include
realtime_tools
realtime_box.h
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/*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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// Author: Stuart Glaser
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#ifndef REALTIME_TOOLS__REALTIME_BOX_H__
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#define REALTIME_TOOLS__REALTIME_BOX_H__
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#include <mutex>
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#include <string>
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namespace
realtime_tools
{
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template
<
class
T>
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class
RealtimeBox
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{
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public
:
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RealtimeBox
(
const
T &initial = T()) :
thing_
(initial)
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{
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}
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void
set
(
const
T &value)
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{
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std::lock_guard<std::mutex> guard(
thing_lock_RT_
);
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thing_
= value;
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}
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void
get
(T &ref)
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{
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std::lock_guard<std::mutex> guard(
thing_lock_RT_
);
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ref =
thing_
;
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}
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private
:
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// The thing that's in the box.
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T
thing_
;
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// Protects access to the thing in the box. This mutex is
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// guaranteed to be locked for no longer than the duration of the
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// copy, so as long as the copy is realtime safe and the OS has
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// priority inheritance for mutexes, this lock can be safely locked
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// from within realtime.
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std::mutex
thing_lock_RT_
;
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};
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}
// namespace
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#endif
realtime_tools::RealtimeBox::thing_
T thing_
Definition:
realtime_box.h:68
realtime_tools::RealtimeBox
Definition:
realtime_box.h:47
realtime_tools
Definition:
realtime_box.h:38
realtime_tools::RealtimeBox::thing_lock_RT_
std::mutex thing_lock_RT_
Definition:
realtime_box.h:75
realtime_tools::RealtimeBox::RealtimeBox
RealtimeBox(const T &initial=T())
Definition:
realtime_box.h:50
realtime_tools
Author(s): Stuart Glaser
autogenerated on Mon Feb 28 2022 23:22:45