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class="navpath"><a class="el" href="dir_b8ba9ebcb71a95a44c4fd60b7d348fe1.html">src</a> » <a class="el" href="dir_e6faee39d20d45fac309cc35f2ddb285.html">gbxsickacfr</a> » <a class="el" href="dir_40c823cb7c24b596a1e1c0c483dfcd86.html">gbxiceutilacfr</a> </div> </div> <div class="contents"> <h1>buffer.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span> <a name="l00002"></a>00002 <span class="comment"> * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics</span> <a name="l00003"></a>00003 <span class="comment"> * http://gearbox.sf.net/</span> <a name="l00004"></a>00004 <span class="comment"> * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp</span> <a name="l00005"></a>00005 <span class="comment"> *</span> <a name="l00006"></a>00006 <span class="comment"> * This distribution is licensed to you under the terms described in</span> <a name="l00007"></a>00007 <span class="comment"> * the LICENSE file included in this distribution.</span> <a name="l00008"></a>00008 <span class="comment"> *</span> <a name="l00009"></a>00009 <span class="comment"> */</span> <a name="l00010"></a>00010 <a name="l00011"></a>00011 <span class="preprocessor">#ifndef GBXICEUTILACFR_BUFFER_H</span> <a name="l00012"></a>00012 <span class="preprocessor"></span><span class="preprocessor">#define GBXICEUTILACFR_BUFFER_H</span> <a name="l00013"></a>00013 <span class="preprocessor"></span> <a name="l00014"></a>00014 <span class="preprocessor">#include <queue></span> <a name="l00015"></a>00015 <span class="preprocessor">#include <gbxutilacfr/exceptions.h></span> <a name="l00016"></a>00016 <a name="l00017"></a>00017 <span class="preprocessor">#include <IceUtil/Monitor.h></span> <a name="l00018"></a>00018 <span class="preprocessor">#include <IceUtil/Mutex.h></span> <a name="l00019"></a>00019 <span class="preprocessor">#include <IceUtil/Time.h></span> <a name="l00020"></a>00020 <a name="l00021"></a><a class="code" href="namespacegbxiceutilacfr.html">00021</a> <span class="keyword">namespace </span>gbxiceutilacfr { <a name="l00022"></a>00022 <a name="l00024"></a><a class="code" href="namespacegbxiceutilacfr.html#adb63e22074734759c387bf1494c39d58">00024</a> <span class="keyword">enum</span> <a class="code" href="namespacegbxiceutilacfr.html#adb63e22074734759c387bf1494c39d58" title="Buffer type defines behavior when the buffer is full">BufferType</a> <a name="l00025"></a>00025 { <a name="l00028"></a><a class="code" href="namespacegbxiceutilacfr.html#adb63e22074734759c387bf1494c39d58a1d1af4db5a6306ef8ff06731810ea9b1">00028</a> <a class="code" href="namespacegbxiceutilacfr.html#adb63e22074734759c387bf1494c39d58a1d1af4db5a6306ef8ff06731810ea9b1">BufferTypeCircular</a>, <a name="l00031"></a><a class="code" href="namespacegbxiceutilacfr.html#adb63e22074734759c387bf1494c39d58aace9508a711e08bfb1ee4c2ad809b68c">00031</a> <a class="code" href="namespacegbxiceutilacfr.html#adb63e22074734759c387bf1494c39d58aace9508a711e08bfb1ee4c2ad809b68c">BufferTypeQueue</a> <a name="l00032"></a>00032 }; <a name="l00033"></a>00033 <a name="l00044"></a>00044 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00045"></a><a class="code" href="classgbxiceutilacfr_1_1Buffer.html">00045</a> <span class="keyword">class </span><a class="code" href="classgbxiceutilacfr_1_1Buffer.html" title="A thread-safe data pipe with buffer semantics.">Buffer</a> : <span class="keyword">public</span> IceUtil::Monitor<IceUtil::Mutex> <a name="l00046"></a>00046 { <a name="l00047"></a>00047 <span class="keyword">public</span>: <a name="l00048"></a>00048 <a name="l00055"></a>00055 <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#ade9e7fbb73d6ab9efb8c46a04f06cc2c">Buffer</a>( <span class="keywordtype">int</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a68291e42a265c83d13d6715b370977ca" title="Returns buffer depth.">depth</a>, <a class="code" href="namespacegbxiceutilacfr.html#adb63e22074734759c387bf1494c39d58" title="Buffer type defines behavior when the buffer is full">BufferType</a> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a9117f861cdeffa21bbe36e89a59ec3d5" title="Returns buffer type.">type</a> ); <a name="l00056"></a>00056 <a name="l00057"></a>00057 <span class="keyword">virtual</span> ~<a class="code" href="classgbxiceutilacfr_1_1Buffer.html" title="A thread-safe data pipe with buffer semantics.">Buffer</a>(); <a name="l00058"></a>00058 <a name="l00063"></a>00063 <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a133032d938830fd330c50af2694598e4">configure</a>( <span class="keywordtype">int</span> depth, <a class="code" href="namespacegbxiceutilacfr.html#adb63e22074734759c387bf1494c39d58" title="Buffer type defines behavior when the buffer is full">BufferType</a> type=<a class="code" href="namespacegbxiceutilacfr.html#adb63e22074734759c387bf1494c39d58a1d1af4db5a6306ef8ff06731810ea9b1">BufferTypeCircular</a> ); <a name="l00064"></a>00064 <a name="l00066"></a>00066 <span class="keywordtype">int</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a68291e42a265c83d13d6715b370977ca" title="Returns buffer depth.">depth</a>() <span class="keyword">const</span>; <a name="l00067"></a>00067 <a name="l00069"></a>00069 <a class="code" href="namespacegbxiceutilacfr.html#adb63e22074734759c387bf1494c39d58" title="Buffer type defines behavior when the buffer is full">BufferType</a> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a9117f861cdeffa21bbe36e89a59ec3d5" title="Returns buffer type.">type</a>() <span class="keyword">const</span>; <a name="l00070"></a>00070 <a name="l00072"></a>00072 <span class="keywordtype">bool</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#aa5187e7b11dfb84069136084a83c44c1" title="Returns FALSE if there&#39;s something in the buffer.">isEmpty</a>() <span class="keyword">const</span>; <a name="l00073"></a>00073 <a name="l00075"></a>00075 <span class="keywordtype">int</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#ad2865a87110cd362f4f4b4c96cab7ac7" title="Returns the number of items in the buffer.">size</a>() <span class="keyword">const</span>; <a name="l00076"></a>00076 <a name="l00078"></a>00078 <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a055045454d8463d3716cd96fd30d085e" title="Deletes all entries, makes the buffer empty.">purge</a>(); <a name="l00079"></a>00079 <a name="l00086"></a>00086 <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#ab73d1777d7a9593ece7c5935d4c1ffd2">push</a>( <span class="keyword">const</span> Type & obj ); <a name="l00087"></a>00087 <a name="l00092"></a>00092 <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a8ae4213513399b95d9c7e68bdab1e57a">pop</a>(); <a name="l00093"></a>00093 <a name="l00100"></a>00100 <span class="keywordtype">void</span> <span class="keyword">get</span>( Type & obj ) <span class="keyword">const</span>; <a name="l00101"></a>00101 <a name="l00106"></a>00106 <span class="keywordtype">void</span> <span class="keyword">get</span>( Type & obj, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n ) <span class="keyword">const</span>; <a name="l00107"></a>00107 <a name="l00111"></a>00111 <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#aed2eef76f95e9a56b3bab8e3bf80d55c">getAndPop</a>( Type & obj ); <a name="l00112"></a>00112 <a name="l00124"></a>00124 <span class="keywordtype">int</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#af43d6c662de7dc14ab721a5d68a9e8fc">getWithTimeout</a>( Type & obj, <span class="keywordtype">int</span> timeoutMs=-1 ); <a name="l00125"></a>00125 <a name="l00129"></a>00129 <span class="keywordtype">int</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#aa5c3d0b397d9c38add897b73e21ec1d6">getAndPopWithTimeout</a>( Type & obj, <span class="keywordtype">int</span> timeoutMs=-1 ); <a name="l00130"></a>00130 <a name="l00131"></a>00131 <span class="keyword">protected</span>: <a name="l00132"></a>00132 <a name="l00133"></a>00133 <span class="comment">// The buffer itself</span> <a name="l00134"></a>00134 std::deque<Type> queue_; <a name="l00135"></a>00135 <a name="l00136"></a>00136 <span class="comment">// Reimplement this function for non-standard types.</span> <a name="l00137"></a>00137 <span class="keyword">virtual</span> <span class="keywordtype">void</span> internalGet( Type & obj ) <span class="keyword">const</span> ; <a name="l00138"></a>00138 <a name="l00139"></a>00139 <span class="comment">// Reimplement this function for non-standard types.