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/**
* \file MessageQueue.hpp
* \brief Template MessageQueue class header.
* Copyright (c) 2013, Ford Motor Company
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following
* disclaimer in the documentation and/or other materials provided with the
* distribution.
*
* Neither the name of the Ford Motor Company nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef MESSAGE_QUEUE_CLASS
#define MESSAGE_QUEUE_CLASS
#include <pthread.h>
#include <queue>
/**
* \class MessageQueue
* \brief Wrapper for multithreading queue.
*/
template <typename T> class MessageQueue
{
public:
/**
* \brief Default constructor
*/
MessageQueue();
/**
* \brief Constructor
* \param queue Existing queue.
*/
explicit MessageQueue( std::queue<T> queue );
/**
* \brief Destructor
*/
~MessageQueue();
/**
* \brief Returns size of the queue.
* \return Size of the queue.
*/
int size() const;
/**
* \brief If queue is empty.
* \return Is queue empty.
*/
bool empty() const;
/**
* \brief Adds element to the queue.
* \param element Element to be added to the queue.n
*/
void push( const T & element );
/**
* \brief Removes element from the queue and returns it.
* \return To element of the queue.
*/
T pop();
/**
* \brief Conditional wait.
*/
void wait();
private:
/**
*\brief Queue
*/
std::queue<T> mQueue;
/**
*\brief Mutex for queue locking.
*/
mutable pthread_mutex_t mMutex;
/**
*\brief Condition for waiting.
*/
pthread_cond_t mCond;
/**
*\brief Bool condition for waiting.
*/
bool mIsUp;
};
template <typename T> MessageQueue<T>::MessageQueue()
:mMutex( PTHREAD_MUTEX_INITIALIZER )
,mCond( PTHREAD_COND_INITIALIZER )
,mIsUp( false )
{
pthread_mutex_init( &mMutex, NULL );
pthread_cond_init( &mCond, NULL );
}
template <typename T> MessageQueue<T>::MessageQueue( std::queue<T> queue )
{
pthread_mutex_init( &mMutex, NULL );
pthread_cond_init( &mCond, NULL );
pthread_mutex_lock( &mMutex );
mQueue = std::queue<T>( queue );
pthread_mutex_unlock( &mMutex );
}
template <typename T> MessageQueue<T>::~MessageQueue()
{
pthread_cond_destroy( &mCond );
pthread_mutex_destroy( &mMutex );
}
template<typename T> void MessageQueue<T>::wait()
{
pthread_mutex_lock( &mMutex );
while ( !mIsUp )
{
pthread_cond_wait( &mCond, &mMutex );
}
mIsUp = false;
pthread_mutex_unlock( &mMutex );
}
template <typename T> int MessageQueue<T>::size() const
{
int result = 0;
pthread_mutex_lock( &mMutex );
result = mQueue.size();
pthread_mutex_unlock( &mMutex );
return result;
}
template <typename T> bool MessageQueue<T>::empty() const
{
bool result = true;
pthread_mutex_lock( &mMutex );
result = mQueue.empty();
pthread_mutex_unlock( &mMutex );
return result;
}
template <typename T> void MessageQueue<T>::push( const T & element )
{
pthread_mutex_lock( &mMutex );
mQueue.push( element );
pthread_cond_signal( &mCond );
mIsUp = true;
pthread_mutex_unlock( &mMutex );
}
template <typename T> T MessageQueue<T>::pop( )
{
pthread_mutex_lock( &mMutex );
if ( mQueue.empty() )
{
//error, TRACE
}
T result = mQueue.front();
mQueue.pop();
pthread_mutex_unlock( &mMutex );
return result;
}
#endif // MESSAGE_QUEUE_CLASS
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