subscription_queue.h

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
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 * modification, are permitted provided that the following conditions are met:
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef ROSCPP_SUBSCRIPTION_QUEUE_H
#define ROSCPP_SUBSCRIPTION_QUEUE_H

#include "forwards.h"
#include "common.h"
#include "message_event.h"
#include "callback_queue_interface.h"

#include <boost/thread/recursive_mutex.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/enable_shared_from_this.hpp>
#include <deque>

namespace ros
{

class MessageDeserializer;
typedef boost::shared_ptr<MessageDeserializer> MessageDeserializerPtr;

class SubscriptionCallbackHelper;
typedef boost::shared_ptr<SubscriptionCallbackHelper> SubscriptionCallbackHelperPtr;

class ROSCPP_DECL SubscriptionQueue : public CallbackInterface, public boost::enable_shared_from_this<SubscriptionQueue>
{
private:
  struct Item
  {
    SubscriptionCallbackHelperPtr helper;
    MessageDeserializerPtr deserializer;

    bool has_tracked_object;
    VoidConstWPtr tracked_object;

    bool nonconst_need_copy;
    ros::Time receipt_time;
  };
  typedef std::deque<Item> D_Item;

public:
  SubscriptionQueue(const std::string& topic, int32_t queue_size, bool allow_concurrent_callbacks);
  ~SubscriptionQueue();

  void push(const SubscriptionCallbackHelperPtr& helper, const MessageDeserializerPtr& deserializer, 
            bool has_tracked_object, const VoidConstWPtr& tracked_object, bool nonconst_need_copy, 
            ros::Time receipt_time = ros::Time(), bool* was_full = 0);
  void clear();

  virtual CallbackInterface::CallResult call();
  virtual bool ready();
  bool full();

private:
  bool fullNoLock();
  std::string topic_;
  int32_t size_;
  bool full_;

  boost::mutex queue_mutex_;
  D_Item queue_;
  uint32_t queue_size_;
  bool allow_concurrent_callbacks_;

  boost::recursive_mutex callback_mutex_;
};

}

#endif // ROSCPP_SUBSCRIPTION_QUEUE_H