</span> <a name="l00140"></a>00140 <span class="keyword">virtual</span> <span class="keywordtype">void</span> internalGet( Type & obj, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n ) <span class="keyword">const</span> ; <a name="l00141"></a>00141 <a name="l00142"></a>00142 <span class="comment">// Reimplement this function for non-standard types.</span> <a name="l00143"></a>00143 <span class="keyword">virtual</span> <span class="keywordtype">void</span> internalPush( <span class="keyword">const</span> Type & obj ); <a name="l00144"></a>00144 <a name="l00145"></a>00145 <span class="keyword">private</span>: <a name="l00146"></a>00146 <a name="l00147"></a>00147 <span class="comment">// buffer depth:</span> <a name="l00148"></a>00148 <span class="comment">// positive numbers to specify finite depth,</span> <a name="l00149"></a>00149 <span class="comment">// negative numbers for infinite depth (memory size),</span> <a name="l00150"></a>00150 <span class="comment">// zero is undefined</span> <a name="l00151"></a>00151 <span class="keywordtype">int</span> depth_; <a name="l00152"></a>00152 <a name="l00153"></a>00153 <span class="comment">// buffer type (see type definitions in BufferType enum)</span> <a name="l00154"></a>00154 <a class="code" href="namespacegbxiceutilacfr.html#adb63e22074734759c387bf1494c39d58" title="Buffer type defines behavior when the buffer is full">BufferType</a> type_; <a name="l00155"></a>00155 <a name="l00156"></a>00156 <span class="comment">// internal implementation of getWithTimeout( obj, -1 );</span> <a name="l00157"></a>00157 <span class="keywordtype">void</span> getWithInfiniteWait( Type & obj ); <a name="l00158"></a>00158 }; <a name="l00159"></a>00159 <a name="l00160"></a>00160 <a name="l00162"></a>00162 <a name="l00163"></a>00163 <a name="l00164"></a>00164 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00165"></a><a class="code" href="classgbxiceutilacfr_1_1Buffer.html#ade9e7fbb73d6ab9efb8c46a04f06cc2c">00165</a> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#ade9e7fbb73d6ab9efb8c46a04f06cc2c">Buffer<Type>::Buffer</a>( <span class="keywordtype">int</span> depth, <a class="code" href="namespacegbxiceutilacfr.html#adb63e22074734759c387bf1494c39d58" title="Buffer type defines behavior when the buffer is full">BufferType</a> type ) <a name="l00166"></a>00166 : depth_(depth), <a name="l00167"></a>00167 type_(type) <a name="l00168"></a>00168 { <a name="l00169"></a>00169 <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a055045454d8463d3716cd96fd30d085e" title="Deletes all entries, makes the buffer empty.">purge</a>(); <a name="l00170"></a>00170 } <a name="l00171"></a>00171 <a name="l00172"></a>00172 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00173"></a>00173 <a class="code" href="classgbxiceutilacfr_1_1Buffer.html" title="A thread-safe data pipe with buffer semantics.">Buffer<Type>::~Buffer</a>() <a name="l00174"></a>00174 { <a name="l00175"></a>00175 } <a name="l00176"></a>00176 <a name="l00177"></a>00177 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00178"></a><a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a133032d938830fd330c50af2694598e4">00178</a> <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a133032d938830fd330c50af2694598e4">Buffer<Type>::configure</a>( <span class="keywordtype">int</span> depth, <a class="code" href="namespacegbxiceutilacfr.html#adb63e22074734759c387bf1494c39d58" title="Buffer type defines behavior when the buffer is full">BufferType</a> type ) <a name="l00179"></a>00179 { <a name="l00180"></a>00180 <span class="comment">// all data is lost!