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<h1>MT_buffer.h</h1><a href="_m_t__buffer_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 mrpt_synch_mt_buffer_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define mrpt_synch_mt_buffer_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_critical_section_8h.html">mrpt/synch/CCriticalSection.h</a>></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="keyword">namespace </span>mrpt
<a name="l00034"></a>00034 {
<a name="l00035"></a>00035 <span class="keyword">namespace </span>synch
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="comment"></span>
<a name="l00038"></a>00038 <span class="comment">/** This class is a bulk sequence of bytes with MultiThread (MT)-safe read and write operations.</span>
<a name="l00039"></a>00039 <span class="comment"> */</span>
<a name="l00040"></a><a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html">00040</a> <span class="keyword">class </span><a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html" title="This class is a bulk sequence of bytes with MultiThread (MT)-safe read and write...">MT_buffer</a>
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <span class="keyword">private</span>:
<a name="l00043"></a><a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#aff7ffaf8223bb8d3e8083deaefc75d50">00043</a> <a class="code" href="structmrpt_1_1mrpt__base__vector.html">vector_byte</a> <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#aff7ffaf8223bb8d3e8083deaefc75d50">m_data</a>;
<a name="l00044"></a><a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a55b74e871b51608673ef1f0739e48b0a">00044</a> <a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html" title="This class provides simple critical sections functionality.">CCriticalSection</a> <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a55b74e871b51608673ef1f0739e48b0a">m_cs</a>;
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="keyword">public</span>:
<a name="l00047"></a><a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a225efa3392c1730a50eeded292bf527e">00047</a> <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a225efa3392c1730a50eeded292bf527e">MT_buffer</a>() <span class="comment">//!< Default constructor</span>
<a name="l00048"></a>00048 <span class="comment"></span> {}
<a name="l00049"></a><a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#af957b118990b5b10da953e6f3d8aee19">00049</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#af957b118990b5b10da953e6f3d8aee19">~MT_buffer</a>() <span class="comment">//!< Destructor</span>
<a name="l00050"></a>00050 <span class="comment"></span> {}
<a name="l00051"></a>00051
<a name="l00052"></a><a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a5a4274ed01c6ec241a0d641272e280b0">00052</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a5a4274ed01c6ec241a0d641272e280b0">clear</a>() <span class="comment">//!< Empty the buffer</span>
<a name="l00053"></a>00053 <span class="comment"></span> {
<a name="l00054"></a>00054 <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a55b74e871b51608673ef1f0739e48b0a">m_cs</a>.<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html#a10c531e3bd482d9b54ddb83d8a95566c" title="Enter.">enter</a>();
<a name="l00055"></a>00055 <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#aff7ffaf8223bb8d3e8083deaefc75d50">m_data</a>.clear();
<a name="l00056"></a>00056 <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a55b74e871b51608673ef1f0739e48b0a">m_cs</a>.<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html#a933e6e22808e8e311cd980837547ef68" title="Leave the calling thread is not the current owener of the critical section.">leave</a>();
<a name="l00057"></a>00057 }
<a name="l00058"></a>00058
<a name="l00059"></a><a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a85f9c57e9320ae2870687a6adc39711f">00059</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a85f9c57e9320ae2870687a6adc39711f">size</a>() <span class="comment">//!< Return the number of available bytes at this moment.</span>
<a name="l00060"></a>00060 <span class="comment"></span> {
<a name="l00061"></a>00061 <span class="keywordtype">size_t</span> s;
<a name="l00062"></a>00062 <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a55b74e871b51608673ef1f0739e48b0a">m_cs</a>.<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html#a10c531e3bd482d9b54ddb83d8a95566c" title="Enter.">enter</a>();
<a name="l00063"></a>00063 s = <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#aff7ffaf8223bb8d3e8083deaefc75d50">m_data</a>.size();
