subscription_queue.h

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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
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#ifndef ROSCPP_SUBSCRIPTION_QUEUE_H
#define ROSCPP_SUBSCRIPTION_QUEUE_H
 
#include "forwards.h"
#include "common.h"
#include "ros/message_event.h"
#include "callback_queue_interface.h"
 
//#include <boost/thread/recursive_mutex.hpp>
#include <mutex>
#include <memory>
#include <deque>
 
namespace roswrap
{
 
class MessageDeserializer;
typedef std::shared_ptr<MessageDeserializer> MessageDeserializerPtr;
 
class SubscriptionCallbackHelper;
typedef std::shared_ptr<SubscriptionCallbackHelper> SubscriptionCallbackHelperPtr;
 
class ROSCPP_DECL SubscriptionQueue : public CallbackInterface, public std::enable_shared_from_this<SubscriptionQueue>
{
private:
  struct Item
  {
    SubscriptionCallbackHelperPtr helper;
    MessageDeserializerPtr deserializer;
 
    bool has_tracked_object;
    VoidConstWPtr tracked_object;
 
    bool nonconst_need_copy;
    ros::Time receipt_time;
  };
  typedef std::deque<Item> D_Item;
 
public:
  SubscriptionQueue(const std::string& topic, int32_t queue_size, bool allow_concurrent_callbacks);
  ~SubscriptionQueue();
 
  void push(const SubscriptionCallbackHelperPtr& helper, const MessageDeserializerPtr& deserializer,
            bool has_tracked_object, const VoidConstWPtr& tracked_object, bool nonconst_need_copy,
            ros::Time receipt_time = ros::Time(), bool* was_full = 0);
  void clear();
 
  virtual CallbackInterface::CallResult call();
  virtual bool ready();
  bool full();
 
private:
  bool fullNoLock();
  std::string topic_;
  int32_t size_;
  bool full_;
 
  std::mutex queue_mutex_;
  D_Item queue_;
  uint32_t queue_size_;
  bool allow_concurrent_callbacks_;
 
  boost::recursive_mutex callback_mutex_;
};
 
}
 
#endif // ROSCPP_SUBSCRIPTION_QUEUE_H