/usr/include/ros/subscription_queue.h is in libroscpp-dev 1.11.16-3.
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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 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_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 <boost/thread/mutex.hpp>
#include <boost/enable_shared_from_this.hpp>
#include <deque>
namespace ros
{
class MessageDeserializer;
typedef boost::shared_ptr<MessageDeserializer> MessageDeserializerPtr;
class SubscriptionCallbackHelper;
typedef boost::shared_ptr<SubscriptionCallbackHelper> SubscriptionCallbackHelperPtr;
class ROSCPP_DECL SubscriptionQueue : public CallbackInterface, public boost::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_;
boost::mutex queue_mutex_;
D_Item queue_;
uint32_t queue_size_;
bool allow_concurrent_callbacks_;
boost::recursive_mutex callback_mutex_;
};
}
#endif // ROSCPP_SUBSCRIPTION_QUEUE_H
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