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RB-159 adding greater/less than stream operators (#64)
* feat(operators): adding greater/less than stream operators * fix(docs): Fixing md * fix(headers): Adding missing headers file
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14 files changed

+223
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‎libs/api/src/FactoryOp.cpp‎

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@@ -23,9 +23,11 @@
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#include "rtbot/std/EqualTo.h"
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#include "rtbot/std/FiniteImpulseResponse.h"
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#include "rtbot/std/GreaterThan.h"
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#include "rtbot/std/GreaterThanStream.h"
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#include "rtbot/std/HermiteResampler.h"
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#include "rtbot/std/Identity.h"
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#include "rtbot/std/LessThan.h"
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#include "rtbot/std/LessThanStream.h"
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#include "rtbot/std/Linear.h"
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#include "rtbot/std/Minus.h"
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#include "rtbot/std/MovingAverage.h"
@@ -167,6 +169,26 @@ void from_json(const json& j, Or<T, V>& p) {
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p = Or<T, V>(j["id"].get<string>());
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}
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template <class T, class V>
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void to_json(json& j, const GreaterThanStream<T, V>& p) {
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j = json{{"type", p.typeName()}, {"id", p.id}};
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}
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template <class T, class V>
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void from_json(const json& j, GreaterThanStream<T, V>& p) {
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p = GreaterThanStream<T, V>(j["id"].get<string>());
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}
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template <class T, class V>
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void to_json(json& j, const LessThanStream<T, V>& p) {
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j = json{{"type", p.typeName()}, {"id", p.id}};
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}
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template <class T, class V>
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void from_json(const json& j, LessThanStream<T, V>& p) {
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p = LessThanStream<T, V>(j["id"].get<string>());
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}
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template <class T, class V>
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void to_json(json& j, const Division<T, V>& p) {
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j = json{{"type", p.typeName()}, {"id", p.id}};
@@ -428,6 +450,8 @@ FactoryOp::FactoryOp() {
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op_registry_add<Variable<uint64_t, double>, json>();
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op_registry_add<TimeShift<uint64_t, double>, json>();
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op_registry_add<Pipeline<uint64_t, double>, json>();
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op_registry_add<GreaterThanStream<uint64_t, double>, json>();
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op_registry_add<LessThanStream<uint64_t, double>, json>();
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}
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static FactoryOp factory;

‎libs/core/include/rtbot/BinaryJoin.h‎

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#define BINARYJOIN_H
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#include <functional>
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#include <optional>
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#include "rtbot/Join.h"
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@@ -12,7 +13,7 @@ using namespace std;
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template <class T, class V>
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struct BinaryJoin : public Join<T, V> {
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BinaryJoin() = default;
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BinaryJoin(string const& id, function<V(V, V)> operation) : Join<T, V>(id) {
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BinaryJoin(string const& id, function<optional<V>(V, V)> operation) : Join<T, V>(id) {
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this->operation = operation;
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int numPorts = 2;
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for (int i = 1; i <= numPorts; i++) {
@@ -28,7 +29,9 @@ struct BinaryJoin : public Join<T, V> {
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Message<T, V> m0 = this->getDataInputMessage("i1", 0);
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Message<T, V> out;
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out.time = m0.time;
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out.value = operation(m0.value, m1.value);
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optional<V> result = operation(m0.value, m1.value);
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if (!result.has_value()) return {};
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out.value = result.value();
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vector<Message<T, V>> v;
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v.push_back(out);
@@ -38,7 +41,7 @@ struct BinaryJoin : public Join<T, V> {
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}
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private:
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function<V(V, V)> operation;
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function<optional<V>(V, V)> operation;
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};
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} // namespace rtbot
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‎libs/std/include/rtbot/std/And.h‎

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@@ -11,7 +11,7 @@ template <class T, class V>
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struct And : public BinaryJoin<T, V> {
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And() = default;
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And(string const &id)
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: BinaryJoin<T, V>(id, [](V a, V b) {
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: BinaryJoin<T, V>(id, [](V a, V b) -> optional<V> {
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bool left = (a < 0.5) ? false : true;
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bool right = (b >= 0.5) ? true : false;
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bool result = left && right;

‎libs/std/include/rtbot/std/Division.h‎

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@@ -10,7 +10,11 @@ using namespace std;
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template <class T, class V>
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struct Division : public BinaryJoin<T, V> {
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Division() = default;
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Division(string const &id) : BinaryJoin<T, V>(id, [](V a, V b) { return a / b; }) {}
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Division(string const &id)
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: BinaryJoin<T, V>(id, [](V a, V b) -> optional<V> {
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if (b != 0) return a / b;
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return nullopt;
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}) {}
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string typeName() const override { return "Division"; }
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};

