Thread-safe timestamped ring buffer with getData lookup. More...

#include <commrat/mailbox/timestamped_ring_buffer.hpp>

Public Types
using	value_type = T

using	size_type = std::size_t

Public Member Functions
	TimestampedRingBuffer (std::chrono::milliseconds default_tolerance=std::chrono::milliseconds(50))
	Constructor with optional sync tolerance.

size_type	size () const
	Get current number of stored messages.

bool	empty () const
	Check if buffer is empty.

bool	full () const
	Check if buffer is full.

void	clear ()
	Clear all messages from buffer.

void	push (const T &message)
	Push new message with timestamp.

void	push (T &&message)
	Push new message via move.

std::optional< T >	getData (uint64_t timestamp, std::chrono::milliseconds tolerance=std::chrono::milliseconds(-1), InterpolationMode mode=InterpolationMode::NEAREST) const

std::pair< uint64_t, uint64_t >	getTimestampRange () const
	Get timestamp range currently in buffer.

Static Public Member Functions
static constexpr size_type	capacity ()
	Get maximum capacity.

Detailed Description

template<typename T, std::size_t MaxSize = 100>
class commrat::TimestampedRingBuffer< T, MaxSize >

Thread-safe timestamped ring buffer with getData lookup.

Wraps SeRTial::RingBuffer with:

Thread-safe push/get operations
Timestamp-based lookup (getData)
Multiple interpolation modes
Maintains temporal ordering (must push in timestamp order)

Template Parameters

T	Message type (must have .timestamp member)
MaxSize	Maximum capacity (default: 100 messages)

Requirements for T:

Must have uint64_t timestamp field (milliseconds since epoch)
Must be copyable or movable
Timestamps must be monotonically increasing on push

Thread Safety:

Multiple concurrent readers (shared lock)
Single writer (exclusive lock)
Lock-free reads possible in future optimization

Example:

struct IMUData {
    uint64_t timestamp;  // Required!
    float ax, ay, az;
};
 
TimestampedRingBuffer<IMUData, 100> history;
 
// Producer thread
history.push(IMUData{.timestamp = 1000, .ax = 1.0f, ...});
 
// Consumer thread (secondary input)
auto data = history.getData(1050, std::chrono::milliseconds(50), 
                            InterpolationMode::NEAREST);
if (data) {
    // Use data synchronized to timestamp 1050
}

Definition at line 102 of file timestamped_ring_buffer.hpp.

Member Typedef Documentation

◆ size_type

template<typename T , std::size_t MaxSize = 100>

using commrat::TimestampedRingBuffer< T, MaxSize >::size_type = std::size_t

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

Definition at line 108 of file timestamped_ring_buffer.hpp.

◆ value_type

template<typename T , std::size_t MaxSize = 100>

using commrat::TimestampedRingBuffer< T, MaxSize >::value_type = T

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

Definition at line 107 of file timestamped_ring_buffer.hpp.

Constructor & Destructor Documentation

◆ TimestampedRingBuffer()

template<typename T , std::size_t MaxSize = 100>

commrat::TimestampedRingBuffer< T, MaxSize >::TimestampedRingBuffer ( std::chrono::milliseconds default_tolerance = std::chrono::milliseconds(50) )

inlineexplicit

Constructor with optional sync tolerance.

Parameters

default_tolerance Default tolerance for timestamp matching (ms)

Definition at line 118 of file timestamped_ring_buffer.hpp.

Member Function Documentation

◆ capacity()

template<typename T , std::size_t MaxSize = 100>

static constexpr size_type commrat::TimestampedRingBuffer< T, MaxSize >::capacity ( )

inlinestaticconstexpr

Get maximum capacity.

Returns: Maximum number of messages buffer can hold

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

Definition at line 140 of file timestamped_ring_buffer.hpp.

◆ clear()

template<typename T , std::size_t MaxSize = 100>

void commrat::TimestampedRingBuffer< T, MaxSize >::clear ( )

inline

Clear all messages from buffer.

Note: Thread-safe (write lock)

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

Definition at line 168 of file timestamped_ring_buffer.hpp.

◆ empty()

template<typename T , std::size_t MaxSize = 100>

bool commrat::TimestampedRingBuffer< T, MaxSize >::empty ( ) const

inline

Check if buffer is empty.

Returns: true if no messages stored

Note: Thread-safe (read lock)

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

Definition at line 149 of file timestamped_ring_buffer.hpp.

◆ full()

template<typename T , std::size_t MaxSize = 100>

bool commrat::TimestampedRingBuffer< T, MaxSize >::full ( ) const

inline

Check if buffer is full.

Returns: true if buffer is at maximum capacity

Note: Thread-safe (read lock)

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

Definition at line 159 of file timestamped_ring_buffer.hpp.

◆ getData()

template<typename T , std::size_t MaxSize = 100>

std::optional< T > commrat::TimestampedRingBuffer< T, MaxSize >::getData	(	uint64_t	timestamp,
		std::chrono::milliseconds	tolerance = `std::chrono::milliseconds(-1)`,
		InterpolationMode	mode = `InterpolationMode::NEAREST`
	)		const