</span> <a name="l00181"></a>00181 <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a055045454d8463d3716cd96fd30d085e" title="Deletes all entries, makes the buffer empty.">purge</a>(); <a name="l00182"></a>00182 <a name="l00183"></a>00183 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>); <a name="l00184"></a>00184 depth_ = depth; <a name="l00185"></a>00185 type_ = type; <a name="l00186"></a>00186 } <a name="l00187"></a>00187 <a name="l00188"></a>00188 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00189"></a>00189 <span class="keywordtype">int</span> <a name="l00190"></a><a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a68291e42a265c83d13d6715b370977ca">00190</a> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a68291e42a265c83d13d6715b370977ca" title="Returns buffer depth.">Buffer<Type>::depth</a>()<span class="keyword"> const</span> <a name="l00191"></a>00191 <span class="keyword"></span>{ <a name="l00192"></a>00192 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>); <a name="l00193"></a>00193 <span class="keywordflow">return</span> depth_; <a name="l00194"></a>00194 } <a name="l00195"></a>00195 <a name="l00196"></a>00196 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00197"></a>00197 <a class="code" href="namespacegbxiceutilacfr.html#adb63e22074734759c387bf1494c39d58" title="Buffer type defines behavior when the buffer is full">BufferType</a> <a name="l00198"></a><a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a9117f861cdeffa21bbe36e89a59ec3d5">00198</a> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a9117f861cdeffa21bbe36e89a59ec3d5" title="Returns buffer type.">Buffer<Type>::type</a>()<span class="keyword"> const</span> <a name="l00199"></a>00199 <span class="keyword"></span>{ <a name="l00200"></a>00200 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>); <a name="l00201"></a>00201 <span class="keywordflow">return</span> type_; <a name="l00202"></a>00202 } <a name="l00203"></a>00203 <a name="l00204"></a>00204 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00205"></a><a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a055045454d8463d3716cd96fd30d085e">00205</a> <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a055045454d8463d3716cd96fd30d085e" title="Deletes all entries, makes the buffer empty.">Buffer<Type>::purge</a>() <a name="l00206"></a>00206 { <a name="l00207"></a>00207 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>); <a name="l00208"></a>00208 queue_.resize(0); <a name="l00209"></a>00209 } <a name="l00210"></a>00210 <a name="l00211"></a>00211 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00212"></a><a class="code" href="classgbxiceutilacfr_1_1Buffer.html#aa5187e7b11dfb84069136084a83c44c1">00212</a> <span class="keywordtype">bool</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#aa5187e7b11dfb84069136084a83c44c1" title="Returns FALSE if there&#39;s something in the buffer.">Buffer<Type>::isEmpty</a>()<span class="keyword"> const</span> <a name="l00213"></a>00213 <span class="keyword"></span>{ <a name="l00214"></a>00214 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>); <a name="l00215"></a>00215 <span class="keywordflow">return</span> queue_.empty(); <a name="l00216"></a>00216 } <a name="l00217"></a>00217 <a name="l00218"></a>00218 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00219"></a><a class="code" href="classgbxiceutilacfr_1_1Buffer.html#ad2865a87110cd362f4f4b4c96cab7ac7">00219</a> <span class="keywordtype">int</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#ad2865a87110cd362f4f4b4c96cab7ac7" title="Returns the number of items in the buffer.">Buffer<Type>::size</a>()<span class="keyword"> const</span> <a name="l00220"></a>00220 <span class="keyword"></span>{ <a name="l00221"></a>00221 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>); <a name="l00222"></a>00222 <span class="keywordflow">return</span> queue_.size(); <a name="l00223"></a>00223 } <a name="l00224"></a>00224 <a name="l00225"></a>00225 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00226"></a><a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a8ae4213513399b95d9c7e68bdab1e57a">00226</a> <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a8ae4213513399b95d9c7e68bdab1e57a">Buffer<Type>::pop</a>() <a name="l00227"></a>00227 { <a name="l00228"></a>00228 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>); <a name="l00229"></a>00229 <span class="keywordflow">if</span> ( queue_.empty() ) { <a name="l00230"></a>00230 <span class="keywordflow">return</span>; <a name="l00231"></a>00231 } <a name="l00232"></a>00232 <span class="comment">// must check for empty queue above, otherwise get seg fault!