interval_intersection.hpp

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#include <vector>
#include <deque>

#include <boost/function.hpp>
#include <boost/thread/mutex.hpp>
#include "calibration_msgs/Interval.h"
#include "calibration_msgs/IntervalStatus.h"

using namespace std;

namespace interval_intersection
{
class IntervalIntersector {
public:
  IntervalIntersector(boost::function<void (const calibration_msgs::Interval&)> output_callback);
  ~IntervalIntersector();

  boost::function<void (const calibration_msgs::IntervalConstPtr&)> getNewInputStream();

  calibration_msgs::IntervalStatus get_status();

private:
  void inputCallback(const calibration_msgs::IntervalConstPtr& interval_ptr, size_t i);
  void process_queues();

  struct queue_stat {
     int count;
     int nil_count;
  };

  vector<deque<calibration_msgs::IntervalConstPtr> > queues;
  vector<boost::shared_ptr<queue_stat> > queue_stats;
  vector<boost::shared_ptr<boost::mutex> > mutexes;  // Protects the individual queues
  boost::mutex processing_mutex;  // Protects the consumption of elements from the set of queues
  size_t max_queue_size;  // must be greater than 0, or all messages will be dropped
  boost::function<void (const calibration_msgs::Interval&)> output_callback_;  // Call this function on each output interval


}; // end class

}