00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef ROSCPP_CALLBACK_QUEUE_INTERFACE_H 00036 #define ROSCPP_CALLBACK_QUEUE_INTERFACE_H 00037 00038 #include <boost/shared_ptr.hpp> 00039 00040 #include "ros/types.h" 00041 00042 namespace ros 00043 { 00044 00048 class CallbackInterface 00049 { 00050 public: 00054 enum CallResult 00055 { 00056 Success, 00057 TryAgain, 00058 Invalid, 00059 }; 00060 00061 virtual ~CallbackInterface() {} 00062 00067 virtual CallResult call() = 0; 00072 virtual bool ready() { return true; } 00073 }; 00074 typedef boost::shared_ptr<CallbackInterface> CallbackInterfacePtr; 00075 00082 class CallbackQueueInterface 00083 { 00084 public: 00085 virtual ~CallbackQueueInterface() {} 00086 00091 virtual void addCallback(const CallbackInterfacePtr& callback, uint64_t owner_id = 0) = 0; 00092 00096 virtual void removeByID(uint64_t owner_id) = 0; 00097 }; 00098 00099 } 00100 00101 #endif