00001 /* 00002 * Copyright (C) 2009, Willow Garage, Inc. 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions are met: 00006 * * Redistributions of source code must retain the above copyright notice, 00007 * this list of conditions and the following disclaimer. 00008 * * Redistributions in binary form must reproduce the above copyright 00009 * notice, this list of conditions and the following disclaimer in the 00010 * documentation and/or other materials provided with the distribution. 00011 * * Neither the names of Willow Garage, Inc. nor the names of its 00012 * contributors may be used to endorse or promote products derived from 00013 * this software without specific prior written permission. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 * POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #ifndef ROSCPP_SUBSCRIPTION_QUEUE_H 00029 #define ROSCPP_SUBSCRIPTION_QUEUE_H 00030 00031 #include "forwards.h" 00032 #include "common.h" 00033 #include "message_event.h" 00034 #include "callback_queue_interface.h" 00035 00036 #include <boost/thread/recursive_mutex.hpp> 00037 #include <boost/thread/mutex.hpp> 00038 #include <boost/enable_shared_from_this.hpp> 00039 #include <deque> 00040 00041 namespace ros 00042 { 00043 00044 class MessageDeserializer; 00045 typedef boost::shared_ptr<MessageDeserializer> MessageDeserializerPtr; 00046 00047 class SubscriptionCallbackHelper; 00048 typedef boost::shared_ptr<SubscriptionCallbackHelper> SubscriptionCallbackHelperPtr; 00049 00050 class ROSCPP_DECL SubscriptionQueue : public CallbackInterface, public boost::enable_shared_from_this<SubscriptionQueue> 00051 { 00052 private: 00053 struct Item 00054 { 00055 SubscriptionCallbackHelperPtr helper; 00056 MessageDeserializerPtr deserializer; 00057 00058 bool has_tracked_object; 00059 VoidConstWPtr tracked_object; 00060 00061 bool nonconst_need_copy; 00062 ros::Time receipt_time; 00063 }; 00064 typedef std::deque<Item> D_Item; 00065 00066 public: 00067 SubscriptionQueue(const std::string& topic, int32_t queue_size, bool allow_concurrent_callbacks); 00068 ~SubscriptionQueue(); 00069 00070 void push(const SubscriptionCallbackHelperPtr& helper, const MessageDeserializerPtr& deserializer, 00071 bool has_tracked_object, const VoidConstWPtr& tracked_object, bool nonconst_need_copy, 00072 ros::Time receipt_time = ros::Time(), bool* was_full = 0); 00073 void clear(); 00074 00075 virtual CallbackInterface::CallResult call(); 00076 virtual bool ready(); 00077 bool full(); 00078 00079 private: 00080 bool fullNoLock(); 00081 std::string topic_; 00082 int32_t size_; 00083 bool full_; 00084 00085 boost::mutex queue_mutex_; 00086 D_Item queue_; 00087 uint32_t queue_size_; 00088 bool allow_concurrent_callbacks_; 00089 00090 boost::recursive_mutex callback_mutex_; 00091 }; 00092 00093 } 00094 00095 #endif // ROSCPP_SUBSCRIPTION_QUEUE_H