pipeline.h

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#pragma once
 
#include <chrono>
#include <condition_variable>
#include <thread>
#include <vector>
#include <memory>
#include <mutex>
#include <ros/ros.h>
#include "pf_driver/queue/readerwriterqueue.h"
#include "pf_driver/pf/writer.h"
#include "pf_driver/pf/reader.h"
 
class PFPacket;
 
class Pipeline
{
public:
  Pipeline(std::shared_ptr<Writer<PFPacket>> writer, std::shared_ptr<Reader<PFPacket>> reader,
           std::function<void()> func, std::shared_ptr<std::mutex> net_mtx,
           std::shared_ptr<std::condition_variable> net_cv, bool& net_fail);
 
  bool start();
 
  void terminate();
 
  bool is_running();
 
  void on_shutdown();
 
private:
  moodycamel::BlockingReaderWriterQueue<std::unique_ptr<PFPacket>> queue_;  // the queue basically stored scan data
  std::shared_ptr<Reader<PFPacket>> reader_;
  std::shared_ptr<Writer<PFPacket>> writer_;
  std::function<void()> shutdown;
  std::atomic<bool> running_, shutdown_;
  std::thread reader_thread_, writer_thread_;
  std::mutex mutex_;
  std::shared_ptr<std::mutex> net_mtx_;
  std::shared_ptr<std::condition_variable> net_cv_;
  bool& net_fail_;
 
  void run_writer();
 
  void run_reader();
};