‎libs/std/include/rtbot/std/GreaterThanStream.h‎

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#ifndef GREATERTHANSTREAM_H
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#define GREATERTHANSTREAM_H
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#include "rtbot/BinaryJoin.h"
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namespace rtbot {
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using namespace std;
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template <class T, class V>
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struct GreaterThanStream : public BinaryJoin<T, V> {
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GreaterThanStream() = default;
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GreaterThanStream(string const &id)
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: BinaryJoin<T, V>(id, [](V a, V b) -> optional<V> {
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if (a > b) return a;
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return nullopt;
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}) {}
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string typeName() const override { return "GreaterThanStream"; }
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};
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} // namespace rtbot
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#endif // GREATERTHANSTREAM_H

‎libs/std/include/rtbot/std/GreaterThanStream.md‎

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---
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behavior:
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buffered: true
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throughput: variable
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view:
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shape: circle
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latex:
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template: |
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||
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jsonschema:
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type: object
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properties:
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id:
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type: string
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description: The id of the operator
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required: ["id"]
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---
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# GreaterThanStream
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Inputs: `i1` `i2`
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Outputs: `o1`
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Synchronizes two streams (given by `i1` and `i2`) and emits the message in `i1` if its value is greater than the value of `i2` for the synchronized $t_n$.
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The synchronization mechanism is inherited from the `Join` operator. The `GreaterThanStream` operator holds a message buffer on `i1` and `i2` respectively, after synchronization occurs it emits the message in `i1` through `o1` if it happens to be greater than the message value in `i2` and it discard the message in `i2`, if no synchronization occurs then an empty message {} is emitted through `o1`.
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$$y(t_n) = x_1(t_n) if x_1(t_n) > x_2(t_n)$$

‎libs/std/include/rtbot/std/LessThanStream.h‎

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#ifndef LESSTHANSTREAM_H
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#define LESSTHANSTREAM_H
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#include "rtbot/BinaryJoin.h"
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namespace rtbot {
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using namespace std;
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template <class T, class V>
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struct LessThanStream : public BinaryJoin<T, V> {
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LessThanStream() = default;
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LessThanStream(string const &id)
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: BinaryJoin<T, V>(id, [](V a, V b) -> optional<V> {
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if (a < b) return a;
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return nullopt;
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}) {}
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string typeName() const override { return "LessThanStream"; }
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};
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} // namespace rtbot
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#endif // LESSTHANSTREAM_H

‎libs/std/include/rtbot/std/LessThanStream.md‎

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---
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behavior:
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buffered: true
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throughput: variable
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view:
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shape: circle
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latex:
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template: |
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||
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jsonschema:
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type: object
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properties:
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id:
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type: string
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description: The id of the operator
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required: ["id"]
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---
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# LessThanStream
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Inputs: `i1` `i2`
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Outputs: `o1`
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Synchronizes two streams (given by `i1` and `i2`) and emits the message in `i1` if its value is less than the value of `i2` for the synchronized $t_n$.
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The synchronization mechanism is inherited from the `Join` operator. The `LessThanStream` operator holds a message buffer on `i1` and `i2` respectively, after synchronization occurs it emits the message in `i1` through `o1` if it happens to be less than the message value in `i2` and it discard the message in `i2`, if no synchronization occurs then an empty message {} is emitted through `o1`.
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$$y(t_n) = x_1(t_n) if x_1(t_n) < x_2(t_n)$$

‎libs/std/include/rtbot/std/Minus.h‎

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@@ -10,7 +10,7 @@ using namespace std;
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template <class T, class V>
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struct Minus : public BinaryJoin<T, V> {
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Minus() = default;
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Minus(string const &id) : BinaryJoin<T, V>(id, [](V a, V b) { return a - b; }) {}
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Minus(string const &id) : BinaryJoin<T, V>(id, [](V a, V b) -> optional<V> { return a - b; }) {}
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string typeName() const override { return "Minus"; }
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};

‎libs/std/include/rtbot/std/Multiplication.h‎

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@@ -10,7 +10,7 @@ using namespace std;
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template <class T, class V>
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struct Multiplication : public BinaryJoin<T, V> {
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Multiplication() = default;
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Multiplication(string const &id) : BinaryJoin<T, V>(id, [](V a, V b) { return a * b; }) {}
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Multiplication(string const &id) : BinaryJoin<T, V>(id, [](V a, V b) -> optional<V> { return a * b; }) {}
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string typeName() const override { return "Multiplication"; }
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};

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