time_cache.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 */
 
#ifndef TF2_TIME_CACHE_H
#define TF2_TIME_CACHE_H
 
#include "transform_storage.h"
 
#include <memory>
#include <list>
#include <sstream>
 
#include <tf2/visibility_control.h>
 
namespace tf2
{
 
typedef std::pair<TimePoint, CompactFrameID> P_TimeAndFrameID;
 
class TimeCacheInterface
{
public:
  TF2_PUBLIC
  virtual ~TimeCacheInterface() = default;
 
  TF2_PUBLIC
  virtual bool getData(TimePoint time, TransformStorage & data_out, std::string* error_str = 0)=0; //returns false if data unavailable (should be thrown as lookup exception
 
  TF2_PUBLIC
  virtual bool insertData(const TransformStorage& new_data)=0;
 
  TF2_PUBLIC
  virtual void clearList()=0;
 
  TF2_PUBLIC
  virtual CompactFrameID getParent(TimePoint time, std::string* error_str) = 0;
 
  TF2_PUBLIC
  virtual P_TimeAndFrameID getLatestTimeAndParent() = 0;
 
 
 
  TF2_PUBLIC
  virtual unsigned int getListLength()=0;
 
  TF2_PUBLIC
  virtual TimePoint getLatestTimestamp()=0;
 
  TF2_PUBLIC
  virtual TimePoint getOldestTimestamp()=0;
};
 
using TimeCacheInterfacePtr = std::shared_ptr<TimeCacheInterface>;
 
constexpr tf2::Duration TIMECACHE_DEFAULT_MAX_STORAGE_TIME = std::chrono::seconds(10); 
 
class TimeCache : public TimeCacheInterface
{
 public:
  TF2_PUBLIC
  static const int MIN_INTERPOLATION_DISTANCE = 5; 
  TF2_PUBLIC
  static const unsigned int MAX_LENGTH_LINKED_LIST = 1000000; 
 
  TF2_PUBLIC
  TimeCache(tf2::Duration  max_storage_time = TIMECACHE_DEFAULT_MAX_STORAGE_TIME);
 
 
 
  TF2_PUBLIC
  virtual bool getData(TimePoint time, TransformStorage & data_out, std::string* error_str = 0);
  TF2_PUBLIC
  virtual bool insertData(const TransformStorage& new_data);
  TF2_PUBLIC
  virtual void clearList();
  TF2_PUBLIC
  virtual CompactFrameID getParent(TimePoint time, std::string* error_str);
  TF2_PUBLIC
  virtual P_TimeAndFrameID getLatestTimeAndParent();
 
  TF2_PUBLIC
  virtual unsigned int getListLength();
  TF2_PUBLIC
  virtual TimePoint getLatestTimestamp();
  TF2_PUBLIC
  virtual TimePoint getOldestTimestamp();
  
 
private:
  typedef std::list<TransformStorage> L_TransformStorage;
  L_TransformStorage storage_;
 
  tf2::Duration max_storage_time_;
 
 
  //Assumes storage is already locked for it
  inline uint8_t findClosest(TransformStorage*& one, TransformStorage*& two, TimePoint target_time, std::string* error_str);
 
  inline void interpolate(const TransformStorage& one, const TransformStorage& two, TimePoint time, TransformStorage& output);
 
 
  void pruneList();
 
 
 
};
 
class StaticCache : public TimeCacheInterface
{
 public:
 
  TF2_PUBLIC
  virtual bool getData(TimePoint time, TransformStorage & data_out, std::string* error_str = 0); //returns false if data unavailable (should be thrown as lookup exception
  TF2_PUBLIC
  virtual bool insertData(const TransformStorage& new_data);
  TF2_PUBLIC
  virtual void clearList();
  TF2_PUBLIC
  virtual CompactFrameID getParent(TimePoint time, std::string* error_str);
  TF2_PUBLIC
  virtual P_TimeAndFrameID getLatestTimeAndParent();
 
 
  TF2_PUBLIC
  virtual unsigned int getListLength();
  TF2_PUBLIC
  virtual TimePoint getLatestTimestamp();
  TF2_PUBLIC
  virtual TimePoint getOldestTimestamp();
  
 
private:
  TransformStorage  storage_;
};
 
}
 
#endif // TF2_TIME_CACHE_H