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<div class="title">CThreadSafeQueue.h</div> </div>
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<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://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 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; for a template argument of T, the objects being passed in the queue are "T*".</span>
<a name="l00040"></a>00040 <span class="comment"> *</span>
<a name="l00041"></a>00041 <span class="comment"> * Usage example:</span>
<a name="l00042"></a>00042 <span class="comment"> *</span>
<a name="l00043"></a>00043 <span class="comment"> * \code</span>
<a name="l00044"></a>00044 <span class="comment"> * // Declaration:</span>
<a name="l00045"></a>00045 <span class="comment"> * CThreadSafeQueue<MyMsgType> tsq;</span>
<a name="l00046"></a>00046 <span class="comment"> * ...</span>
<a name="l00047"></a>00047 <span class="comment"> *</span>
<a name="l00048"></a>00048 <span class="comment"> * // Thread 1: Write</span>
<a name="l00049"></a>00049 <span class="comment"> * {</span>
<a name="l00050"></a>00050 <span class="comment"> * MyMsgType *msg = new MyMsgType;</span>
<a name="l00051"></a>00051 <span class="comment"> * msg->...</span>
<a name="l00052"></a>00052 <span class="comment"> * tsq.push(msg); // Insert in the queue</span>
<a name="l00053"></a>00053 <span class="comment"> * }</span>
<a name="l00054"></a>00054 <span class="comment"> *</span>
<a name="l00055"></a>00055 <span class="comment"> * // Thread 2: Read</span>
<a name="l00056"></a>00056 <span class="comment"> * {</span>
<a name="l00057"></a>00057 <span class="comment"> * MyMsgType *msg = tsq.get();</span>
<a name="l00058"></a>00058 <span class="comment"> * if (msg)</span>
<a name="l00059"></a>00059 <span class="comment"> * {</span>
<a name="l00060"></a>00060 <span class="comment"> * // Process "msg"...</span>
<a name="l00061"></a>00061 <span class="comment"> * delete msg;</span>
<a name="l00062"></a>00062 <span class="comment"> * }</span>
<a name="l00063"></a>00063 <span class="comment"> * }</span>
<a name="l00064"></a>00064 <span class="comment"> * \endcode</span>
<a name="l00065"></a>00065 <span class="comment"> *</span>
<a name="l00066"></a>00066 <span class="comment"> * Note that only dynamically allocated objects can be inserted with \a push() and that freeing that memory</span>
<a name="l00067"></a>00067 <span class="comment"> * if responsibility of the receiver of this queue as it receives objects with \a get(). However, elements</span>
<a name="l00068"></a>00068 <span class="comment"> * still in the queue upon destruction will be deleted automatically.</span>
<a name="l00069"></a>00069 <span class="comment"> *</span>
<a name="l00070"></a>00070 <span class="comment"> * \sa mrpt::utils::CMessageQueue</span>
<a name="l00071"></a>00071 <span class="comment"> * \ingroup mrpt_base_grp</span>
<a name="l00072"></a>00072 <span class="comment"> */</span>
<a name="l00073"></a>00073 <span class="keyword">template</span> <<span class="keyword">class</span> T>
<a name="l00074"></a>00074 <span class="keyword">class </span>CThreadSafeQueue
<a name="l00075"></a>00075 {
<a name="l00076"></a>00076 <span class="keyword">protected</span>:
<a name="l00077"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a5caf669f62ffa838a0f403e3886f4ab7">00077</a> std<a class="code" href="classstd_1_1queue.html">::queue<T*></a> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a5caf669f62ffa838a0f403e3886f4ab7" 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="l00078"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a9c52731adae51563bfe297ff84f85ccf">00078</a> <span class="comment"></span> mrpt<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html" title="This class provides simple critical sections functionality.">::synch::CCriticalSection</a> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a9c52731adae51563bfe297ff84f85ccf" title="The critical section.">m_csQueue</a>; <span class="comment">//!< The critical section</span>
<a name="l00079"></a>00079 <span class="comment"></span> <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00080"></a>00080 <span class="comment"> /** Default ctor. */</span>
<a name="l00081"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#ac19afc344f5d65b583761365eea991c0">00081</a> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#ac19afc344f5d65b583761365eea991c0" title="Default ctor.">CThreadSafeQueue</a>() { }
<a name="l00082"></a>00082
<a name="l00083"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#afdf23fcf3d171a0d75ba005224313823">00083</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#afdf23fcf3d171a0d75ba005224313823">~CThreadSafeQueue</a>()
<a name="l00084"></a>00084 {
<a name="l00085"></a>00085 <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#ae3060579243c2bf32df1722b3c2411bc" title="Clear the queue of messages, freeing memory as required.">clear</a>();