</span> <a name="l00233"></a>00233 queue_.pop_front(); <a name="l00234"></a>00234 } <a name="l00235"></a>00235 <a name="l00236"></a>00236 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00237"></a><a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a2eb7b95fc8453ebf3801bbdf273a143c">00237</a> <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a2eb7b95fc8453ebf3801bbdf273a143c">Buffer<Type>::get</a>( Type &obj )<span class="keyword"> const</span> <a name="l00238"></a>00238 <span class="keyword"></span>{ <a name="l00239"></a>00239 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>); <a name="l00240"></a>00240 <span class="keywordflow">if</span> ( !queue_.empty() ) <a name="l00241"></a>00241 { <a name="l00242"></a>00242 internalGet( obj ); <a name="l00243"></a>00243 } <a name="l00244"></a>00244 <span class="keywordflow">else</span> <a name="l00245"></a>00245 { <a name="l00246"></a>00246 <span class="keywordflow">throw</span> <a class="code" href="classgbxutilacfr_1_1Exception.html" title="Base class for all GbxUtilAcfr exceptions.">gbxutilacfr::Exception</a>( ERROR_INFO, <span class="stringliteral">"trying to read from an empty buffer."</span> ); <a name="l00247"></a>00247 } <a name="l00248"></a>00248 } <a name="l00249"></a>00249 <a name="l00250"></a>00250 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00251"></a><a class="code" href="classgbxiceutilacfr_1_1Buffer.html#af69ea1ebcdb20bfcc1edac00e2537218">00251</a> <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a2eb7b95fc8453ebf3801bbdf273a143c">Buffer<Type>::get</a>( Type &obj, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n )<span class="keyword"> const</span> <a name="l00252"></a>00252 <span class="keyword"></span>{ <a name="l00253"></a>00253 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>); <a name="l00254"></a>00254 <span class="keywordflow">if</span> ( queue_.empty() ){ <a name="l00255"></a>00255 <span class="keywordflow">throw</span> <a class="code" href="classgbxutilacfr_1_1Exception.html" title="Base class for all GbxUtilAcfr exceptions.">gbxutilacfr::Exception</a>( ERROR_INFO, <span class="stringliteral">"trying to read from an empty buffer."</span> ); <a name="l00256"></a>00256 } <a name="l00257"></a>00257 <span class="keywordflow">else</span> <span class="keywordflow">if</span>( n >= queue_.size()){ <a name="l00258"></a>00258 <span class="keywordflow">throw</span> <a class="code" href="classgbxutilacfr_1_1Exception.html" title="Base class for all GbxUtilAcfr exceptions.">gbxutilacfr::Exception</a>( ERROR_INFO, <span class="stringliteral">"index out of bounds while trying to read buffer."</span> ); <a name="l00259"></a>00259 } <a name="l00260"></a>00260 <span class="keywordflow">else</span>{ <a name="l00261"></a>00261 internalGet( obj ,n ); <a name="l00262"></a>00262 } <a name="l00263"></a>00263 } <a name="l00264"></a>00264 <a name="l00265"></a>00265 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00266"></a><a class="code" href="classgbxiceutilacfr_1_1Buffer.html#aed2eef76f95e9a56b3bab8e3bf80d55c">00266</a> <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#aed2eef76f95e9a56b3bab8e3bf80d55c">Buffer<Type>::getAndPop</a>( Type &obj ) <a name="l00267"></a>00267 { <a name="l00268"></a>00268 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>); <a name="l00269"></a>00269 <span class="keywordflow">if</span> ( !queue_.empty() ) <a name="l00270"></a>00270 { <a name="l00271"></a>00271 internalGet( obj ); <a name="l00272"></a>00272 } <a name="l00273"></a>00273 <span class="keywordflow">else</span> <a name="l00274"></a>00274 { <a name="l00275"></a>00275 <span class="keywordflow">throw</span> <a class="code" href="classgbxutilacfr_1_1Exception.html" title="Base class for all GbxUtilAcfr exceptions.">gbxutilacfr::Exception</a>( ERROR_INFO, <span class="stringliteral">"trying to read from an empty buffer."