Mailbox with timestamped history for getData synchronization. More...

#include <commrat/mailbox/historical_mailbox.hpp>

Public Types
using	Registry = UserRegistry

using	MailboxType = RegistryMailbox< UserRegistry >

using	HistoryBufferTuple = decltype(make_history_tuple_type(std::make_index_sequence< Registry::num_types >{}))

Public Member Functions
	HistoricalMailbox (const MailboxConfig &config, Milliseconds default_tolerance=Milliseconds(50))
	Constructor with mailbox config and default tolerance.

auto	start () -> MailboxResult< void >
	Start the mailbox (pass-through to underlying mailbox)

void	stop ()
	Stop the mailbox (pass-through to underlying mailbox)

template<typename T >
auto	receive () -> MailboxResult< TimsMessage< T > >
	Receive a message and automatically store in history.

template<typename T >
std::optional< TimsMessage< T > >	getData (uint64_t timestamp, Milliseconds tolerance=Milliseconds(-1), InterpolationMode mode=InterpolationMode::NEAREST) const

template<typename T >
std::pair< uint64_t, uint64_t >	getTimestampRange () const
	Get timestamp range currently buffered for type T.

template<typename T >
void	clearHistory ()
	Clear history for type T.

void	clearAllHistory ()
	Clear all history buffers.

template<typename T >
auto	send (T &message, uint32_t dest_mailbox) -> MailboxResult< void >
	Send a message (pass-through to underlying mailbox)

uint32_t	get_mailbox_id () const
	Get mailbox ID.

bool	is_initialized () const
	Check if mailbox is initialized.

Static Public Member Functions
template<std::size_t... Is>
static auto	make_history_tuple_type (std::index_sequence< Is... >)

Detailed Description

template<typename UserRegistry, std::size_t HistorySize = 100>
class commrat::HistoricalMailbox< UserRegistry, HistorySize >

Mailbox with timestamped history for getData synchronization.

Wraps RegistryMailbox and maintains a TimestampedRingBuffer for each registered message type. Received messages are automatically stored in history, enabling getData() queries for multi-input synchronization.

Template Parameters

UserRegistry	Message registry (MessageRegistry<...>)
HistorySize	Maximum messages to buffer per type (default: 100)

Thread Safety:

receive() and getData() can be called concurrently (reader-writer lock)
Multiple getData() calls are lock-free readers
receive() is exclusive writer

Usage Pattern:

// Primary input (blocking - drives execution rate)
auto imu = imu_mailbox.receive<IMUData>();  
 
// Secondary inputs (non-blocking - fetch at primary timestamp)
auto gps = gps_history.getData<GPSData>(imu.timestamp);
auto lidar = lidar_history.getData<LidarData>(imu.timestamp);
 
if (gps && lidar) {
    process(imu, *gps, *lidar);  // All time-aligned!
}

Architecture:

One TimestampedRingBuffer per message type in registry
Automatic deserialization on receive → store in history
getData() queries appropriate buffer based on type
FIFO overflow: oldest messages discarded when buffer full

Definition at line 63 of file historical_mailbox.hpp.

Member Typedef Documentation

◆ HistoryBufferTuple

template<typename UserRegistry , std::size_t HistorySize = 100>

using commrat::HistoricalMailbox< UserRegistry, HistorySize >::HistoryBufferTuple = decltype(make_history_tuple_type( std::make_index_sequence<Registry::num_types>{} ))

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/historical_mailbox.hpp.

Definition at line 76 of file historical_mailbox.hpp.

◆ MailboxType

template<typename UserRegistry , std::size_t HistorySize = 100>

using commrat::HistoricalMailbox< UserRegistry, HistorySize >::MailboxType = RegistryMailbox<UserRegistry>

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/historical_mailbox.hpp.

Definition at line 66 of file historical_mailbox.hpp.

◆ Registry

template<typename UserRegistry , std::size_t HistorySize = 100>

using commrat::HistoricalMailbox< UserRegistry, HistorySize >::Registry = UserRegistry

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/historical_mailbox.hpp.

Definition at line 65 of file historical_mailbox.hpp.

Constructor & Destructor Documentation

◆ HistoricalMailbox()

template<typename UserRegistry , std::size_t HistorySize = 100>

commrat::HistoricalMailbox< UserRegistry, HistorySize >::HistoricalMailbox	(	const MailboxConfig &	config,
		Milliseconds	default_tolerance = `Milliseconds(50)`
	)

inlineexplicit

Constructor with mailbox config and default tolerance.

Parameters

config	Mailbox configuration
default_tolerance	Default tolerance for getData (milliseconds)

Definition at line 89 of file historical_mailbox.hpp.

Member Function Documentation

◆ clearAllHistory()

template<typename UserRegistry , std::size_t HistorySize = 100>

void commrat::HistoricalMailbox< UserRegistry, HistorySize >::clearAllHistory ( )

inline

Clear all history buffers.

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/historical_mailbox.hpp.

Definition at line 213 of file historical_mailbox.hpp.