<a name="l00086"></a>00086 }
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** Clear the queue of messages, freeing memory as required. */</span>
<a name="l00089"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#ae3060579243c2bf32df1722b3c2411bc">00089</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#ae3060579243c2bf32df1722b3c2411bc" title="Clear the queue of messages, freeing memory as required.">clear</a>()
<a name="l00090"></a>00090 {
<a name="l00091"></a>00091 mrpt<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.">::synch::CCriticalSectionLocker</a> locker( &<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a9c52731adae51563bfe297ff84f85ccf" title="The critical section.">m_csQueue</a> );
<a name="l00092"></a>00092 <span class="keywordflow">while</span> (!<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a5caf669f62ffa838a0f403e3886f4ab7" title="The queue of messages. Memory is freed at destructor or by clients gathering messages.">m_msgs</a>.empty())
<a name="l00093"></a>00093 {
<a name="l00094"></a>00094 <span class="keyword">delete</span> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a5caf669f62ffa838a0f403e3886f4ab7" title="The queue of messages. Memory is freed at destructor or by clients gathering messages.">m_msgs</a>.front();
<a name="l00095"></a>00095 <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a5caf669f62ffa838a0f403e3886f4ab7" title="The queue of messages. Memory is freed at destructor or by clients gathering messages.">m_msgs</a>.pop();
<a name="l00096"></a>00096 }
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098 <span class="comment"></span>
<a name="l00099"></a>00099 <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="l00100"></a>00100 <span class="comment"> */</span>
<a name="l00101"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a3cba7cc96b89b8539f69c6bba9e3940f">00101</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a3cba7cc96b89b8539f69c6bba9e3940f" title="Insert a new message in the queue - The object must be created with "new", and do not delete is after...">push</a>( T *msg )
<a name="l00102"></a>00102 {
<a name="l00103"></a>00103 mrpt<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.">::synch::CCriticalSectionLocker</a> locker( &<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a9c52731adae51563bfe297ff84f85ccf" title="The critical section.">m_csQueue</a> );
<a name="l00104"></a>00104 <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a5caf669f62ffa838a0f403e3886f4ab7" title="The queue of messages. Memory is freed at destructor or by clients gathering messages.">m_msgs</a>.push( msg );
<a name="l00105"></a>00105 }
<a name="l00106"></a>00106 <span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** Retrieve the next message in the queue, or NULL if there is no message.</span>
<a name="l00108"></a>00108 <span class="comment"> * The user MUST call "delete" with the returned object after use.</span>
<a name="l00109"></a>00109 <span class="comment"> */</span>
<a name="l00110"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#ac41b3e4ee6ac2f9feba0a92f00a6921d">00110</a> <span class="keyword">inline</span> T *<span class="keyword">get</span>( )
<a name="l00111"></a>00111 {
<a name="l00112"></a>00112 mrpt<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.">::synch::CCriticalSectionLocker</a> locker( &<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a9c52731adae51563bfe297ff84f85ccf" title="The critical section.">m_csQueue</a> );
<a name="l00113"></a>00113 <span class="keywordflow">if</span> (<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a5caf669f62ffa838a0f403e3886f4ab7" title="The queue of messages. Memory is freed at destructor or by clients gathering messages.">m_msgs</a>.empty())
<a name="l00114"></a>00114 <span class="keywordflow">return</span> NULL;
<a name="l00115"></a>00115 <span class="keywordflow">else</span>
<a name="l00116"></a>00116 {
<a name="l00117"></a>00117 T *ret = <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a5caf669f62ffa838a0f403e3886f4ab7" title="The queue of messages. Memory is freed at destructor or by clients gathering messages.">m_msgs</a>.front();
<a name="l00118"></a>00118 <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a5caf669f62ffa838a0f403e3886f4ab7" title="The queue of messages. Memory is freed at destructor or by clients gathering messages.">m_msgs</a>.pop();
<a name="l00119"></a>00119 <span class="keywordflow">return</span> ret;
<a name="l00120"></a>00120 }
<a name="l00121"></a>00121 }
<a name="l00122"></a>00122 <span class="comment"></span>
<a name="l00123"></a>00123 <span class="comment"> /** Skip all old messages in the queue and directly return the last one (the most recent, at the bottom of the queue), or NULL if there is no message.</span>
<a name="l00124"></a>00124 <span class="comment"> * \note The memory of all skipped messages is freed with "delete".</span>
