spinner.h
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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 Stanford University or 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_SPINNER_H
00029 #define ROSCPP_SPINNER_H
00030 
00031 #include "ros/types.h"
00032 #include "common.h"
00033 
00034 #include <boost/shared_ptr.hpp>
00035 
00036 namespace ros
00037 {
00038 class NodeHandle;
00039 class CallbackQueue;
00040 
00044 class ROSCPP_DECL Spinner
00045 {
00046 public:
00047   virtual ~Spinner() {}
00048 
00052   virtual void spin(CallbackQueue* queue = 0) = 0;
00053 };
00054 
00058 class SingleThreadedSpinner : public Spinner
00059 {
00060 public:
00061   virtual void spin(CallbackQueue* queue = 0);
00062 };
00063 
00067 class ROSCPP_DECL MultiThreadedSpinner : public Spinner
00068 {
00069 public:
00074   MultiThreadedSpinner(uint32_t thread_count = 0);
00075 
00076   virtual void spin(CallbackQueue* queue = 0);
00077 
00078 private:
00079   uint32_t thread_count_;
00080 };
00081 
00082 class AsyncSpinnerImpl;
00083 typedef boost::shared_ptr<AsyncSpinnerImpl> AsyncSpinnerImplPtr;
00084 
00093 class ROSCPP_DECL AsyncSpinner
00094 {
00095 public:
00100   AsyncSpinner(uint32_t thread_count);
00101 
00107   AsyncSpinner(uint32_t thread_count, CallbackQueue* queue);
00108 
00109 
00110 
00115   bool canStart();
00119   void start();
00123   void stop();
00124 
00125 private:
00126   AsyncSpinnerImplPtr impl_;
00127 };
00128 
00129 }
00130 
00131 #endif // ROSCPP_SPIN_POLICY_H


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