</span> ); <a name="l00276"></a>00276 } <a name="l00277"></a>00277 queue_.pop_front(); <a name="l00278"></a>00278 } <a name="l00279"></a>00279 <a name="l00280"></a>00280 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00281"></a><a class="code" href="classgbxiceutilacfr_1_1Buffer.html#af43d6c662de7dc14ab721a5d68a9e8fc">00281</a> <span class="keywordtype">int</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#af43d6c662de7dc14ab721a5d68a9e8fc">Buffer<Type>::getWithTimeout</a>( Type &obj, <span class="keywordtype">int</span> timeoutMs ) <a name="l00282"></a>00282 { <a name="l00283"></a>00283 <span class="comment">// special case: infinite wait time</span> <a name="l00284"></a>00284 <span class="keywordflow">if</span> ( timeoutMs == -1 ) <a name="l00285"></a>00285 { <a name="l00286"></a>00286 getWithInfiniteWait( obj ); <a name="l00287"></a>00287 <span class="keywordflow">return</span> 0; <a name="l00288"></a>00288 } <a name="l00289"></a>00289 <a name="l00290"></a>00290 <span class="comment">// finite wait time</span> <a name="l00291"></a>00291 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>); <a name="l00292"></a>00292 <a name="l00293"></a>00293 <span class="comment">// if already have data in the buffer, return it and get out</span> <a name="l00294"></a>00294 <span class="keywordflow">if</span> ( !queue_.empty() ) <a name="l00295"></a>00295 { <a name="l00296"></a>00296 internalGet( obj ); <a name="l00297"></a>00297 <span class="keywordflow">return</span> 0; <a name="l00298"></a>00298 } <a name="l00299"></a>00299 <a name="l00300"></a>00300 <span class="comment">// empty buffer: figure out when to wake up</span> <a name="l00301"></a>00301 <span class="comment">// notice that we are still holding the lock, so it's ok to call timedWait()</span> <a name="l00302"></a>00302 <span class="keywordflow">if</span> ( this->timedWait( IceUtil::Time::milliSeconds( timeoutMs ) ) ) <a name="l00303"></a>00303 { <a name="l00304"></a>00304 <span class="comment">// someone woke us up, we are holding the lock again</span> <a name="l00305"></a>00305 <span class="comment">// check new data again (could be a spurious wakeup)</span> <a name="l00306"></a>00306 <span class="keywordflow">if</span> ( !queue_.empty() ) <a name="l00307"></a>00307 { <a name="l00308"></a>00308 internalGet( obj ); <a name="l00309"></a>00309 <span class="keywordflow">return</span> 0; <a name="l00310"></a>00310 } <a name="l00311"></a>00311 <span class="keywordflow">else</span> { <a name="l00312"></a>00312 <span class="comment">// spurious wakup, don't wait again, just return</span> <a name="l00313"></a>00313 <span class="keywordflow">return</span> 1; <a name="l00314"></a>00314 } <a name="l00315"></a>00315 } <a name="l00316"></a>00316 <span class="keywordflow">else</span> { <a name="l00317"></a>00317 <span class="comment">// wait timedout, nobody woke us up</span> <a name="l00318"></a>00318 <span class="keywordflow">return</span> -1; <a name="l00319"></a>00319 } <a name="l00320"></a>00320 } <a name="l00321"></a>00321 <a name="l00322"></a>00322 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00323"></a><a class="code" href="classgbxiceutilacfr_1_1Buffer.html#aa5c3d0b397d9c38add897b73e21ec1d6">00323</a> <span class="keywordtype">int</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#aa5c3d0b397d9c38add897b73e21ec1d6">Buffer<Type>::getAndPopWithTimeout</a>( Type &obj, <span class="keywordtype">int</span> timeoutMs ) <a name="l00324"></a>00324 { <a name="l00325"></a>00325 <span class="keywordtype">int</span> ret = <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#af43d6c662de7dc14ab721a5d68a9e8fc">getWithTimeout</a>( obj, timeoutMs ); <a name="l00326"></a>00326 <span class="keywordflow">if</span> ( ret==0 ) { <a name="l00327"></a>00327 <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#a8ae4213513399b95d9c7e68bdab1e57a">pop</a>(); <a name="l00328"></a>00328 } <a name="l00329"></a>00329 <span class="keywordflow">return</span> ret; <a name="l00330"></a>00330 } <a name="l00331"></a>00331 <a name="l00332"></a>00332 <span class="comment">// internal utility function (waits for update infinitely)</span> <a name="l00333"></a>00333 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00334"></a>00334 <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html" title="A thread-safe data pipe with buffer semantics.">Buffer<Type>::getWithInfiniteWait</a>( Type &obj ) <a name="l00335"></a>00335 { <a name="l00336"></a>00336 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>); <a name="l00337"></a>00337 <a name="l00338"></a>00338 <span class="comment">// check the condition before and after waiting to deal with spurious wakeups</span> <a name="l00339"></a>00339 <span class="comment">// (see