Obbart/universal_robots_ros_driver
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added package_header templating for the pipeline class and the abstract producer and consumer classes

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This commit is contained in:
Tristan Schnell
2019-04-08 15:08:10 +02:00
parent dd43521a85
commit 39a5935067
1 changed files with 13 additions and 9 deletions
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22
include/ur_rtde_driver/comm/pipeline.h
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@@ -1,4 +1,6 @@
/*
* Copyright 2019, FZI Forschungszentrum Informatik (templating)
*
* Copyright 2017, 2018 Simon Rasmussen (refactor)
*
* Copyright 2015, 2016 Thomas Timm Andersen (original version)
@@ -24,6 +26,7 @@
#include <vector>
#include "ur_rtde_driver/log.h"
#include "ur_rtde_driver/queue/readerwriterqueue.h"
#include "ur_rtde_driver/comm/package.h"
namespace ur_driver
{
@@ -104,7 +107,7 @@ public:
}
};
template <typename T>
template <typename HeaderT>
class IProducer
{
public:
@@ -118,7 +121,7 @@ public:
{
}
virtual bool tryGet(std::vector<std::unique_ptr<T>>& products) = 0;
virtual bool tryGet(std::vector<std::unique_ptr<URPackage<HeaderT>>>& products) = 0;
};
class INotifier
@@ -132,24 +135,25 @@ public:
}
};
template <typename T>
template <typename HeaderT>
class Pipeline
{
private:
typedef std::chrono::high_resolution_clock Clock;
typedef Clock::time_point Time;
IProducer<T>& producer_;
IConsumer<T>& consumer_;
using _package_type = URPackage<HeaderT>;
IProducer<HeaderT>& producer_;
IConsumer<_package_type>& consumer_;
std::string name_;
INotifier& notifier_;
BlockingReaderWriterQueue<std::unique_ptr<T>> queue_;
BlockingReaderWriterQueue<std::unique_ptr<_package_type>> queue_;
std::atomic<bool> running_;
std::thread pThread_, cThread_;
void run_producer()
{
producer_.setupProducer();
std::vector<std::unique_ptr<T>> products;
std::vector<std::unique_ptr<_package_type>> products;
while (running_)
{
if (!producer_.tryGet(products))
@@ -177,7 +181,7 @@ private:
void run_consumer()
{
consumer_.setupConsumer();
std::unique_ptr<T> product;
std::unique_ptr<_package_type> product;
while (running_)
{
// timeout was chosen because we should receive messages
@@ -201,7 +205,7 @@ private:
}
public:
Pipeline(IProducer<T>& producer, IConsumer<T>& consumer, std::string name, INotifier& notifier)
Pipeline(IProducer<HeaderT>& producer, IConsumer<_package_type>& consumer, std::string name, INotifier& notifier)
: producer_(producer), consumer_(consumer), name_(name), notifier_(notifier), queue_{ 32 }, running_{ false }
{
}