/usr/include/ros/callback_queue.h is in libroscpp-dev 1.13.5+ds1-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* Software License Agreement (BSD License)
*
* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, 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 name of 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 ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ROSCPP_CALLBACK_QUEUE_H
#define ROSCPP_CALLBACK_QUEUE_H
#include "ros/callback_queue_interface.h"
#include "ros/time.h"
#include "common.h"
#include <boost/shared_ptr.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/shared_mutex.hpp>
#include <boost/thread/condition_variable.hpp>
#include <boost/thread/tss.hpp>
#include <list>
#include <deque>
namespace ros
{
/**
* \brief This is the default implementation of the ros::CallbackQueueInterface
*/
class ROSCPP_DECL CallbackQueue : public CallbackQueueInterface
{
public:
CallbackQueue(bool enabled = true);
virtual ~CallbackQueue();
virtual void addCallback(const CallbackInterfacePtr& callback, uint64_t removal_id = 0);
virtual void removeByID(uint64_t removal_id);
enum CallOneResult
{
Called,
TryAgain,
Disabled,
Empty,
};
/**
* \brief Pop a single callback off the front of the queue and invoke it. If the callback was not ready to be called,
* pushes it back onto the queue.
*/
CallOneResult callOne()
{
return callOne(ros::WallDuration());
}
/**
* \brief Pop a single callback off the front of the queue and invoke it. If the callback was not ready to be called,
* pushes it back onto the queue. This version includes a timeout which lets you specify the amount of time to wait for
* a callback to be available before returning.
*
* \param timeout The amount of time to wait for a callback to be available. If there is already a callback available,
* this parameter does nothing.
*/
CallOneResult callOne(ros::WallDuration timeout);
/**
* \brief Invoke all callbacks currently in the queue. If a callback was not ready to be called, pushes it back onto the queue.
*/
void callAvailable()
{
callAvailable(ros::WallDuration());
}
/**
* \brief Invoke all callbacks currently in the queue. If a callback was not ready to be called, pushes it back onto the queue. This version
* includes a timeout which lets you specify the amount of time to wait for a callback to be available before returning.
*
* \param timeout The amount of time to wait for at least one callback to be available. If there is already at least one callback available,
* this parameter does nothing.
*/
void callAvailable(ros::WallDuration timeout);
/**
* \brief returns whether or not the queue is empty
*/
bool empty() { return isEmpty(); }
/**
* \brief returns whether or not the queue is empty
*/
bool isEmpty();
/**
* \brief Removes all callbacks from the queue. Does \b not wait for calls currently in progress to finish.
*/
void clear();
/**
* \brief Enable the queue (queue is enabled by default)
*/
void enable();
/**
* \brief Disable the queue, meaning any calls to addCallback() will have no effect
*/
void disable();
/**
* \brief Returns whether or not this queue is enabled
*/
bool isEnabled();
protected:
void setupTLS();
struct TLS;
CallOneResult callOneCB(TLS* tls);
struct IDInfo
{
uint64_t id;
boost::shared_mutex calling_rw_mutex;
};
typedef boost::shared_ptr<IDInfo> IDInfoPtr;
typedef std::map<uint64_t, IDInfoPtr> M_IDInfo;
IDInfoPtr getIDInfo(uint64_t id);
struct CallbackInfo
{
CallbackInfo()
: removal_id(0)
, marked_for_removal(false)
{}
CallbackInterfacePtr callback;
uint64_t removal_id;
bool marked_for_removal;
};
typedef std::list<CallbackInfo> L_CallbackInfo;
typedef std::deque<CallbackInfo> D_CallbackInfo;
D_CallbackInfo callbacks_;
size_t calling_;
boost::mutex mutex_;
boost::condition_variable condition_;
boost::mutex id_info_mutex_;
M_IDInfo id_info_;
struct TLS
{
TLS()
: calling_in_this_thread(0xffffffffffffffffULL)
, cb_it(callbacks.end())
{}
uint64_t calling_in_this_thread;
D_CallbackInfo callbacks;
D_CallbackInfo::iterator cb_it;
};
boost::thread_specific_ptr<TLS> tls_;
bool enabled_;
};
typedef boost::shared_ptr<CallbackQueue> CallbackQueuePtr;
}
#endif
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