nodelet: callback_queue.cpp Source File

00001 /*
00002  * Copyright (c) 2010, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <nodelet/detail/callback_queue.h>
00031 #include <nodelet/detail/callback_queue_manager.h>
00032 
00033 #include <ros/callback_queue.h>
00034 
00035 namespace nodelet
00036 {
00037 namespace detail
00038 {
00039 
00040 CallbackQueue::CallbackQueue(CallbackQueueManager* parent,
00041                              const ros::VoidConstPtr& tracked_object)
00042 : parent_(parent)
00043 , queue_(new ros::CallbackQueue)
00044 , tracked_object_(tracked_object)
00045 , has_tracked_object_(tracked_object)
00046 {
00047 }
00048 
00049 CallbackQueue::~CallbackQueue()
00050 {
00051   queue_->disable();
00052   queue_->clear();
00053   delete queue_;
00054 }
00055 
00056 void CallbackQueue::addCallback(const ros::CallbackInterfacePtr& cb, uint64_t owner_id)
00057 {
00058   if (queue_->isEnabled())
00059   {
00060     queue_->addCallback(cb, owner_id);
00061     parent_->callbackAdded(shared_from_this());
00062   }
00063 }
00064 
00065 void CallbackQueue::removeByID(uint64_t owner_id)
00066 {
00067   queue_->removeByID(owner_id);
00068 }
00069 
00070 uint32_t CallbackQueue::callOne()
00071 {
00072   // Don't try to call the callback after its nodelet has been destroyed!
00073   ros::VoidConstPtr tracker;
00074   if (has_tracked_object_)
00075   {
00076     tracker = tracked_object_.lock();
00077 
00078     if (!tracker)
00079       return ros::CallbackQueue::Disabled;
00080   }
00081   
00082   return queue_->callOne();
00083 }
00084 
00085 void CallbackQueue::disable()
00086 {
00087   parent_->removeQueue(shared_from_this());
00088   queue_->disable();
00089 }
00090 
00091 } // namespace detail
00092 } // namespace nodelet