104 lines
3.5 KiB
C++
104 lines
3.5 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef ROSCPP_CALLBACK_QUEUE_H
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#define ROSCPP_CALLBACK_QUEUE_H
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#include "ros/callback_queue_interface.h"
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#include "ros/time.h"
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#include <boost/shared_ptr.hpp>
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#include <boost/thread/mutex.hpp>
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#include <boost/thread/condition_variable.hpp>
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#include <list>
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namespace ros
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{
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/**
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* \brief This is the default implementation of the ros::CallbackQueueInterface
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*/
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class CallbackQueue : public CallbackQueueInterface
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{
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public:
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CallbackQueue(bool enabled = true);
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virtual ~CallbackQueue();
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virtual void addCallback(const CallbackInterfacePtr& callback);
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/**
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* \brief Pop a single callback off the front of the queue and invoke it. If the callback was not ready to be called,
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* pushes it back onto the queue.
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*
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* \param timeout The amount of time to wait for a callback to be available. If there is already a callback available,
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* this parameter does nothing.
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*/
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void callOne(ros::WallDuration timeout = ros::WallDuration(0.1f));
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/**
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* \brief Invoke all callbacks currently in the queue. If a callback was not ready to be called, pushes it back onto the queue.
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*
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* \param timeout The amount of time to wait for at least one callback to be available. If there is already at least one callback available,
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* this parameter does nothing.
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*/
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void callAvailable(ros::WallDuration timeout = ros::WallDuration(0.1f));
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/**
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* \brief returns whether or not the queue is empty
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*/
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bool empty() { return isEmpty(); }
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/**
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* \brief returns whether or not the queue is empty
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*/
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bool isEmpty();
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void clear();
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void enable();
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void disable();
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bool isEnabled();
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protected:
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typedef std::list<CallbackInterfacePtr> L_Callback;
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L_Callback callbacks_;
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boost::mutex mutex_;
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boost::condition_variable condition_;
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bool enabled_;
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};
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typedef boost::shared_ptr<CallbackQueue> CallbackQueuePtr;
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}
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#endif
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