ThreadedStream.h
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00001 /*
00002  * Copyright (c) 2017 Roboception GmbH
00003  * All rights reserved
00004  *
00005  * Author: Christian Emmerich
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
00009  *
00010  * 1. Redistributions of source code must retain the above copyright notice,
00011  * this list of conditions and the following disclaimer.
00012  *
00013  * 2. Redistributions in binary form must reproduce the above copyright notice,
00014  * this list of conditions and the following disclaimer in the documentation
00015  * and/or other materials provided with the distribution.
00016  *
00017  * 3. Neither the name of the copyright holder nor the names of its contributors
00018  * may be used to endorse or promote products derived from this software without
00019  * specific prior written permission.
00020  *
00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00022  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00023  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00024  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
00025  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00026  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00027  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00028  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00029  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00030  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00031  * POSSIBILITY OF SUCH DAMAGE.
00032  */
00033 
00034 #ifndef RC_VISARD_DRIVER_THREADEDSTREAMER_H
00035 #define RC_VISARD_DRIVER_THREADEDSTREAMER_H
00036 
00037 #include <memory>
00038 #include <thread>
00039 #include <atomic>
00040 
00041 #include <rc_dynamics_api/remote_interface.h>
00042 #include <ros/ros.h>
00043 
00044 
00045 namespace rc
00046 {
00047 
00061 class ThreadedStream
00062 {
00063   public:
00064     typedef std::shared_ptr<ThreadedStream> Ptr;
00065 
00066     class Manager: public std::enable_shared_from_this<Manager>
00067     {
00068       public:
00069         typedef std::shared_ptr<Manager> Ptr;
00070 
00071         static Ptr create();
00072 
00073         void add(ThreadedStream::Ptr stream);
00074         const std::list<ThreadedStream::Ptr>& get();
00075 
00076         void start_all();
00077         void stop_all();
00078         void join_all();
00079 
00080         bool all_succeeded() const;
00081         inline const std::atomic_bool& any_failed() const { return _any_failed; }
00082 
00083       protected:
00084         Manager();
00085 
00086         std::atomic_bool _any_failed;
00087         std::list<ThreadedStream::Ptr> _streams;
00088 
00089         friend ThreadedStream;
00090     };
00091 
00092     void start();
00093     void stop();
00094     void join();
00095 
00096     inline const std::string &name() const { return _stream; }
00097     inline const std::atomic_bool &requested() const { return _requested; }
00098     inline const std::atomic_bool &succeeded() const { return _success; }
00099 
00100   protected:
00101     ThreadedStream(rc::dynamics::RemoteInterface::Ptr rcdIface,
00102                    const std::string &stream, ros::NodeHandle &nh);
00103 
00107     virtual bool startReceivingAndPublishingAsRos() = 0;
00108 
00109     virtual void work();
00110 
00111     std::atomic_bool _stop, _requested, _success;
00112 
00113     std::thread _thread;
00114     Manager::Ptr _manager;
00115 
00116     rc::dynamics::RemoteInterface::Ptr _rcdyn;
00117     std::string _stream;
00118     ros::NodeHandle _nh;
00119 };
00120 
00121 }
00122 
00123 
00124 #endif //RC_VISARD_DRIVER_THREADEDSTREAMER_H


rc_visard_driver
Author(s): Heiko Hirschmueller , Christian Emmerich , Felix Ruess
autogenerated on Thu Jun 6 2019 20:43:06