/usr/include/ros/spinner.h is in libroscpp-dev 1.11.16-3.
This file is owned by root:root, with mode 0o644.
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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:
* * 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 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
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#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;
/**
* \brief Abstract interface for classes which spin on a callback queue.
*/
class ROSCPP_DECL Spinner
{
public:
virtual ~Spinner() {}
/**
* \brief Spin on a callback queue (defaults to the global one). Blocks until roscpp has been shutdown.
*/
virtual void spin(CallbackQueue* queue = 0) = 0;
};
/**
* \brief Spinner which runs in a single thread.
*/
class SingleThreadedSpinner : public Spinner
{
public:
virtual void spin(CallbackQueue* queue = 0);
};
/**
* \brief Spinner which spins in multiple threads.
*/
class ROSCPP_DECL MultiThreadedSpinner : public Spinner
{
public:
/**
* \param thread_count Number of threads to use for calling callbacks. 0 will
* automatically use however many hardware threads exist on your system.
*/
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;
/**
* \brief AsyncSpinner is a spinner that does not conform to the abstract Spinner interface. Instead,
* it spins asynchronously when you call start(), and stops when either you call stop(), ros::shutdown()
* is called, or its destructor is called
*
* AsyncSpinner is reference counted internally, so if you copy one it will continue spinning until all
* copies have destructed (or stop() has been called on one of them)
*/
class ROSCPP_DECL AsyncSpinner
{
public:
/**
* \brief Simple constructor. Uses the global callback queue
* \param thread_count The number of threads to use. A value of 0 means to use the number of processor cores
*/
AsyncSpinner(uint32_t thread_count);
/**
* \brief Constructor with custom callback queue
* \param thread_count The number of threads to use. A value of 0 means to use the number of processor cores
* \param queue The callback queue to operate on. A null value means to use the global queue
*/
AsyncSpinner(uint32_t thread_count, CallbackQueue* queue);
/**
* \brief Check if the spinner can be started. A spinner can't be started if
* another spinner is already running.
*/
bool canStart();
/**
* \brief Start this spinner spinning asynchronously
*/
void start();
/**
* \brief Stop this spinner from running
*/
void stop();
private:
AsyncSpinnerImplPtr impl_;
};
}
#endif // ROSCPP_SPIN_POLICY_H
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