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<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>
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