ApproximateTimeQueue.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <mutex>
#include <set>
#include <shared_mutex>
 
#include <boost/thread/concurrent_queues/sync_queue.hpp>
 
#include <Eigen/Geometry>
 
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
 
#include <armarx/localization_and_mapping/cartographer_adapter/InterpolatingTimeQueue.h>
 
#include "interfaces.h"
#include "types.h"
 
namespace armarx::localization_and_mapping::cartographer_adapter
{
    struct LaserMessage
    {
        LaserScannerMessage data;
        Eigen::Isometry3f
            robotPoseCorrection; // from pose where data was captured to timestamp pose
    };
 
    using LaserMessages = std::vector<LaserMessage>;
 
    struct TimedData
    {
        int64_t timestamp; // [µs]
 
        armarx::localization_and_mapping::cartographer_adapter::PoseStamped odomPose;
 
        LaserMessages laserData;
    };
 
    /**
     * @brief The ApproximateTimeQueue class.
     *
     * Synchronizes incoming data and returns shapshots.
     *
     */
    class ApproximateTimeQueue
    {
    public:
        /**
        * @brief Construct a new Approximate Time Queue object
        *
        * @param dt [µs] time delay to limit processing of messages (inverse of frequency)
        * @param laserSensorIds the laser sensors that are used
        * @param messageCallee once messages are available, the data will be made available to the MessageCallee
        */
        ApproximateTimeQueue(int64_t dt,
                             int64_t dtHistoryLength,
                             const std::set<std::string>& laserSensorIds,
                             MessageCallee& messageCallee,
                             bool useOdometry);
 
        void insertLaserData(LaserScannerMessage message);
        void insertOdomData(
            armarx::localization_and_mapping::cartographer_adapter::PoseStamped odomPose);
 
 
    private:
        bool allDataAvailable(int64_t timestamp) const;
 
        void processAvailableData(int64_t timestamp);
        void processAllAvailableData(int64_t timestamp);
        void trimUntil(const int64_t& timestamp);
 
        const int64_t dtEps; // [µs]
        const int64_t dtHistoryLength; // [µs]
 
        int64_t lastProcessedTimestamp{0};
 
        using LaserTimeQueue =
            armarx::localization_and_mapping::cartographer_adapter::TimeQueue<LaserScannerMessage>;
 
        armarx::localization_and_mapping::cartographer_adapter::InterpolatingTimeQueue<
            armarx::localization_and_mapping::cartographer_adapter::PoseStamped>
            odomQueue;
        std::unordered_map<std::string, LaserTimeQueue> laserQueues;
 
        MessageCallee& messageCallee;
 
        void serveMessageCallee();
 
        boost::sync_queue<TimedData> timedDataQueue;
        armarx::SimpleRunningTask<>::pointer_type messageCalleeTask = nullptr;
        const bool useOdometry;
    };
 
} // namespace armarx::localization_and_mapping::cartographer_adapter