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Tested producer part with real data

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This commit is contained in:
Felix Mauch
2019-04-09 18:19:22 +02:00
parent 2f0b8eae1a
commit 51ac7ddb91
12 changed files with 119 additions and 130 deletions
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70
include/ur_rtde_driver/comm/pipeline.h
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@@ -138,10 +138,44 @@ public:
template <typename HeaderT>
class Pipeline
{
public:
using _package_type = URPackage<HeaderT>;
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 }
{
}
void run()
{
if (running_)
return;
running_ = true;
pThread_ = std::thread(&Pipeline::run_producer, this);
cThread_ = std::thread(&Pipeline::run_consumer, this);
notifier_.started(name_);
}
void stop()
{
if (!running_)
return;
LOG_INFO("Stopping pipeline! <%s>", name_.c_str());
consumer_.stopConsumer();
producer_.stopProducer();
running_ = false;
pThread_.join();
cThread_.join();
notifier_.stopped(name_);
}
private:
typedef std::chrono::high_resolution_clock Clock;
typedef Clock::time_point Time;
using _package_type = URPackage<HeaderT>;
IProducer<HeaderT>& producer_;
IConsumer<_package_type>& consumer_;
std::string name_;
@@ -203,40 +237,6 @@ private:
running_ = false;
notifier_.stopped(name_);
}
public:
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 }
{
}
void run()
{
if (running_)
return;
running_ = true;
pThread_ = std::thread(&Pipeline::run_producer, this);
cThread_ = std::thread(&Pipeline::run_consumer, this);
notifier_.started(name_);
}
void stop()
{
if (!running_)
return;
LOG_DEBUG("Stopping pipeline! <%s>", name_.c_str());
consumer_.stopConsumer();
producer_.stopProducer();
running_ = false;
pThread_.join();
cThread_.join();
notifier_.stopped(name_);
}
};
} // namespace comm
} // namespace ur_driver