<a name="l00125"></a>00125 <span class="comment"> * \note The user MUST call "delete" with the returned object after use.</span>
<a name="l00126"></a>00126 <span class="comment"> */</span>
<a name="l00127"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#adb12ba857223a06ad976663b37aa6b98">00127</a> <span class="keyword">inline</span> T *<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#adb12ba857223a06ad976663b37aa6b98" title="Skip all old messages in the queue and directly return the last one (the most recent, at the bottom of the queue), or NULL if there is no message.">get_lastest_purge_old</a>( )
<a name="l00128"></a>00128 {
<a name="l00129"></a>00129 mrpt<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.">::synch::CCriticalSectionLocker</a> locker( &<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a9c52731adae51563bfe297ff84f85ccf" title="The critical section.">m_csQueue</a> );
<a name="l00130"></a>00130 <span class="keywordflow">if</span> (<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a5caf669f62ffa838a0f403e3886f4ab7" title="The queue of messages. Memory is freed at destructor or by clients gathering messages.">m_msgs</a>.empty())
<a name="l00131"></a>00131 <span class="keywordflow">return</span> NULL;
<a name="l00132"></a>00132 <span class="keywordflow">else</span>
<a name="l00133"></a>00133 {
<a name="l00134"></a>00134 <span class="keywordflow">for</span> (;;)
<a name="l00135"></a>00135 {
<a name="l00136"></a>00136 T *ret = <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a5caf669f62ffa838a0f403e3886f4ab7" title="The queue of messages. Memory is freed at destructor or by clients gathering messages.">m_msgs</a>.front();
<a name="l00137"></a>00137 <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a5caf669f62ffa838a0f403e3886f4ab7" title="The queue of messages. Memory is freed at destructor or by clients gathering messages.">m_msgs</a>.pop();
<a name="l00138"></a>00138 <span class="keywordflow">if</span> (<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a5caf669f62ffa838a0f403e3886f4ab7" title="The queue of messages. Memory is freed at destructor or by clients gathering messages.">m_msgs</a>.empty()) <span class="keywordflow">return</span> ret;
<a name="l00139"></a>00139 <span class="keywordflow">else</span> <span class="keyword">delete</span> ret;
<a name="l00140"></a>00140 }
<a name="l00141"></a>00141 }
<a name="l00142"></a>00142 }
<a name="l00143"></a>00143 <span class="comment"></span>
<a name="l00144"></a>00144 <span class="comment"> /** Return true if there are no messages. */</span>
<a name="l00145"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a2ec09a8de0a97b2d4964b4cc206e502a">00145</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a2ec09a8de0a97b2d4964b4cc206e502a" title="Return true if there are no messages.">empty</a>()<span class="keyword"> const</span>
<a name="l00146"></a>00146 <span class="keyword"> </span>{
<a name="l00147"></a>00147 mrpt<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.">::synch::CCriticalSectionLocker</a> locker( &<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a9c52731adae51563bfe297ff84f85ccf" title="The critical section.">m_csQueue</a> );
<a name="l00148"></a>00148 <span class="keywordflow">return</span> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a5caf669f62ffa838a0f403e3886f4ab7" title="The queue of messages. Memory is freed at destructor or by clients gathering messages.">m_msgs</a>.empty();
<a name="l00149"></a>00149 }
<a name="l00150"></a>00150 <span class="comment"></span>
<a name="l00151"></a>00151 <span class="comment"> /** Return the number of queued messages. */</span>
<a name="l00152"></a><a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a96c606465f2ff1a0ab87bedfafd66d41">00152</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a96c606465f2ff1a0ab87bedfafd66d41" title="Return the number of queued messages.">size</a>()<span class="keyword"> const</span>
<a name="l00153"></a>00153 <span class="keyword"> </span>{
<a name="l00154"></a>00154 mrpt<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.">::synch::CCriticalSectionLocker</a> locker( &<a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a9c52731adae51563bfe297ff84f85ccf" title="The critical section.">m_csQueue</a> );
<a name="l00155"></a>00155 <span class="keywordflow">return</span> <a class="code" href="classmrpt_1_1utils_1_1_c_thread_safe_queue.html#a5caf669f62ffa838a0f403e3886f4ab7" title="The queue of messages. Memory is freed at destructor or by clients gathering messages.">m_msgs</a>.size();
<a name="l00156"></a>00156 }
<a name="l00157"></a>00157
<a name="l00158"></a>00158 }; <span class="comment">// End of class def.</span>
<a name="l00159"></a>00159
<a name="l00160"></a>00160 } <span class="comment">// End of namespace</span>
<a name="l00161"></a>00161 } <span class="comment">// end of namespace</span>
<a name="l00162"></a>00162 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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