publisher_manager.h
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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 


rosrt
Author(s): Josh Faust
autogenerated on Sat Dec 28 2013 17:34:37