#include <callback_counter_semaphore.hpp>

Collaboration diagram for smacc2::CallbackCounterSemaphore:

Public Member Functions
	CallbackCounterSemaphore (std::string name, int count=0)

bool	acquire ()

void	release ()

void	finalize ()

void	addConnection (boost::signals2::connection conn)

Private Attributes
int	count_

std::mutex	mutex_

std::condition_variable	cv_

std::vector< boost::signals2::connection >	connections_

bool	finalized = false

std::string	name_

Detailed Description

Definition at line 31 of file callback_counter_semaphore.hpp.

Constructor & Destructor Documentation

◆ CallbackCounterSemaphore()

smacc2::CallbackCounterSemaphore::CallbackCounterSemaphore	(	std::string	name,
		int	count = `0`
	)

Definition at line 30 of file callback_counter_semaphore.cpp.

: count_(count), name_(name)
{
}

Member Function Documentation

◆ acquire()

bool smacc2::CallbackCounterSemaphore::acquire ( )

Definition at line 35 of file callback_counter_semaphore.cpp.

{
  std::unique_lock<std::mutex> lock(mutex_);
  RCLCPP_DEBUG(
    rclcpp::get_logger(name_), "[CallbackCounterSemaphore] acquire callback %s %ld", name_.c_str(),
    (long)this);
 
  if (finalized)
  {
    RCLCPP_DEBUG(
      rclcpp::get_logger(name_), "[CallbackCounterSemaphore] callback rejected %s %ld",
      name_.c_str(), (long)this);
    return false;
  }
 
  ++count_;
  cv_.notify_one();
 
  RCLCPP_DEBUG(
    rclcpp::get_logger(name_), "[CallbackCounterSemaphore] callback accepted %s %ld", name_.c_str(),
    (long)this);
  return true;
}

References count_, cv_, finalized, mutex_, and name_.

◆ addConnection()

void smacc2::CallbackCounterSemaphore::addConnection ( boost::signals2::connection conn )

Definition at line 91 of file callback_counter_semaphore.cpp.

{
  std::unique_lock<std::mutex> lock(mutex_);
 
  if (finalized)
  {
    RCLCPP_DEBUG(
      rclcpp::get_logger(name_),
      "[CallbackCounterSemaphore] ignoring adding callback, already finalized %s %ld",
      name_.c_str(), (long)this);
    return;
  }
 
  connections_.push_back(conn);
}

References connections_, finalized, mutex_, and name_.

◆ finalize()

void smacc2::CallbackCounterSemaphore::finalize ( )

Definition at line 70 of file callback_counter_semaphore.cpp.

{
  std::unique_lock<std::mutex> lock(mutex_);
 
  while (count_ > 0)
  {
    cv_.wait(lock);
  }
  finalized = true;
 
  for (auto conn : connections_)
  {
    conn.disconnect();
  }
 
  connections_.clear();
  RCLCPP_DEBUG(
    rclcpp::get_logger(name_), "[CallbackCounterSemaphore] callbacks finalized %s %ld",
    name_.c_str(), (long)this);
}

References connections_, count_, cv_, finalized, mutex_, and name_.

◆ release()

void smacc2::CallbackCounterSemaphore::release ( )

Definition at line 59 of file callback_counter_semaphore.cpp.

{
  std::unique_lock<std::mutex> lock(mutex_);
  --count_;
  cv_.notify_one();
 
  RCLCPP_DEBUG(
    rclcpp::get_logger(name_), "[CallbackCounterSemaphore] callback finished %s %ld", name_.c_str(),
    (long)this);
}