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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #include <rosrt/publisher.h> 00036 #include <rosrt/detail/publisher_manager.h> 00037 #include <rosrt/detail/managers.h> 00038 #include <rosrt/init.h> 00039 #include <ros/debug.h> 00040 00041 #include <lockfree/object_pool.h> 00042 00043 #include <boost/thread.hpp> 00044 00045 namespace rosrt 00046 { 00047 namespace detail 00048 { 00049 00050 bool publish(const ros::Publisher& pub, const VoidConstPtr& msg, PublishFunc pub_func, CloneFunc clone_func) 00051 { 00052 return detail::getPublisherManager()->publish(pub, msg, pub_func, clone_func); 00053 } 00054 00055 PublishQueue::PublishQueue(uint32_t size) 00056 : queue_(size) 00057 { 00058 } 00059 00060 bool PublishQueue::push(const ros::Publisher& pub, const VoidConstPtr& msg, PublishFunc pub_func, CloneFunc clone_func) 00061 { 00062 PubItem i; 00063 i.pub = pub; 00064 i.msg = msg; 00065 i.pub_func = pub_func; 00066 i.clone_func = clone_func; 00067 return queue_.push(i); 00068 } 00069 00070 uint32_t PublishQueue::publishAll() 00071 { 00072 uint32_t count = 0; 00073 00074 MWSRQueue<PubItem>::Node* it = queue_.popAll(); 00075 while (it) 00076 { 00077 // Always clone the message before publishing. Otherwise, if there's an intraprocess non-realtime subscriber that stores off the messages 00078 // it could starve the realtime publisher for messages. 00079 VoidConstPtr clone = it->val.clone_func(it->val.msg); 00080 it->val.pub_func(it->val.pub, clone); 00081 it->val.msg.reset(); 00082 it->val.pub = ros::Publisher(); 00083 MWSRQueue<PubItem>::Node* tmp = it; 00084 it = it->next; 00085 00086 queue_.free(tmp); 00087 00088 ++count; 00089 } 00090 00091 return count; 00092 } 00093 00094 PublisherManager::PublisherManager(const InitOptions& ops) 00095 : queue_(ops.pubmanager_queue_size) 00096 , pub_count_(0) 00097 , running_(true) 00098 { 00099 pub_thread_ = boost::thread(&PublisherManager::publishThread, this); 00100 } 00101 00102 PublisherManager::~PublisherManager() 00103 { 00104 running_ = false; 00105 cond_.notify_one(); 00106 pub_thread_.join(); 00107 } 00108 00109 void PublisherManager::publishThread() 00110 { 00111 while (running_) 00112 { 00113 { 00114 boost::mutex::scoped_lock lock(cond_mutex_); 00115 while (running_ && pub_count_.load() == 0) 00116 { 00117 cond_.wait(lock); 00118 } 00119 00120 if (!running_) 00121 { 00122 return; 00123 } 00124 } 00125 00126 uint32_t count = queue_.publishAll(); 00127 pub_count_.fetch_sub(count); 00128 } 00129 } 00130 00131 bool PublisherManager::publish(const ros::Publisher& pub, const VoidConstPtr& msg, PublishFunc pub_func, CloneFunc clone_func) 00132 { 00133 if (!queue_.push(pub, msg, pub_func, clone_func)) 00134 { 00135 return false; 00136 } 00137 00138 pub_count_.fetch_add(1); 00139 cond_.notify_one(); 00140 00141 return true; 00142 } 00143 00144 } // namespace detail 00145 } // namespace rosrt