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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef ROSRT_PUBLISHER_MANAGER_H 00036 #define ROSRT_PUBLISHER_MANAGER_H 00037 00038 #include "mwsr_queue.h" 00039 00040 #include <ros/atomic.h> 00041 #include <ros/publisher.h> 00042 #include <rosrt/publisher.h> 00043 #include <lockfree/object_pool.h> 00044 #include <boost/thread.hpp> 00045 00046 namespace rosrt 00047 { 00048 00049 struct InitOptions; 00050 00051 namespace detail 00052 { 00053 class PublishQueue 00054 { 00055 public: 00056 struct PubItem 00057 { 00058 ros::Publisher pub; 00059 VoidConstPtr msg; 00060 PublishFunc pub_func; 00061 CloneFunc clone_func; 00062 }; 00063 00064 PublishQueue(uint32_t size); 00065 00066 bool push(const ros::Publisher& pub, const VoidConstPtr& msg, PublishFunc pub_func, CloneFunc clone_func); 00067 uint32_t publishAll(); 00068 00069 private: 00070 MWSRQueue<PubItem> queue_; 00071 }; 00072 00073 class PublisherManager 00074 { 00075 public: 00076 PublisherManager(const InitOptions& ops); 00077 ~PublisherManager(); 00078 bool publish(const ros::Publisher& pub, const VoidConstPtr& msg, PublishFunc pub_func, CloneFunc clone_func); 00079 00080 private: 00081 void publishThread(); 00082 00083 PublishQueue queue_; 00084 boost::condition_variable cond_; 00085 boost::mutex cond_mutex_; 00086 boost::thread pub_thread_; 00087 ros::atomic<uint32_t> pub_count_; 00088 volatile bool running_; 00089 }; 00090 00091 } // namespace detail 00092 } // namespace rosrt 00093 00094 #endif // ROSRT_PUBLISHER_MANAGER_H 00095