callback_queue.h
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00001 /*
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00034 
00035 #ifndef ROSCPP_CALLBACK_QUEUE_H
00036 #define ROSCPP_CALLBACK_QUEUE_H
00037 
00038 #include "ros/callback_queue_interface.h"
00039 #include "ros/time.h"
00040 #include "common.h"
00041 
00042 #include <boost/shared_ptr.hpp>
00043 #include <boost/thread/mutex.hpp>
00044 #include <boost/thread/shared_mutex.hpp>
00045 #include <boost/thread/condition_variable.hpp>
00046 #include <boost/thread/tss.hpp>
00047 
00048 #include <list>
00049 #include <deque>
00050 
00051 namespace ros
00052 {
00053 
00057 class ROSCPP_DECL CallbackQueue : public CallbackQueueInterface
00058 {
00059 public:
00060   CallbackQueue(bool enabled = true);
00061   virtual ~CallbackQueue();
00062 
00063   virtual void addCallback(const CallbackInterfacePtr& callback, uint64_t removal_id = 0);
00064   virtual void removeByID(uint64_t removal_id);
00065 
00066   enum CallOneResult
00067   {
00068     Called,
00069     TryAgain,
00070     Disabled,
00071     Empty,
00072   };
00073 
00078   CallOneResult callOne()
00079   {
00080     return callOne(ros::WallDuration());
00081   }
00082 
00091   CallOneResult callOne(ros::WallDuration timeout);
00092 
00096   void callAvailable()
00097   {
00098     callAvailable(ros::WallDuration());
00099   }
00107   void callAvailable(ros::WallDuration timeout);
00108 
00112   bool empty() { return isEmpty(); }
00116   bool isEmpty();
00120   void clear();
00121 
00125   void enable();
00129   void disable();
00133   bool isEnabled();
00134 
00135 protected:
00136   void setupTLS();
00137 
00138   struct TLS;
00139   CallOneResult callOneCB(TLS* tls);
00140 
00141   struct IDInfo
00142   {
00143     uint64_t id;
00144     boost::shared_mutex calling_rw_mutex;
00145   };
00146   typedef boost::shared_ptr<IDInfo> IDInfoPtr;
00147   typedef std::map<uint64_t, IDInfoPtr> M_IDInfo;
00148 
00149   IDInfoPtr getIDInfo(uint64_t id);
00150 
00151   struct CallbackInfo
00152   {
00153     CallbackInfo()
00154     : removal_id(0)
00155     , marked_for_removal(false)
00156     {}
00157     CallbackInterfacePtr callback;
00158     uint64_t removal_id;
00159     bool marked_for_removal;
00160   };
00161   typedef std::list<CallbackInfo> L_CallbackInfo;
00162   typedef std::deque<CallbackInfo> D_CallbackInfo;
00163   D_CallbackInfo callbacks_;
00164   size_t calling_;
00165   boost::mutex mutex_;
00166   boost::condition_variable condition_;
00167 
00168   boost::mutex id_info_mutex_;
00169   M_IDInfo id_info_;
00170 
00171   struct TLS
00172   {
00173     TLS()
00174     : calling_in_this_thread(0xffffffffffffffffULL)
00175     , cb_it(callbacks.end())
00176     {}
00177     uint64_t calling_in_this_thread;
00178     D_CallbackInfo callbacks;
00179     D_CallbackInfo::iterator cb_it;
00180   };
00181   boost::thread_specific_ptr<TLS> tls_;
00182 
00183   bool enabled_;
00184 };
00185 typedef boost::shared_ptr<CallbackQueue> CallbackQueuePtr;
00186 
00187 }
00188 
00189 #endif


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 04:01:03