jafar::ddf::ChannelFilterBase Class Reference

Implements a channel filter belonging to node i and connected to another channel filter belonging to node j. More...

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Detailed Description

Implements a channel filter belonging to node i and connected to another channel filter belonging to node j.

The channel filter allows for information synchronization between nodes. Thus, it has to implement information prediction.

Implementation based on "A robust architecture for decentralized data fusion" E. Nettleton, H. Durrant-Whyte, S. Sukkarieh

Author:

Pierre Lamon

Definition at line 28 of file channelfilterbase.hpp.

#include <channelfilterbase.hpp>

List of all members.

Public Member Functions
	ChannelFilterBase (unsigned short sv_size, unsigned short belongs_to_node, unsigned short link_with, CommBase *comm, PredictionEngineBase *pred_engine, InfoContainer const &info_init)
unsigned short	GetLinkWithNode () const
InfoContainer const &	GetNewInfo () const
void	SetCommonInfoTime (time const &t)
void	SetNow (time const &now)
	Set the time origin.
bool	Sync_Ok () const
void	ResetJustReceived ()
bool	HasJustReceivedInfo () const
	This function is used in simulation only.
void	SetLog (bool log)
	Enable/disable logging.
void	OutputInfoToOtherNode (InfoContainer const &to_j)
	Send information to the connected node.
bool	Sync (time const &horizon)
	This function is called by the channel manager.
void	PrintPredModel ()
void	CloseLogFile ()
Private Types
enum	EVENT { EVENT_OUT, EVENT_SYNC, EVENT_NOSYNC }
Private Member Functions
void	LogHeader ()
void	DumpState (EVENT const &event, InfoContainer const &send_rec)
void	InitLog ()
Private Attributes
CommBase *	m_comm
InfoContainer	m_info_ij
InfoContainer	m_new_ji
InfoContainer	m_pred_j
PredictionEngineBase *	m_pred_engine
unsigned short	m_link_with_node
unsigned short	m_belongs_to_node
time	m_time_orig
bool	m_do_log
std::ofstream	m_dump_file

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Member Function Documentation

bool jafar::ddf::ChannelFilterBase::HasJustReceivedInfo

(

)

const [inline]

This function is used in simulation only.

It allows to know if an information has been received.

Definition at line 68 of file channelfilterbase.hpp.

void jafar::ddf::ChannelFilterBase::SetNow

(

time const &

now

)

[inline]

Set the time origin.

The current time is substracted with "now" so that we have access to the relative time. It is used when logging is enabled.

Definition at line 61 of file channelfilterbase.hpp.

bool jafar::ddf::ChannelFilterBase::Sync

(

time const &

horizon

)

This function is called by the channel manager.

It predicts the information sent by node j to the next time horizon. (compute equation 17 with equation 4) return CHAN_FAILURE if no suitable item is available in the fifo return CHAN_EMPTY if the buffer is empty return CHAN_OK if one suitable item is found

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

• modules/ddf/include/ddf/channelfilterbase.hpp