Program Listing for File exchange.hpp
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// Copyright 2022 Harshavadan Deshpande
// Christoph Hellmann Santos
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef EXCHANGE_HPP
#define EXCHANGE_HPP
#include <boost/lockfree/queue.hpp>
#include <boost/optional.hpp>
#include <boost/thread.hpp>
namespace ros2_canopen
{
struct COData
{
public:
uint16_t index_;
uint8_t subindex_;
uint32_t data_;
};
struct COEmcy
{
public:
uint16_t eec;
uint8_t er;
uint8_t msef[5];
};
template <typename T>
class SafeQueue
{
private:
std::size_t capacity_;
std::unique_ptr<boost::lockfree::queue<T>> queue_;
public:
explicit SafeQueue(std::size_t capacity = 10)
: capacity_(capacity), queue_(new boost::lockfree::queue<T>(capacity_))
{
}
void push(T value) { queue_->push(std::move(value)); }
std::optional<T> try_pop()
{
T value;
if (queue_->pop(value)) return std::optional<T>(std::move(value));
return std::optional<T>();
}
bool try_pop(T & value)
{
if (queue_->pop(value)) return true;
return false;
}
boost::optional<T> wait_and_pop()
{
T value;
while (!queue_->pop(value)) boost::this_thread::yield();
return value;
}
void wait_and_pop(T & value)
{
while (!queue_->pop(value)) boost::this_thread::yield();
}
boost::optional<T> wait_and_pop_for(const std::chrono::milliseconds & timeout)
{
T value;
auto start_time = std::chrono::steady_clock::now();
while (!queue_->pop(value))
{
if (
timeout != std::chrono::milliseconds::zero() &&
std::chrono::steady_clock::now() - start_time >= timeout)
return boost::none;
boost::this_thread::yield();
}
return value;
}
bool wait_and_pop_for(const std::chrono::milliseconds & timeout, T & value)
{
auto start_time = std::chrono::steady_clock::now();
while (!queue_->pop(value))
{
if (
timeout != std::chrono::milliseconds::zero() &&
std::chrono::steady_clock::now() - start_time >= timeout)
return false;
boost::this_thread::yield();
}
return true;
}
bool empty() const { return queue_->empty(); }
};
} // namespace ros2_canopen
#endif // EXCHANGE_HPP