xdacallback.h

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#ifndef XDACALLBACK_H
#define XDACALLBACK_H
 
#include <ros/ros.h>
#include <xscontroller/xscallback.h>
#include <mutex>
#include <condition_variable>
#include <list>
 
struct XsDataPacket;
struct XsDevice;
 
typedef std::pair<ros::Time, XsDataPacket> RosXsDataPacket;
 
class XdaCallback : public XsCallback
{
public:
        XdaCallback(size_t maxBufferSize = 5);
        virtual ~XdaCallback() throw();
 
        RosXsDataPacket next(const std::chrono::milliseconds &timeout);
 
protected:
        void onLiveDataAvailable(XsDevice *, const XsDataPacket *packet) override;
 
private:
        std::mutex m_mutex;
        std::condition_variable m_condition;
        std::list<RosXsDataPacket> m_buffer;
        size_t m_maxBufferSize;
};
 
#endif