00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CThreadSafeQueue_H 00029 #define CThreadSafeQueue_H 00030 00031 #include <mrpt/utils/CMessage.h> 00032 #include <mrpt/synch/CCriticalSection.h> 00033 #include <queue> 00034 00035 namespace mrpt 00036 { 00037 namespace utils 00038 { 00039 /** A thread-safe template queue for object passing between threads, with objects being passed being "T*". 00040 * \sa mrpt::utils::CMessageQueue 00041 */ 00042 template <class T> 00043 class CThreadSafeQueue 00044 { 00045 protected: 00046 std::queue<T*> m_msgs; //!< The queue of messages. Memory is freed at destructor or by clients gathering messages. 00047 mrpt::synch::CCriticalSection m_csQueue; //!< The critical section 00048 public: 00049 CThreadSafeQueue() 00050 { 00051 } 00052 00053 virtual ~CThreadSafeQueue() 00054 { 00055 clear(); 00056 } 00057 00058 void clear() //!< Clear the queue of messages, freeing memory as required. 00059 { 00060 mrpt::synch::CCriticalSectionLocker locker( &m_csQueue ); 00061 while (!m_msgs.empty()) 00062 { 00063 delete m_msgs.front(); 00064 m_msgs.pop(); 00065 } 00066 } 00067 00068 void push( T *msg ) //!< 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. 00069 { 00070 mrpt::synch::CCriticalSectionLocker locker( &m_csQueue ); 00071 m_msgs.push( msg ); 00072 } 00073 00074 /** Retrieve the next message in the queue, or NULL if there is no message. 00075 * The user MUST call "delete" with the returned object after use. 00076 */ 00077 T *get( ) 00078 { 00079 mrpt::synch::CCriticalSectionLocker locker( &m_csQueue ); 00080 if (m_msgs.empty()) 00081 return NULL; 00082 else 00083 { 00084 T *ret = m_msgs.front(); 00085 m_msgs.pop(); 00086 return ret; 00087 } 00088 } 00089 00090 bool empty() const //!< Return true if there are no messages. 00091 { 00092 mrpt::synch::CCriticalSectionLocker locker( &m_csQueue ); 00093 return m_msgs.empty(); 00094 } 00095 00096 }; // End of class def. 00097 00098 } // End of namespace 00099 } // end of namespace 00100 #endif
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