publisher_manager.h

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#ifndef ROSRT_PUBLISHER_MANAGER_H
#define ROSRT_PUBLISHER_MANAGER_H
 
#include "mwsr_queue.h"
 
#include <ros/atomic.h>
#include <ros/publisher.h>
#include <rosrt/publisher.h>
#include <lockfree/object_pool.h>
#include <boost/thread.hpp>
 
namespace rosrt
{
 
struct InitOptions;
 
namespace detail
{
class PublishQueue
{
public:
  struct PubItem
  {
    ros::Publisher pub;
    VoidConstPtr msg;
    PublishFunc pub_func;
    CloneFunc clone_func;
  };
 
  PublishQueue(uint32_t size);
 
  bool push(const ros::Publisher& pub, const VoidConstPtr& msg, PublishFunc pub_func, CloneFunc clone_func);
  uint32_t publishAll();
 
private:
  MWSRQueue<PubItem> queue_;
};
 
class PublisherManager
{
public:
  PublisherManager(const InitOptions& ops);
  ~PublisherManager();
  bool publish(const ros::Publisher& pub, const VoidConstPtr& msg, PublishFunc pub_func, CloneFunc clone_func);
 
private:
  void publishThread();
 
  PublishQueue queue_;
  boost::condition_variable cond_;
  boost::mutex cond_mutex_;
  boost::thread pub_thread_;
  ros::atomic<uint32_t> pub_count_;
  volatile bool running_;
};
 
} // namespace detail
} // namespace rosrt
 
#endif // ROSRT_PUBLISHER_MANAGER_H