nodelet: callback_queue.h 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 #ifndef NODELET_CALLBACK_QUEUE_H
00031 #define NODELET_CALLBACK_QUEUE_H
00032 
00033 #include "ros/callback_queue_interface.h"
00034 #include <boost/enable_shared_from_this.hpp>
00035 
00036 namespace ros
00037 {
00038 class CallbackQueue;
00039 }
00040 
00041 namespace nodelet
00042 {
00043 
00044 namespace detail
00045 {
00046 
00047 class CallbackQueueManager;
00048 
00049 class CallbackQueue : public ros::CallbackQueueInterface,
00050                       public boost::enable_shared_from_this<CallbackQueue>
00051 {
00052 public:
00053   CallbackQueue(CallbackQueueManager* parent,
00054                 const ros::VoidConstPtr& tracked_object = ros::VoidConstPtr());
00055   ~CallbackQueue();
00056 
00057   virtual void addCallback(const ros::CallbackInterfacePtr& callback, uint64_t owner_id = 0);
00058   virtual void removeByID(uint64_t owner_id);
00059 
00060   uint32_t callOne();
00061 
00062   void disable();
00063 
00064 private:
00065   CallbackQueueManager* parent_;
00066   ros::CallbackQueue* queue_;
00067   ros::VoidConstWPtr tracked_object_;
00068   bool has_tracked_object_;
00069 };
00070 
00071 } // namespace detail
00072 } // namespace nodelet
00073 
00074 #endif // NODELET_CALLBACK_QUEUE_H