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00001 /* 00002 * Copyright (c) 2009, 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 // Author: Stuart Glaser 00031 00032 #ifndef REALTIME_BOX_H__ 00033 #define REALTIME_BOX_H__ 00034 00035 #include <string> 00036 #include <ros/node_handle.h> 00037 #include <boost/thread/mutex.hpp> 00038 #include <boost/thread/thread.hpp> 00039 00040 namespace realtime_tools { 00041 00048 template <class T> 00049 class RealtimeBox 00050 { 00051 public: 00052 RealtimeBox(const T &initial = T()) : thing_(initial) 00053 { 00054 } 00055 00056 void set(const T &value) 00057 { 00058 boost::mutex::scoped_lock guard(thing_lock_RT_); 00059 thing_ = value; 00060 } 00061 00062 void get(T &ref) 00063 { 00064 boost::mutex::scoped_lock guard(thing_lock_RT_); 00065 ref = thing_; 00066 } 00067 00068 private: 00069 // The thing that's in the box. 00070 T thing_; 00071 00072 // Protects access to the thing in the box. This mutex is 00073 // guaranteed to be locked for no longer than the duration of the 00074 // copy, so as long as the copy is realtime safe and the OS has 00075 // priority inversion for mutexes, this lock can be safely locked 00076 // from within realtime. 00077 boost::mutex thing_lock_RT_; 00078 }; 00079 00080 } // namespace 00081 00082 #endif