00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 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 CMessageQueue_H 00029 #define CMessageQueue_H 00030 00031 #include <mrpt/utils/CMessage.h> 00032 #include <mrpt/synch/CCriticalSection.h> 00033 00034 #include <queue> 00035 00036 namespace mrpt 00037 { 00038 namespace utils 00039 { 00040 /** A thread-safe class for message passing between threads. */ 00041 class MRPTDLLIMPEXP CMessageQueue 00042 { 00043 protected: 00044 std::queue< CMessage* > m_msgs; //!< The queue of messages. Memory is freed at destructor or by clients gathering messages. 00045 00046 synch::CCriticalSection m_csQueue; //!< The critical section 00047 00048 public: 00049 CMessageQueue(); 00050 virtual ~CMessageQueue(); 00051 00052 void clear(); //!< Clear the queue of messages, freeing memory as required. 00053 00054 void push( CMessage *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. 00055 00056 /** Retrieve the next message in the queue, or NULL if there is no message. 00057 * The user MUST call "delete" with the returned object after use. 00058 */ 00059 CMessage *get( ); 00060 00061 bool empty() const; //!< Return true if there are no messages. 00062 00063 }; // End of class def. 00064 00065 } // End of namespace 00066 } // end of namespace 00067 #endif
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