realtime_box.h
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00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 // Author: Stuart Glaser
00031 
00032 #ifndef REALTIME_BOX_H__
00033 #define REALTIME_BOX_H__
00034 
00035 #include <string>
00036 #include <ros/node_handle.h>
00037 #include <boost/thread/mutex.hpp>
00038 #include <boost/thread/thread.hpp>
00039 
00040 namespace realtime_tools {
00041 
00048 template <class T>
00049 class RealtimeBox
00050 {
00051 public:
00052   RealtimeBox(const T &initial = T()) : thing_(initial)
00053   {
00054   }
00055 
00056   void set(const T &value)
00057   {
00058     boost::mutex::scoped_lock guard(thing_lock_RT_);
00059     thing_ = value;
00060   }
00061 
00062   void get(T &ref)
00063   {
00064     boost::mutex::scoped_lock guard(thing_lock_RT_);
00065     ref = thing_;
00066   }
00067 
00068 private:
00069   // The thing that's in the box.
00070   T thing_;
00071 
00072   // Protects access to the thing in the box.  This mutex is
00073   // guaranteed to be locked for no longer than the duration of the
00074   // copy, so as long as the copy is realtime safe and the OS has
00075   // priority inversion for mutexes, this lock can be safely locked
00076   // from within realtime.
00077   boost::mutex thing_lock_RT_;
00078 };
00079 
00080 } // namespace
00081 
00082 #endif


realtime_tools
Author(s): Stuart Glaser
autogenerated on Thu Aug 27 2015 14:38:05