callback_counter_semaphore.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#pragma once
#include <iostream>
#include <boost/signals2.hpp>
#include <thread>
#include <condition_variable>
#include <mutex>
#include <boost/signals2.hpp>
#include <ros/ros.h>
 
namespace smacc
{
class CallbackCounterSemaphore {
public:
    CallbackCounterSemaphore(std::string name, int count = 0);
    bool acquire();
 
    void release();
 
    void finalize();
 
    void addConnection(boost::signals2::connection conn);
 
private:
    int count_;
    std::mutex mutex_;
    std::condition_variable cv_;
    std::vector<boost::signals2::connection> connections_;
    bool finalized = false;
    std::string name_;
};
}