Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 01:50:46 +02:00
Code Releases Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

22
include/ur_rtde_driver/comm/pipeline.h
View File

@@ -1,4 +1,6 @@
/* /*
* Copyright 2019, FZI Forschungszentrum Informatik (templating)
*
* Copyright 2017, 2018 Simon Rasmussen (refactor) * Copyright 2017, 2018 Simon Rasmussen (refactor)
* *
* Copyright 2015, 2016 Thomas Timm Andersen (original version) * Copyright 2015, 2016 Thomas Timm Andersen (original version)
@@ -24,6 +26,7 @@
#include <vector> #include <vector>
#include "ur_rtde_driver/log.h" #include "ur_rtde_driver/log.h"
#include "ur_rtde_driver/queue/readerwriterqueue.h" #include "ur_rtde_driver/queue/readerwriterqueue.h"
#include "ur_rtde_driver/comm/package.h"
namespace ur_driver namespace ur_driver
{ {
@@ -104,7 +107,7 @@ public:
} }
}; };
template <typename T> template <typename HeaderT>
class IProducer class IProducer
{ {
public: 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 class INotifier
@@ -132,24 +135,25 @@ public:
} }
}; };
template <typename T> template <typename HeaderT>
class Pipeline class Pipeline
{ {
private: private:
typedef std::chrono::high_resolution_clock Clock; typedef std::chrono::high_resolution_clock Clock;
typedef Clock::time_point Time; typedef Clock::time_point Time;
IProducer<T>& producer_; using _package_type = URPackage<HeaderT>;
IConsumer<T>& consumer_; IProducer<HeaderT>& producer_;
IConsumer<_package_type>& consumer_;
std::string name_; std::string name_;
INotifier& notifier_; INotifier& notifier_;
BlockingReaderWriterQueue<std::unique_ptr<T>> queue_; BlockingReaderWriterQueue<std::unique_ptr<_package_type>> queue_;
std::atomic<bool> running_; std::atomic<bool> running_;
std::thread pThread_, cThread_; std::thread pThread_, cThread_;
void run_producer() void run_producer()
{ {
producer_.setupProducer(); producer_.setupProducer();
std::vector<std::unique_ptr<T>> products; std::vector<std::unique_ptr<_package_type>> products;
while (running_) while (running_)
{ {
if (!producer_.tryGet(products)) if (!producer_.tryGet(products))
@@ -177,7 +181,7 @@ private:
void run_consumer() void run_consumer()
{ {
consumer_.setupConsumer(); consumer_.setupConsumer();
std::unique_ptr<T> product; std::unique_ptr<_package_type> product;
while (running_) while (running_)
{ {
// timeout was chosen because we should receive messages // timeout was chosen because we should receive messages
@@ -201,7 +205,7 @@ private:
} }
public: 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 } : producer_(producer), consumer_(consumer), name_(name), notifier_(notifier), queue_{ 32 }, running_{ false }
{ {
} }