134 lines
3.5 KiB
C++
134 lines
3.5 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2012
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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/* SynchronizedQueue Template, taken from
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* http://stackoverflow.com/questions/10139251/shared-queue-c
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*/
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#pragma once
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#include <condition_variable>
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#include <mutex>
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#include <queue>
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namespace pcl
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{
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template<typename T>
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class SynchronizedQueue
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{
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public:
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SynchronizedQueue () :
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queue_(), request_to_end_(false), enqueue_data_(true) { }
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void
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enqueue (const T& data)
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{
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std::unique_lock<std::mutex> lock (mutex_);
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if (enqueue_data_)
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{
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queue_.push (data);
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cond_.notify_one ();
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}
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}
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bool
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dequeue (T& result)
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{
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std::unique_lock<std::mutex> lock (mutex_);
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while (queue_.empty () && (!request_to_end_))
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{
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cond_.wait (lock);
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}
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if (request_to_end_)
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{
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doEndActions ();
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return false;
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}
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result = queue_.front ();
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queue_.pop ();
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return true;
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}
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void
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stopQueue ()
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{
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std::unique_lock<std::mutex> lock (mutex_);
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request_to_end_ = true;
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cond_.notify_one ();
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}
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unsigned int
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size ()
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{
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std::unique_lock<std::mutex> lock (mutex_);
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return static_cast<unsigned int> (queue_.size ());
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}
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bool
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isEmpty () const
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{
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std::unique_lock<std::mutex> lock (mutex_);
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return (queue_.empty ());
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}
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private:
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void
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doEndActions ()
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{
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enqueue_data_ = false;
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while (!queue_.empty ())
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{
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queue_.pop ();
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}
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}
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std::queue<T> queue_; // Use STL queue to store data
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mutable std::mutex mutex_; // The mutex to synchronise on
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std::condition_variable cond_; // The condition to wait for
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bool request_to_end_;
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bool enqueue_data_;
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};
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}
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