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API review

Proposer: Josh F

Present at review:

This is a review of the following additions to message_filters

API Additions

Chain

doc/api/message_filters/html/c++/classmessage__filters_1_1Chain.html

message_filters::Chain allows you to store a dynamic chain of filters. For example:

   1 void myCallback(const MsgConstPtr& msg)
   2 {
   3 }
   4 
   5 Chain<Msg> c;
   6 c.addFilter(boost::shared_ptr<Subscriber<Msg> >(new Subscriber<Msg>));
   7 c.addFilter(boost::shared_ptr<TimeSequencer<Msg> >(new TimeSequencer<Msg>));
   8 c.registerCallback(myCallback);

It is also possible to pass bare pointers in, which will not be automatically deleted when Chain is destructed:

   1 Chain<Msg> c;
   2 Subscriber<Msg> s;
   3 c.addFilter(&s);
   4 c.registerCallback(myCallback);

It also includes a base class, ChainBase (doc/api/message_filters/html/c++/classmessage__filters_1_1ChainBase.html), which allows you to store the chain itself in a type-independent manner.

Chain only works with single-input/single-output (simple) filters.

In addition to adding a filter you can also retrieve one added previously:

   1 Chain<Msg> c;
   2 size_t sub_index = c.addFilter(boost::shared_ptr<Subscriber<Msg> >(new Subscriber<Msg>));
   3 
   4 boost::shared_ptr<Subscriber<Msg> > sub = c.getFilter<Subscriber<Msg> >(sub_index);

Policy-based Synchronizer and two policies (ExactTime, ApproximateTime)

This is a replacement for the current TimeSynchronizer class. It is currently in the message_filters::synchro namespace (sync is reserved by the sync() system call).

Synchronizer and friends are in a nested namespace because I can see other message filters (like the sequencer) moving to follow this pattern, and I don't want their policy classes colliding. If people have suggestions for other names for the namespace I'd like to hear them, since I'm not a big fan of synchro

The driving force behind changing TimeSynchronizer to be policy based is the creation of Romain's ApproximateTimeSynchronizer that duplicated TimeSynchronizer's code until we could integrate them together.

The equivalent of:

   1 typedef message_filters::TimeSynchronizer<Msg, Msg> Sync2;
   2 Sync2 sync(1);

is:

   1 typedef message_filters::synchro::ExactTime<Msg, Msg> Policy2;
   2 typedef message_filters::synchro::Synchronizer<Policy2> Sync2;
   3 Sync2 sync(Policy2(1));

Using the new approximate time policy:

   1 typedef message_filters::synchro::ApproximateTime<Msg, Msg> Policy2;
   2 typedef message_filters::synchro::Synchronizer<Policy2> Sync2;
   3 Sync2 sync(Policy2(1));

Approximate Time Policy

ApproximateTime policy algorithm description

Drop callback

This is in a separate category because it adds functionality to what used to be the TimeSynchronizer.

You can register a drop callback in the same way you register a normal one, but with registerDropCallback. This callback is called whenever a set of messages are dropped.

Use of traits instead of directly accessing message.header.*

All filters now use the ros::message_traits::TimeStamp trait to retrieve the timestamp from a message. This means you can now specialize that trait if you like.

Question / concerns / comments

Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.

message_filters::synchro::Synchronizer<message_filters::synchro::ExactTime<...> >

to message_filters::synchro::ExactSynchronizer<...>?

Meeting agenda

To be filled out by proposer based on comments gathered during API review period

Conclusion

Package status change mark change manifest)



2024-05-18 13:14