<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> <title>The MRPT project: CThreadSafeQueue.h Source File</title> <link href="doxygen.css" rel="stylesheet" type="text/css"> <link href="tabs.css" rel="stylesheet" type="text/css"> </head><body> <div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div> <div align="right"> <a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a> </div> <!-- Generated by Doxygen 1.6.2-20100208 --> <script type="text/javascript"><!-- var searchBox = new SearchBox("searchBox", "search",false,'Search'); --></script> <div class="navigation" id="top"> <div class="tabs"> <ul> <li><a href="index.html"><span>Main Page</span></a></li> <li><a href="pages.html"><span>Related Pages</span></a></li> <li><a href="namespaces.html"><span>Namespaces</span></a></li> <li><a href="annotated.html"><span>Classes</span></a></li> <li class="current"><a href="files.html"><span>Files</span></a></li> <li> <div id="MSearchBox" class="MSearchBoxInactive"> <img id="MSearchSelect" src="search/search.png" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()" alt=""/> <input type="text" id="MSearchField" value="Search" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" onblur="searchBox.OnSearchFieldFocus(false)" onkeyup="searchBox.OnSearchFieldChange(event)"/> <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a> </div> </li> </ul> </div> <div class="tabs"> <ul> <li><a href="files.html"><span>File List</span></a></li> <li><a href="globals.html"><span>File Members</span></a></li> </ul> </div> <h1>CThreadSafeQueue.h</h1><a href="_c_thread_safe_queue_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span> <a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span> <a name="l00003"></a>00003 <span class="comment"> | |</span> <a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span> <a name="l00005"></a>00005 <span class="comment"> | |</span> <a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2010 University of Malaga |</span> <a name="l00007"></a>00007 <span class="comment"> | |</span> <a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span> <a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span> <a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span> <a name="l00011"></a>00011 <span class="comment"> | |</span> <a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span> <a name="l00013"></a>00013 <span class="comment"> | |</span> <a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span> <a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span> <a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span> <a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span> <a name="l00018"></a>00018 <span class="comment"> | |</span> <a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span> <a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span> <a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span> <a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span> <a name="l00023"></a>00023 <span class="comment"> | |</span> <a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span> <a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span> <a name="l00026"></a>00026 <span class="comment"> | |</span> <a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span> <a name="l00028"></a>00028 <span class="preprocessor">#ifndef CThreadSafeQueue_H</span> <a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CThreadSafeQueue_H</span> <a name="l00030"></a>00030 <span class="preprocessor"></span> <a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_message_8h.html">mrpt/utils/CMessage.h</a>></span> <a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_critical_section_8h.html">mrpt/synch/CCriticalSection.h</a>></span> <a name="l00033"></a>00033 <span class="preprocessor">#include <queue></span> <a name="l00034"></a>00034 <a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt <a name="l00036"></a>00036 { <a name="l00037"></a>00037 <span class="keyword">namespace </span>utils <a name="l00038"></a>00038 {<span class="comment"></span> <a name="l00039"></a>00039 <span class="comment"> /** A thread-safe template queue for object passing between threads, with objects being passed being "T*".