xdacallback.cpp

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//  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
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#include "xdacallback.h"
 
#include <xscontroller/xsdevice_def.h>
#include <xstypes/xsdatapacket.h>
 
XdaCallback::XdaCallback(size_t maxBufferSize)
        : m_maxBufferSize(maxBufferSize)
{
}
 
XdaCallback::~XdaCallback() throw()
{
}
 
// Returns empty packet on timeout
RosXsDataPacket XdaCallback::next(const std::chrono::milliseconds &timeout)
{
        RosXsDataPacket packet;
 
        std::unique_lock<std::mutex> lock(m_mutex);
 
        if (m_condition.wait_for(lock, timeout, [&] { return !m_buffer.empty(); }))
        {
                assert(!m_buffer.empty());
 
                packet = m_buffer.front();
                m_buffer.pop_front();
        }
 
        return packet;
}
 
void XdaCallback::onLiveDataAvailable(XsDevice *, const XsDataPacket *packet)
{
        std::unique_lock<std::mutex> lock(m_mutex);
        ros::Time now = ros::Time::now();
 
        assert(packet != 0);
 
        // Discard oldest packet if buffer full
        if (m_buffer.size() == m_maxBufferSize)
        {
                m_buffer.pop_front();
        }
 
        // Push new packet
        m_buffer.push_back(RosXsDataPacket(now, *packet));
 
        // Manual unlocking is done before notifying, to avoid waking up
        // the waiting thread only to block again
        lock.unlock();
        m_condition.notify_one();
}