◆ clearHistory()

template<typename UserRegistry , std::size_t HistorySize = 100>

template<typename T >

void commrat::HistoricalMailbox< UserRegistry, HistorySize >::clearHistory ( )

inline

Clear history for type T.

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/historical_mailbox.hpp.

Definition at line 205 of file historical_mailbox.hpp.

◆ get_mailbox_id()

template<typename UserRegistry , std::size_t HistorySize = 100>

uint32_t commrat::HistoricalMailbox< UserRegistry, HistorySize >::get_mailbox_id ( ) const

inline

Get mailbox ID.

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/historical_mailbox.hpp.

Definition at line 232 of file historical_mailbox.hpp.

References commrat::RegistryMailbox< Registry >::mailbox_id().

◆ getData()

template<typename UserRegistry , std::size_t HistorySize = 100>

template<typename T >

std::optional< TimsMessage< T > > commrat::HistoricalMailbox< UserRegistry, HistorySize >::getData	(	uint64_t	timestamp,
		Milliseconds	tolerance = `Milliseconds(-1)`,
		InterpolationMode	mode = `InterpolationMode::NEAREST`
	)		const

inline

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/historical_mailbox.hpp.

Definition at line 182 of file historical_mailbox.hpp.

◆ getTimestampRange()

template<typename UserRegistry , std::size_t HistorySize = 100>

template<typename T >

std::pair< uint64_t, uint64_t > commrat::HistoricalMailbox< UserRegistry, HistorySize >::getTimestampRange ( ) const

inline

Get timestamp range currently buffered for type T.

Returns: {oldest_timestamp, newest_timestamp} or {0, 0} if empty

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/historical_mailbox.hpp.

Definition at line 196 of file historical_mailbox.hpp.

◆ is_initialized()

template<typename UserRegistry , std::size_t HistorySize = 100>

bool commrat::HistoricalMailbox< UserRegistry, HistorySize >::is_initialized ( ) const

inline

Check if mailbox is initialized.

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/historical_mailbox.hpp.

Definition at line 239 of file historical_mailbox.hpp.

◆ make_history_tuple_type()

template<typename UserRegistry , std::size_t HistorySize = 100>

template<std::size_t... Is>

static auto commrat::HistoricalMailbox< UserRegistry, HistorySize >::make_history_tuple_type ( std::index_sequence< Is... > )

inlinestatic

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/historical_mailbox.hpp.

Definition at line 70 of file historical_mailbox.hpp.

◆ receive()

template<typename UserRegistry , std::size_t HistorySize = 100>

template<typename T >

auto commrat::HistoricalMailbox< UserRegistry, HistorySize >::receive ( ) -> MailboxResult<TimsMessage<T>>

inline

Receive a message and automatically store in history.

Receives next message of type T, stores it in history, and returns it. This is the PRIMARY input API - blocks until message arrives.

Template Parameters

T	Payload type (must be registered in UserRegistry)

Returns: Received message or error

Note: Thread-safe: Exclusive write access to history buffer; Automatically stores in history for future getData() queries

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/historical_mailbox.hpp.

Definition at line 138 of file historical_mailbox.hpp.

◆ send()

template<typename UserRegistry , std::size_t HistorySize = 100>

template<typename T >

auto commrat::HistoricalMailbox< UserRegistry, HistorySize >::send	(	T &	message,
		uint32_t	dest_mailbox
	)		-> MailboxResult<void>

inline

Send a message (pass-through to underlying mailbox)

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/historical_mailbox.hpp.

Definition at line 225 of file historical_mailbox.hpp.

References commrat::HistoricalMailbox< UserRegistry, HistorySize >::send().

Referenced by commrat::HistoricalMailbox< UserRegistry, HistorySize >::send().

◆ start()

template<typename UserRegistry , std::size_t HistorySize = 100>

auto commrat::HistoricalMailbox< UserRegistry, HistorySize >::start ( ) -> MailboxResult<void>

inline

Start the mailbox (pass-through to underlying mailbox)

Returns: Success or error from underlying mailbox initialization

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/historical_mailbox.hpp.

Definition at line 101 of file historical_mailbox.hpp.

References commrat::RegistryMailbox< Registry >::mailbox_id(), and commrat::RegistryMailbox< Registry >::start().

◆ stop()

template<typename UserRegistry , std::size_t HistorySize = 100>

void commrat::HistoricalMailbox< UserRegistry, HistorySize >::stop ( )

inline

Stop the mailbox (pass-through to underlying mailbox)

Examples: /home/runner/work/CommRaT/CommRaT/include/commrat/mailbox/historical_mailbox.hpp.

Definition at line 117 of file historical_mailbox.hpp.

References commrat::RegistryMailbox< Registry >::stop().

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

commrat/mailbox/historical_mailbox.hpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ HistoryBufferTuple

◆ MailboxType

◆ Registry

Constructor & Destructor Documentation

◆ HistoricalMailbox()

Member Function Documentation

◆ clearAllHistory()

◆ clearHistory()

◆ get_mailbox_id()

◆ getData()

◆ getTimestampRange()

◆ is_initialized()

◆ make_history_tuple_type()

◆ receive()

◆ send()

◆ start()

◆ stop()