<a name="l00064"></a>00064 <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a55b74e871b51608673ef1f0739e48b0a">m_cs</a>.<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html#a933e6e22808e8e311cd980837547ef68" title="Leave the calling thread is not the current owener of the critical section.">leave</a>();
<a name="l00065"></a>00065 <span class="keywordflow">return</span> s;
<a name="l00066"></a>00066 }
<a name="l00067"></a>00067
<a name="l00068"></a><a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a9f2771932d87f564e23ff76a6a57da01">00068</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a9f2771932d87f564e23ff76a6a57da01">appendData</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1mrpt__base__vector.html">vector_byte</a> &d) <span class="comment">//!< Append new data to the stream</span>
<a name="l00069"></a>00069 <span class="comment"></span> {
<a name="l00070"></a>00070 <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a55b74e871b51608673ef1f0739e48b0a">m_cs</a>.<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html#a10c531e3bd482d9b54ddb83d8a95566c" title="Enter.">enter</a>();
<a name="l00071"></a>00071 <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#aff7ffaf8223bb8d3e8083deaefc75d50">m_data</a>.insert( <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#aff7ffaf8223bb8d3e8083deaefc75d50">m_data</a>.begin(), d.begin(),d.end() );
<a name="l00072"></a>00072 <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a55b74e871b51608673ef1f0739e48b0a">m_cs</a>.<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html#a933e6e22808e8e311cd980837547ef68" title="Leave the calling thread is not the current owener of the critical section.">leave</a>();
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074
<a name="l00075"></a><a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#abdc888b7a87ece63da9613ca06b10bff">00075</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#abdc888b7a87ece63da9613ca06b10bff">readAndClear</a>(<a class="code" href="structmrpt_1_1mrpt__base__vector.html">vector_byte</a> &d) <span class="comment">//!< Read the whole buffer and empty it.</span>
<a name="l00076"></a>00076 <span class="comment"></span> {
<a name="l00077"></a>00077 <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a55b74e871b51608673ef1f0739e48b0a">m_cs</a>.<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html#a10c531e3bd482d9b54ddb83d8a95566c" title="Enter.">enter</a>();
<a name="l00078"></a>00078 d.clear();
<a name="l00079"></a>00079 <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#aff7ffaf8223bb8d3e8083deaefc75d50">m_data</a>.swap(d);
<a name="l00080"></a>00080 <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a55b74e871b51608673ef1f0739e48b0a">m_cs</a>.<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html#a933e6e22808e8e311cd980837547ef68" title="Leave the calling thread is not the current owener of the critical section.">leave</a>();
<a name="l00081"></a>00081 }
<a name="l00082"></a>00082
<a name="l00083"></a><a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#aafbdc57caf851dc000a5718c21c4bfdd">00083</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#aafbdc57caf851dc000a5718c21c4bfdd">read</a>(<a class="code" href="structmrpt_1_1mrpt__base__vector.html">vector_byte</a> &d) <span class="comment">//!< Read the whole buffer.</span>
<a name="l00084"></a>00084 <span class="comment"></span> {
<a name="l00085"></a>00085 <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a55b74e871b51608673ef1f0739e48b0a">m_cs</a>.<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html#a10c531e3bd482d9b54ddb83d8a95566c" title="Enter.">enter</a>();
<a name="l00086"></a>00086 d = <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#aff7ffaf8223bb8d3e8083deaefc75d50">m_data</a>;
<a name="l00087"></a>00087 <a class="code" href="classmrpt_1_1synch_1_1_m_t__buffer.html#a55b74e871b51608673ef1f0739e48b0a">m_cs</a>.<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html#a933e6e22808e8e311cd980837547ef68" title="Leave the calling thread is not the current owener of the critical section.">leave</a>();
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089
<a name="l00090"></a>00090 }; <span class="comment">// end of MT_buffer</span>
<a name="l00091"></a>00091
<a name="l00092"></a>00092
<a name="l00093"></a>00093 } <span class="comment">// End of namespace</span>
<a name="l00094"></a>00094 } <span class="comment">// End of namespace</span>
<a name="l00095"></a>00095
<a name="l00096"></a>00096 <span class="preprocessor">#endif</span>
</pre></div></div>
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