callback_queue.h

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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#ifndef NODELET_CALLBACK_QUEUE_H
#define NODELET_CALLBACK_QUEUE_H

#include "nodelet/nodeletdecl.h"

#include <ros/callback_queue.h>
#include <ros/callback_queue_interface.h>
#include <boost/enable_shared_from_this.hpp>

namespace ros
{
class CallbackQueue;
}

namespace nodelet
{

namespace detail
{

class CallbackQueueManager;

class NODELETLIB_DECL CallbackQueue : public ros::CallbackQueueInterface,
                      public boost::enable_shared_from_this<CallbackQueue>
{
public:
  CallbackQueue(CallbackQueueManager* parent,
                const ros::VoidConstPtr& tracked_object = ros::VoidConstPtr());
  ~CallbackQueue();

  virtual void addCallback(const ros::CallbackInterfacePtr& callback, uint64_t owner_id = 0);
  virtual void removeByID(uint64_t owner_id);

  uint32_t callOne();

  void enable();
  void disable();


private:
  CallbackQueueManager* parent_;
  ros::CallbackQueue queue_;
  ros::VoidConstWPtr tracked_object_;
  bool has_tracked_object_;
};

} // namespace detail
} // namespace nodelet

#endif // NODELET_CALLBACK_QUEUE_H