spinner.h

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */
 
#ifndef ROSCPP_SPINNER_H
#define ROSCPP_SPINNER_H
 
#include "ros/types.h"
#include "common.h"
 
#include <boost/shared_ptr.hpp>
 
namespace ros
{
class NodeHandle;
class CallbackQueue;
 
class ROSCPP_DECL Spinner
{
public:
  virtual ~Spinner() {}
 
  virtual void spin(CallbackQueue* queue = 0) = 0;
};
 
class ROSCPP_DECL SingleThreadedSpinner : public Spinner
{
public:
  virtual void spin(CallbackQueue* queue = 0);
};
 
class ROSCPP_DECL MultiThreadedSpinner : public Spinner
{
public:
  MultiThreadedSpinner(uint32_t thread_count = 0);
 
  virtual void spin(CallbackQueue* queue = 0);
 
private:
  uint32_t thread_count_;
};
 
class AsyncSpinnerImpl;
typedef boost::shared_ptr<AsyncSpinnerImpl> AsyncSpinnerImplPtr;
 
class ROSCPP_DECL AsyncSpinner
{
public:
  AsyncSpinner(uint32_t thread_count);
 
  AsyncSpinner(uint32_t thread_count, CallbackQueue* queue);
 
 
 
  // TODO: deprecate in L-turtle
  bool canStart();
  void start();
  void stop();
 
private:
  AsyncSpinnerImplPtr impl_;
};
 
}
 
#endif // ROSCPP_SPIN_POLICY_H