commrat::Inputs< Ts > Struct Template Reference

Multiple continuous inputs specification. More...

#include <commrat/module/io_spec.hpp>

Public Types
using	PayloadTypes = std::tuple< Ts... >

Static Public Attributes
static constexpr size_t	count = sizeof...(Ts)

Detailed Description

template<typename... Ts>
struct commrat::Inputs< Ts >

Multiple continuous inputs specification.

Specifies that a module receives multiple input types from different sources. Automatically handles timestamp-based synchronization for sensor fusion.

How Multi-Input Works:

1. First type in Inputs<T, U, V> is automatically PRIMARY (drives execution)
2. Module blocks on PRIMARY input receive()
3. Secondary inputs synchronized via getData(primary_timestamp, tolerance)
4. All inputs time-aligned before process() is called

Template Parameters

Ts...

The payload types to receive (first is primary)

Process Signature:

• Single output: void process(const T& in1, const U& in2, ..., OutputType& output)
• Multi output: void process(const T& in1, const U& in2, ..., O1& out1, O2& out2, ...)

Configuration:

ModuleConfig fusion_config{
    .name = "SensorFusion",
    .system_id = 30,
    .instance_id = 1,
    .period = Milliseconds(10),       // Primary input rate (100Hz)
    .input_sources = {
        {10, 1},  // IMU source (primary)
        {11, 1}   // GPS source (secondary)
    },
    .sync_tolerance_ns = 50'000'000   // 50ms tolerance for getData
};

// Fuse high-rate IMU with low-rate GPS
class FusionModule : public Module<Registry, 
                                   Output<FusedData>,
                                   Inputs<IMUData, GPSData>> {  // IMU first = primary
protected:
    void process(const IMUData& imu,      // Blocking receive (100Hz)
                 const GPSData& gps,      // getData at imu.timestamp (10Hz)
                 FusedData& output) override {
        // Check freshness
        if (!has_new_data<1>()) {
            std::cout << "GPS data is stale\n";
        }
        output = ekf_update(imu, gps);
    }
};

Note

Secondary inputs use HistoricalMailbox with circular buffering

Metadata accessors available: get_input_metadata<N>(), has_new_data<N>()

See also

HistoricalMailbox for getData implementation details

InputMetadata for metadata structure

Definition at line 205 of file io_spec.hpp.

Member Typedef Documentation

PayloadTypes

template<typename... Ts>

using commrat::Inputs< Ts >::PayloadTypes = std::tuple<Ts...>

Definition at line 206 of file io_spec.hpp.

Member Data Documentation

count

template<typename... Ts>

constexpr size_t commrat::Inputs< Ts >::count = sizeof...(Ts)

staticconstexpr

Definition at line 207 of file io_spec.hpp.

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

• commrat/module/io_spec.hpp