn, const Duration &t=Duration::milliseconds(100))
	Call this instead of Authority::subscribe() More...
void	subscribe (Authority &authority, const std::vector< std::string > &channelIDs, std::function< void(ChannelRead< Ts >...)> fn, const Duration &t=Duration::milliseconds(100))
	Same as above but with the channel IDs as std::vector<std::string>. More...
template<typename Class >
void	subscribe (Authority &authority, StringArgumentHelper< Ts >... channelIDs, void(Class::*f)(ChannelRead< Ts >...), Class *obj, const Duration &t=Duration::milliseconds(100))
	Same as above but with a function and object pointer. More...
template<typename Class >
void	subscribe (Authority &authority, std::vector< std::string > channelIDs, void(Class::*f)(ChannelRead< Ts >...), Class *obj, const Duration &t=Duration::milliseconds(100))
	Same as above but with a function and object pointer. More...
std::tuple< ChannelRead< Ts >... >	read ()
	Return (synchronized) ChannelRead objects. More...
bool	isValid () const
	Return true if all ChannelRead objects contain valid data. More...
std::tuple< ChannelRead< Ts >... >	waitForData (const Duration &timeout=Duration::infinity())
	Return the latest (synchronized) element once it is available. More...
bool	waitForPublisher (const Duration &timeout=Duration::infinity()) const
void	setSynchronizationMode (const SynchronizationMode &synchronizationMode)

Member Enumeration Documentation

SynchronizationMode

enum SynchronizationMode

inherited

Enumerator
BY_TIMESTAMP
BY_SEQUENCE_ID

Constructor & Destructor Documentation

ChannelSynchronizer()

ChannelSynchronizer ( )

inline

Member Function Documentation

unsubscribe()

void unsubscribe ( Authority &  authority )

inline

Call this instead of Authority::unsubscribe(...) to unsubscribe all the channels of the synchronizer.

subscribe() [1/5]

void subscribe ( Authority &  authority, StringArgumentHelper< Ts >...  channelIDs, const Duration &  t = Duration::milliseconds(100)  )

inline

Call this instead of Authority::subscribe() Function provided for convenience (if no callback function is required).

Parameters

authority	The authority that does the basic subscription
channelIDs	The IDs of the channels we are subscribing on
t	Maximum time difference of the channels message timestamps for still being synchronous

subscribe() [2/5]

void subscribe ( Authority &  authority, StringArgumentHelper< Ts >...  channelIDs, std::function< void(ChannelRead< Ts >...)>  fn, const Duration &  t = Duration::milliseconds(100)  )

inline

Call this instead of Authority::subscribe()

Parameters

authority	The authority that does the basic subscription
channelIDs	The IDs of the channels we are subscribing on
fn	The function that should be called when the filter matches
t	Maximum time difference of the channels message timestamps for still being synchronous

subscribe() [3/5]

void subscribe ( Authority &  authority, const std::vector< std::string > &  channelIDs, std::function< void(ChannelRead< Ts >...)>  fn, const Duration &  t = Duration::milliseconds(100)  )

inline

Same as above but with the channel IDs as std::vector<std::string>.

subscribe() [4/5]

void subscribe ( Authority &  authority, StringArgumentHelper< Ts >...  channelIDs, void(Class::*)(ChannelRead< Ts >...)  f, Class *  obj, const Duration &  t = Duration::milliseconds(100)  )

inline

Same as above but with a function and object pointer.

Provided for convenience.

subscribe() [5/5]

void subscribe ( Authority &  authority, std::vector< std::string >  channelIDs, void(Class::*)(ChannelRead< Ts >...)  f, Class *  obj, const Duration &  t = Duration::milliseconds(100)  )

inline

Same as above but with a function and object pointer.

Provided for convenience.

read()

std::tuple<ChannelRead<Ts>... > read ( )

inline

Return (synchronized) ChannelRead objects.

The ChannelRead objects are always synchronized by the channel with the lowest update frequency. Please note that the ChannelRead objects may be invalid if no data has been published yet.

isValid()

bool isValid ( ) const

inline

Return true if all ChannelRead objects contain valid data.

waitForData()

std::tuple< ChannelRead<Ts>... > waitForData ( const Duration &  timeout = Duration::infinity() )

inline

Return the latest (synchronized) element once it is available.

If the function times out, invalid channelRead objects will be returned. Please note that the function does not regard synchronized elements that were available BEFORE this function was called.

waitForPublisher()

bool waitForPublisher ( const Duration &  timeout = Duration::infinity() ) const

inline

setSynchronizationMode()

void setSynchronizationMode ( const SynchronizationMode &  synchronizationMode )

inline

---

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

• framework/include/filter/ChannelSynchronizer.h