message_queue.h

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// In-Memory message buffer
// Author: Max Schwarz <max.schwarz@ais.uni-bonn.de>
 
#ifndef ROSBAG_FANCY_MESSAGE_QUEUE_H
#define ROSBAG_FANCY_MESSAGE_QUEUE_H
 
#include <atomic>
#include <queue>
#include <mutex>
#include <condition_variable>
 
#include <boost/optional.hpp>
 
#include <ros/message_event.h>
 
#include <topic_tools/shape_shifter.h>
 
namespace rosbag_fancy
{
 
struct Topic;
 
class MessageQueue
{
public:
        struct Message
        {
                std::string topic;
                ros::MessageEvent<const topic_tools::ShapeShifter> message;
 
                uint64_t size() const
                { return message.getConstMessage()->size(); }
 
                Topic* topicData;
        };
 
        explicit MessageQueue(uint64_t byteLimit);
 
        bool push(const Message& msg);
        boost::optional<Message> pop();
 
        void shutdown();
 
        uint64_t bytesInQueue() const
        { return m_bytesInQueue; }
 
        uint64_t messagesInQueue() const
        { return m_msgsInQueue; }
private:
        std::queue<Message> m_queue;
        std::mutex m_mutex;
        std::condition_variable m_cond;
 
        std::atomic<std::uint64_t> m_bytesInQueue{0};
        std::atomic<std::uint64_t> m_msgsInQueue{0};
        uint64_t m_byteLimit;
 
        bool m_shuttingDown{false};
};
 
}
 
#endif