</span> <a name="l00040"></a>00040 <span class="comment"> * \sa mrpt::utils::CMessageQueue</span> <a name="l00041"></a>00041 <span class="comment"> */</span> <a name="l00042"></a>00042 <span class="keyword">template</span> <<span class="keyword">class</span> T> <a name="l00043"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html">00043</a> <span class="keyword">class </span><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html" title="A thread-safe template queue for object passing between threads, with objects being...">CThreadSafeQueue</a> <a name="l00044"></a>00044 { <a name="l00045"></a>00045 <span class="keyword">protected</span>: <a name="l00046"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#aa4eb9124b7cc70e54ff4289c59e92c6a">00046</a> std::queue<T*> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#aa4eb9124b7cc70e54ff4289c59e92c6a" title="The queue of messages. Memory is freed at destructor or by clients gathering messages...">m_msgs</a>; <span class="comment">//!< The queue of messages. Memory is freed at destructor or by clients gathering messages.</span> <a name="l00047"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#ac847fab967bbe4681ebab13c5b1fe0c1">00047</a> <span class="comment"></span> <a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html" title="This class provides simple critical sections functionality.">mrpt::synch::CCriticalSection</a> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#ac847fab967bbe4681ebab13c5b1fe0c1" title="The critical section.">m_csQueue</a>; <span class="comment">//!< The critical section</span> <a name="l00048"></a>00048 <span class="comment"></span> <span class="keyword">public</span>: <a name="l00049"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a35a01b900e4cdce5b1c955e657895057">00049</a> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a35a01b900e4cdce5b1c955e657895057">CThreadSafeQueue</a>() <a name="l00050"></a>00050 { <a name="l00051"></a>00051 } <a name="l00052"></a>00052 <a name="l00053"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#ac7dad3f01de17692bdcd9b3e0bba5f7d">00053</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#ac7dad3f01de17692bdcd9b3e0bba5f7d">~CThreadSafeQueue</a>() <a name="l00054"></a>00054 { <a name="l00055"></a>00055 <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a3c9d058a1104ccd5bc13ee8656712021">clear</a>(); <a name="l00056"></a>00056 } <a name="l00057"></a>00057 <a name="l00058"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a3c9d058a1104ccd5bc13ee8656712021">00058</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a3c9d058a1104ccd5bc13ee8656712021">clear</a>() <span class="comment">//!< Clear the queue of messages, freeing memory as required.</span> <a name="l00059"></a>00059 <span class="comment"></span> { <a name="l00060"></a>00060 <a class="code" href="classmrpt_1_1synch_1_1_c_critical_section_locker.html" title="A class acquiring a CCriticalSection at its constructor, and releasing it at destructor...">mrpt::synch::CCriticalSectionLocker</a> locker( &<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#ac847fab967bbe4681ebab13c5b1fe0c1" title="The critical section.">m_csQueue</a> ); <a name="l00061"></a>00061 <span class="keywordflow">while</span> (!<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#aa4eb9124b7cc70e54ff4289c59e92c6a" title="The queue of messages. Memory is freed at destructor or by clients gathering messages...">m_msgs</a>.empty()) <a name="l00062"></a>00062 { <a name="l00063"></a>00063 <span class="keyword">delete</span> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#aa4eb9124b7cc70e54ff4289c59e92c6a" title="The queue of messages. Memory is freed at destructor or by clients gathering messages...">m_msgs</a>.front(); <a name="l00064"></a>00064 <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#aa4eb9124b7cc70e54ff4289c59e92c6a" title="The queue of messages. Memory is freed at destructor or by clients gathering messages...">m_msgs</a>.pop(); <a name="l00065"></a>00065 } <a name="l00066"></a>00066 } <a name="l00067"></a>00067 <a name="l00068"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a49bc2c3632569b3f92d603cecf25d79a">00068</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a49bc2c3632569b3f92d603cecf25d79a">push</a>( T *msg ) <span class="comment">//!< Insert a new message in the queue - The object must be created with "new", and do not delete is after calling this, it must be deleted later.</span> <a name="l00069"></a>00069 <span class="comment"></span> { <a name="l00070"></a>00070 <a class="code" href="classmrpt_1_1synch_1_1_c_critical_section_locker.html" title="A class acquiring a CCriticalSection at its constructor, and releasing it at destructor...">mrpt::synch::CCriticalSectionLocker</a> locker( &<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#ac847fab967bbe4681ebab13c5b1fe0c1" title="The critical section.">m_csQueue</a> ); <a name="l00071"></a>00071 <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#aa4eb9124b7cc70e54ff4289c59e92c6a" title="The queue of messages. Memory is freed at destructor or by clients gathering messages...">m_msgs</a>.push( msg ); <a name="l00072"></a>00072 } <a name="l00073"></a>00073 <span class="comment"></span> <a name="l00074"></a>00074 <span class="comment"> /** Retrieve the next message in the queue, or NULL if there is no message.