realtime_box.h
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29 
30 // Author: Stuart Glaser
31 
32 #ifndef REALTIME_TOOLS__REALTIME_BOX_H__
33 #define REALTIME_TOOLS__REALTIME_BOX_H__
34 
35 #include <string>
36 #include <ros/node_handle.h>
37 #include <boost/thread/mutex.hpp>
38 #include <boost/thread/thread.hpp>
39 
40 namespace realtime_tools {
41 
48 template <class T>
50 {
51 public:
52  RealtimeBox(const T &initial = T()) : thing_(initial)
53  {
54  }
55 
56  void set(const T &value)
57  {
58  boost::mutex::scoped_lock guard(thing_lock_RT_);
59  thing_ = value;
60  }
61 
62  void get(T &ref)
63  {
64  boost::mutex::scoped_lock guard(thing_lock_RT_);
65  ref = thing_;
66  }
67 
68 private:
69  // The thing that's in the box.
70  T thing_;
71 
72  // Protects access to the thing in the box. This mutex is
73  // guaranteed to be locked for no longer than the duration of the
74  // copy, so as long as the copy is realtime safe and the OS has
75  // priority inheritance for mutexes, this lock can be safely locked
76  // from within realtime.
77  boost::mutex thing_lock_RT_;
78 };
79 
80 } // namespace
81 
82 #endif
RealtimeBox(const T &initial=T())
Definition: realtime_box.h:52


realtime_tools
Author(s): Stuart Glaser
autogenerated on Mon Feb 11 2019 03:43:21