callback_queue.h

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
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#ifndef NODELET_CALLBACK_QUEUE_H
#define NODELET_CALLBACK_QUEUE_H
 
#include "nodelet/nodeletdecl.h"
 
#include <ros/callback_queue.h>
#include <ros/callback_queue_interface.h>
#include <boost/enable_shared_from_this.hpp>
 
namespace ros
{
class CallbackQueue;
}
 
namespace nodelet
{
 
namespace detail
{
 
class CallbackQueueManager;
 
class NODELETLIB_DECL CallbackQueue : public ros::CallbackQueueInterface,
                      public boost::enable_shared_from_this<CallbackQueue>
{
public:
  CallbackQueue(CallbackQueueManager* parent,
                const ros::VoidConstPtr& tracked_object = ros::VoidConstPtr());
  ~CallbackQueue();
 
  virtual void addCallback(const ros::CallbackInterfacePtr& callback, uint64_t owner_id = 0);
  virtual void removeByID(uint64_t owner_id);
 
  uint32_t callOne();
 
  void enable();
  void disable();
 
 
private:
  CallbackQueueManager* parent_;
  ros::CallbackQueue queue_;
  ros::VoidConstWPtr tracked_object_;
  bool has_tracked_object_;
};
 
} // namespace detail
} // namespace nodelet
 
#endif // NODELET_CALLBACK_QUEUE_H