Ice manual sec. 28.9.2)</span> <a name="l00340"></a>00340 <span class="keywordflow">while</span> ( queue_.empty() ) <a name="l00341"></a>00341 { <a name="l00342"></a>00342 this->wait(); <a name="l00343"></a>00343 } <a name="l00344"></a>00344 <a name="l00345"></a>00345 internalGet( obj ); <a name="l00346"></a>00346 } <a name="l00347"></a>00347 <a name="l00348"></a>00348 <span class="comment">// NOTE: see notes on efficient notification in Ice sec. 28.9.3</span> <a name="l00349"></a>00349 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00350"></a><a class="code" href="classgbxiceutilacfr_1_1Buffer.html#ab73d1777d7a9593ece7c5935d4c1ffd2">00350</a> <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html#ab73d1777d7a9593ece7c5935d4c1ffd2">Buffer<Type>::push</a>( <span class="keyword">const</span> Type & obj ) <a name="l00351"></a>00351 { <a name="l00352"></a>00352 IceUtil::Monitor<IceUtil::Mutex>::Lock lock(*<span class="keyword">this</span>); <a name="l00353"></a>00353 <a name="l00354"></a>00354 <span class="comment">// buffer is not full, or buffer is configured to be of infinite size (at least for STL)</span> <a name="l00355"></a>00355 <span class="keywordflow">if</span> ( (<span class="keywordtype">int</span>)queue_.size() < depth_ || depth_<0 ) <a name="l00356"></a>00356 { <a name="l00357"></a>00357 internalPush( obj ); <a name="l00358"></a>00358 } <a name="l00359"></a>00359 <span class="keywordflow">else</span> <span class="keywordflow">if</span> ( type_ == <a class="code" href="namespacegbxiceutilacfr.html#adb63e22074734759c387bf1494c39d58a1d1af4db5a6306ef8ff06731810ea9b1">BufferTypeCircular</a> ) <a name="l00360"></a>00360 { <a name="l00361"></a>00361 <span class="comment">// pop the oldest entry</span> <a name="l00362"></a>00362 queue_.pop_front(); <a name="l00363"></a>00363 <span class="comment">// push the new enty</span> <a name="l00364"></a>00364 internalPush( obj ); <a name="l00365"></a>00365 } <a name="l00366"></a>00366 <span class="keywordflow">else</span> <span class="comment">// we have a full, non-circular buffer</span> <a name="l00367"></a>00367 { <a name="l00368"></a>00368 <span class="comment">// do nothing, the new object is lost</span> <a name="l00369"></a>00369 } <a name="l00370"></a>00370 <a name="l00371"></a>00371 <span class="comment">// wakeup someone who's waiting for an update</span> <a name="l00372"></a>00372 this->notify(); <a name="l00373"></a>00373 } <a name="l00374"></a>00374 <a name="l00375"></a>00375 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00376"></a>00376 <span class="keywordtype">void</span> <a class="code" href="classgbxiceutilacfr_1_1Buffer.html" title="A thread-safe data pipe with buffer semantics.">Buffer<Type>::internalGet</a>( Type & obj )<span class="keyword"> const</span> <a name="l00377"></a>00377 <span class="keyword"></span>{ <a name="l00378"></a>00378 obj = queue_.front(); <a name="l00379"></a>00379 } <a name="l00380"></a>00380 <a name="l00381"></a>00381 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00382"></a>00382 <span class="keywordtype">void</span> Buffer<Type>::internalGet( Type & obj, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n )<span class="keyword"> const</span> <a name="l00383"></a>00383 <span class="keyword"></span>{ <a name="l00384"></a>00384 obj = queue_[n]; <a name="l00385"></a>00385 } <a name="l00386"></a>00386 <a name="l00387"></a>00387 <span class="keyword">template</span><<span class="keyword">class</span> Type> <a name="l00388"></a>00388 <span class="keywordtype">void</span> Buffer<Type>::internalPush( <span class="keyword">const</span> Type & obj ) <a name="l00389"></a>00389 { <a name="l00390"></a>00390 queue_.push_back( obj ); <a name="l00391"></a>00391 } <a name="l00392"></a>00392 <a name="l00393"></a>00393 } <span class="comment">// end namespace</span> <a name="l00394"></a>00394 <a name="l00395"></a>00395 <span class="preprocessor">#endif</span> </pre></div></div> </td> <td colspan="1"> </td> </tr> </table> <!-- end of table --> <hr size="1"><address style="align: right;"><small>Generated for GearBox by <a href="http://www.doxygen.org/index.html"> <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.4.5 </small></address> </body> </html>