subscription_queue.cpp

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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 */
 
 
#include "ros/subscription_queue.h"
#include "ros/message_deserializer.h"
#include "ros/subscription_callback_helper.h"
 
namespace ros
{
 
SubscriptionQueue::SubscriptionQueue(const std::string& topic, int32_t queue_size, bool allow_concurrent_callbacks)
: topic_(topic)
, size_(queue_size)
, full_(false)
, queue_size_(0)
, allow_concurrent_callbacks_(allow_concurrent_callbacks)
{}
 
SubscriptionQueue::~SubscriptionQueue()
{
 
}
 
void SubscriptionQueue::push(const SubscriptionCallbackHelperPtr& helper, const MessageDeserializerPtr& deserializer,
                                 bool has_tracked_object, const VoidConstWPtr& tracked_object, bool nonconst_need_copy,
                                 ros::Time receipt_time, bool* was_full)
{
  boost::mutex::scoped_lock lock(queue_mutex_);
 
  if (was_full)
  {
    *was_full = false;
  }
 
  if(fullNoLock())
  {
    queue_.pop_front();
    --queue_size_;
 
    if (!full_)
    {
      ROS_DEBUG("Incoming queue was full for topic \"%s\". Discarded oldest message (current queue size [%d])", topic_.c_str(), (int)queue_.size());
    }
 
    full_ = true;
 
    if (was_full)
    {
      *was_full = true;
    }
  }
  else
  {
    full_ = false;
  }
 
  Item i;
  i.helper = helper;
  i.deserializer = deserializer;
  i.has_tracked_object = has_tracked_object;
  i.tracked_object = tracked_object;
  i.nonconst_need_copy = nonconst_need_copy;
  i.receipt_time = receipt_time;
  queue_.push_back(i);
  ++queue_size_;
}
 
void SubscriptionQueue::clear()
{
  boost::recursive_mutex::scoped_lock cb_lock(callback_mutex_);
  boost::mutex::scoped_lock queue_lock(queue_mutex_);
 
  queue_.clear();
  queue_size_ = 0;
}
 
CallbackInterface::CallResult SubscriptionQueue::call()
{
  // The callback may result in our own destruction.  Therefore, we may need to keep a reference to ourselves
  // that outlasts the scoped_try_lock
  boost::shared_ptr<SubscriptionQueue> self;
  boost::recursive_mutex::scoped_try_lock lock(callback_mutex_, boost::defer_lock);
 
  if (!allow_concurrent_callbacks_)
  {
    lock.try_lock();
    if (!lock.owns_lock())
    {
      return CallbackInterface::TryAgain;
    }
  }
 
  VoidConstPtr tracker;
  Item i;
 
  {
    boost::mutex::scoped_lock lock(queue_mutex_);
 
    if (queue_.empty())
    {
      return CallbackInterface::Invalid;
    }
 
    i = queue_.front();
 
    if (queue_.empty())
    {
      return CallbackInterface::Invalid;
    }
 
    if (i.has_tracked_object)
    {
      tracker = i.tracked_object.lock();
 
      if (!tracker)
      {
        return CallbackInterface::Invalid;
      }
    }
 
    queue_.pop_front();
    --queue_size_;
  }
 
  VoidConstPtr msg = i.deserializer->deserialize();
 
  // msg can be null here if deserialization failed
  if (msg)
  {
    try
    {
      self = shared_from_this();
    }
    catch (boost::bad_weak_ptr&) // For the tests, where we don't create a shared_ptr
    {}
 
    SubscriptionCallbackHelperCallParams params;
    params.event = MessageEvent<void const>(msg, i.deserializer->getConnectionHeader(), i.receipt_time, i.nonconst_need_copy, MessageEvent<void const>::CreateFunction());
    i.helper->call(params);
  }
 
  return CallbackInterface::Success;
}
 
bool SubscriptionQueue::ready()
{
  return true;
}
 
bool SubscriptionQueue::full()
{
  boost::mutex::scoped_lock lock(queue_mutex_);
  return fullNoLock();
}
 
bool SubscriptionQueue::fullNoLock()
{
  return (size_ > 0) && (queue_size_ >= (uint32_t)size_);
}
 
}