ThreadedStream.h

Go to the documentation of this file.

/*
 * Copyright (c) 2017 Roboception GmbH
 * All rights reserved
 *
 * Author: Christian Emmerich
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RC_VISARD_DRIVER_THREADEDSTREAMER_H
#define RC_VISARD_DRIVER_THREADEDSTREAMER_H

#include <memory>
#include <thread>
#include <atomic>

#include <rc_dynamics_api/remote_interface.h>
#include <ros/ros.h>

namespace rc
{
class ThreadedStream
{
public:
  typedef std::shared_ptr<ThreadedStream> Ptr;

  class Manager : public std::enable_shared_from_this<Manager>
  {
  public:
    typedef std::shared_ptr<Manager> Ptr;

    static Ptr create();

    void add(ThreadedStream::Ptr stream);
    const std::list<ThreadedStream::Ptr>& get();

    void start_all();
    void stop_all();
    void join_all();

    bool all_succeeded() const;
    inline const std::atomic_bool& any_failed() const
    {
      return _any_failed;
    }

  protected:
    Manager();

    std::atomic_bool _any_failed;
    std::list<ThreadedStream::Ptr> _streams;

    friend ThreadedStream;
  };

  void start();
  void stop();
  void join();

  inline const std::string& name() const
  {
    return _stream;
  }
  inline const std::atomic_bool& requested() const
  {
    return _requested;
  }
  inline const std::atomic_bool& succeeded() const
  {
    return _success;
  }

protected:
  ThreadedStream(rc::dynamics::RemoteInterface::Ptr rcdIface, const std::string& stream, ros::NodeHandle& nh);

  virtual bool startReceivingAndPublishingAsRos() = 0;

  virtual void work();

  std::atomic_bool _stop, _requested, _success;

  std::thread _thread;
  Manager::Ptr _manager;

  rc::dynamics::RemoteInterface::Ptr _rcdyn;
  std::string _stream;
  ros::NodeHandle _nh;
};
}

#endif  // RC_VISARD_DRIVER_THREADEDSTREAMER_H