spinner.h
Go to the documentation of this file.00001 /* 00002 * Copyright (C) 2009, Willow Garage, Inc. 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions are met: 00006 * * Redistributions of source code must retain the above copyright notice, 00007 * this list of conditions and the following disclaimer. 00008 * * Redistributions in binary form must reproduce the above copyright 00009 * notice, this list of conditions and the following disclaimer in the 00010 * documentation and/or other materials provided with the distribution. 00011 * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its 00012 * contributors may be used to endorse or promote products derived from 00013 * this software without specific prior written permission. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 * POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #ifndef ROSCPP_SPINNER_H 00029 #define ROSCPP_SPINNER_H 00030 00031 #include "ros/types.h" 00032 #include "common.h" 00033 00034 #include <boost/shared_ptr.hpp> 00035 00036 namespace ros 00037 { 00038 class NodeHandle; 00039 class CallbackQueue; 00040 00044 class ROSCPP_DECL Spinner 00045 { 00046 public: 00047 virtual ~Spinner() {} 00048 00052 virtual void spin(CallbackQueue* queue = 0) = 0; 00053 }; 00054 00058 class SingleThreadedSpinner : public Spinner 00059 { 00060 public: 00061 virtual void spin(CallbackQueue* queue = 0); 00062 }; 00063 00067 class ROSCPP_DECL MultiThreadedSpinner : public Spinner 00068 { 00069 public: 00074 MultiThreadedSpinner(uint32_t thread_count = 0); 00075 00076 virtual void spin(CallbackQueue* queue = 0); 00077 00078 private: 00079 uint32_t thread_count_; 00080 }; 00081 00082 class AsyncSpinnerImpl; 00083 typedef boost::shared_ptr<AsyncSpinnerImpl> AsyncSpinnerImplPtr; 00084 00093 class ROSCPP_DECL AsyncSpinner 00094 { 00095 public: 00100 AsyncSpinner(uint32_t thread_count); 00101 00107 AsyncSpinner(uint32_t thread_count, CallbackQueue* queue); 00108 00109 00110 00114 void start(); 00118 void stop(); 00119 00120 private: 00121 AsyncSpinnerImplPtr impl_; 00122 }; 00123 00124 } 00125 00126 #endif // ROSCPP_SPIN_POLICY_H