</span> <a name="l00075"></a>00075 <span class="comment"> * The user MUST call "delete" with the returned object after use.</span> <a name="l00076"></a>00076 <span class="comment"> */</span> <a name="l00077"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#aab39ca1635bd934753c394d53f835ce3">00077</a> T *<span class="keyword">get</span>( ) <a name="l00078"></a>00078 { <a name="l00079"></a>00079 <a class="code" href="classmrpt_1_1synch_1_1_c_critical_section_locker.html" title="A class acquiring a CCriticalSection at its constructor, and releasing it at destructor...">mrpt::synch::CCriticalSectionLocker</a> locker( &<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#ac847fab967bbe4681ebab13c5b1fe0c1" title="The critical section.">m_csQueue</a> ); <a name="l00080"></a>00080 <span class="keywordflow">if</span> (<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#aa4eb9124b7cc70e54ff4289c59e92c6a" title="The queue of messages. Memory is freed at destructor or by clients gathering messages...">m_msgs</a>.empty()) <a name="l00081"></a>00081 <span class="keywordflow">return</span> NULL; <a name="l00082"></a>00082 <span class="keywordflow">else</span> <a name="l00083"></a>00083 { <a name="l00084"></a>00084 T *ret = <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#aa4eb9124b7cc70e54ff4289c59e92c6a" title="The queue of messages. Memory is freed at destructor or by clients gathering messages...">m_msgs</a>.front(); <a name="l00085"></a>00085 <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#aa4eb9124b7cc70e54ff4289c59e92c6a" title="The queue of messages. Memory is freed at destructor or by clients gathering messages...">m_msgs</a>.pop(); <a name="l00086"></a>00086 <span class="keywordflow">return</span> ret; <a name="l00087"></a>00087 } <a name="l00088"></a>00088 } <a name="l00089"></a>00089 <a name="l00090"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#adaea826d026e3a9a857a8dc2f2abc9ce">00090</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#adaea826d026e3a9a857a8dc2f2abc9ce" title="&lt; Return true if there are no messages.">empty</a>() const <span class="comment">//!< Return true if there are no messages.</span> <a name="l00091"></a>00091 <span class="comment"></span> { <a name="l00092"></a>00092 <a class="code" href="classmrpt_1_1synch_1_1_c_critical_section_locker.html" title="A class acquiring a CCriticalSection at its constructor, and releasing it at destructor...">mrpt::synch::CCriticalSectionLocker</a> locker( &<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#ac847fab967bbe4681ebab13c5b1fe0c1" title="The critical section.">m_csQueue</a> ); <a name="l00093"></a>00093 <span class="keywordflow">return</span> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#aa4eb9124b7cc70e54ff4289c59e92c6a" title="The queue of messages. Memory is freed at destructor or by clients gathering messages...">m_msgs</a>.empty(); <a name="l00094"></a>00094 } <a name="l00095"></a>00095 <a name="l00096"></a>00096 }; <span class="comment">// End of class def.</span> <a name="l00097"></a>00097 <a name="l00098"></a>00098 } <span class="comment">// End of namespace</span> <a name="l00099"></a>00099 } <span class="comment">// end of namespace</span> <a name="l00100"></a>00100 <span class="preprocessor">#endif</span> </pre></div></div> <!--- window showing the filter options --> <div id="MSearchSelectWindow" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()" onkeydown="return searchBox.OnSearchSelectKey(event)"> <a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(8)"><span class="SelectionMark"> </span>Enumerator</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(9)"><span class="SelectionMark"> </span>Friends</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(10)"><span class="SelectionMark"> </span>Defines</a></div> <!-- iframe showing the search results (closed by default) --> <div id="MSearchResultsWindow"> <iframe src="" frameborder="0" name="MSearchResults" id="MSearchResults"> </iframe> </div> <br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.6.2-20100208</a> for MRPT 0.9.0 SVN: at Wed Jul 14 12:48:09 UTC 2010</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>