Point Cloud Library (PCL) 1.12.0
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synchronized_queue.hpp
1/*
2 * Software License Agreement (BSD License)
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4 * Point Cloud Library (PCL) - www.pointclouds.org
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37
38/* SynchronizedQueue Template, taken from
39 * http://stackoverflow.com/questions/10139251/shared-queue-c
40 */
41#pragma once
42
43#include <condition_variable>
44#include <mutex>
45#include <queue>
46
47namespace pcl
48{
49
50 template<typename T>
52 {
53 public:
54
56 queue_(), request_to_end_(false), enqueue_data_(true) { }
57
58 void
59 enqueue (const T& data)
60 {
61 std::unique_lock<std::mutex> lock (mutex_);
62
63 if (enqueue_data_)
64 {
65 queue_.push (data);
66 cond_.notify_one ();
67 }
68 }
69
70 bool
72 {
73 std::unique_lock<std::mutex> lock (mutex_);
74
75 while (queue_.empty () && (!request_to_end_))
76 {
77 cond_.wait (lock);
78 }
79
80 if (request_to_end_)
81 {
82 doEndActions ();
83 return false;
84 }
85
86 result = queue_.front ();
87 queue_.pop ();
88
89 return true;
90 }
91
92 void
94 {
95 std::unique_lock<std::mutex> lock (mutex_);
96 request_to_end_ = true;
97 cond_.notify_one ();
98 }
99
100 unsigned int
102 {
103 std::unique_lock<std::mutex> lock (mutex_);
104 return static_cast<unsigned int> (queue_.size ());
105 }
106
107 bool
108 isEmpty () const
109 {
110 std::unique_lock<std::mutex> lock (mutex_);
111 return (queue_.empty ());
112 }
113
114 private:
115 void
116 doEndActions ()
117 {
118 enqueue_data_ = false;
119
120 while (!queue_.empty ())
121 {
122 queue_.pop ();
123 }
124 }
125
126 std::queue<T> queue_; // Use STL queue to store data
127 mutable std::mutex mutex_; // The mutex to synchronise on
128 std::condition_variable cond_; // The condition to wait for
129
130 bool request_to_end_;
131 bool enqueue_data_;
132 };
133}
Iterator class for point clouds with or without given indices.
void enqueue(const T &data)