callback_queue.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
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 *       notice, this list of conditions and the following disclaimer in the
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 *       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"
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#include <nodelet/detail/callback_queue.h>
#include <nodelet/detail/callback_queue_manager.h>

#include <ros/callback_queue.h>

namespace nodelet
{
namespace detail
{

CallbackQueue::CallbackQueue(CallbackQueueManager* parent,
                             const ros::VoidConstPtr& tracked_object)
: parent_(parent)
, tracked_object_(tracked_object)
, has_tracked_object_(tracked_object)
{
}

CallbackQueue::~CallbackQueue()
{
}

void CallbackQueue::addCallback(const ros::CallbackInterfacePtr& cb, uint64_t owner_id)
{
  if (queue_.isEnabled())
  {
    queue_.addCallback(cb, owner_id);
    parent_->callbackAdded(shared_from_this());
  }
}

void CallbackQueue::removeByID(uint64_t owner_id)
{
  queue_.removeByID(owner_id);
}

uint32_t CallbackQueue::callOne()
{
  // Don't try to call the callback after its nodelet has been destroyed!
  ros::VoidConstPtr tracker;
  if (has_tracked_object_)
  {
    tracker = tracked_object_.lock();

    if (!tracker)
      return ros::CallbackQueue::Disabled;
  }
  
  return queue_.callOne();
}

} // namespace detail
} // namespace nodelet