Program Listing for File message_cache.hpp

↰ Return to documentation for file (/tmp/ws/src/rosbag2/rosbag2_cpp/include/rosbag2_cpp/cache/message_cache.hpp)

// Copyright 2020, Robotec.ai sp. z o.o.
//
// 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 ROSBAG2_CPP__CACHE__MESSAGE_CACHE_HPP_
#define ROSBAG2_CPP__CACHE__MESSAGE_CACHE_HPP_

#include <atomic>
#include <condition_variable>
#include <unordered_map>
#include <memory>
#include <mutex>
#include <string>
#include <vector>

#include "rcpputils/thread_safety_annotations.hpp"

#include "rosbag2_cpp/cache/message_cache_buffer.hpp"
#include "rosbag2_cpp/cache/message_cache_interface.hpp"
#include "rosbag2_cpp/cache/cache_buffer_interface.hpp"
#include "rosbag2_cpp/visibility_control.hpp"

#include "rosbag2_storage/serialized_bag_message.hpp"

// This is necessary because of using stl types here. It is completely safe, because
// a) the member is not accessible from the outside
// b) there are no inline functions.
#ifdef _WIN32
# pragma warning(push)
# pragma warning(disable:4251)
#endif

namespace rosbag2_cpp
{
namespace cache
{
class ROSBAG2_CPP_PUBLIC MessageCache
  : public MessageCacheInterface
{
public:
  explicit MessageCache(size_t max_buffer_size);

  ~MessageCache() override;

  void push(std::shared_ptr<const rosbag2_storage::SerializedBagMessage> msg) override;

  std::shared_ptr<CacheBufferInterface>
  get_consumer_buffer() override RCPPUTILS_TSA_ACQUIRE(consumer_buffer_mutex_);

  void release_consumer_buffer() override RCPPUTILS_TSA_RELEASE(consumer_buffer_mutex_);

  void wait_for_data() override;

  void swap_buffers() override;

  void begin_flushing() override;

  void done_flushing() override;

  void log_dropped() override;

  void notify_data_ready() override;

protected:
  std::unordered_map<std::string, uint32_t> messages_dropped_per_topic_;

private:
  std::shared_ptr<MessageCacheBuffer> producer_buffer_;
  std::mutex producer_buffer_mutex_;
  std::shared_ptr<MessageCacheBuffer> consumer_buffer_;
  std::mutex consumer_buffer_mutex_;

  bool data_ready_ {false};
  std::condition_variable cache_condition_var_;

  std::atomic_bool flushing_ {false};
};

}  // namespace cache
}  // namespace rosbag2_cpp

#ifdef _WIN32
# pragma warning(pop)
#endif

#endif  // ROSBAG2_CPP__CACHE__MESSAGE_CACHE_HPP_