BlockingQueue.hpp
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/****************************************************************************
*
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. 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.
* 3. Neither the name PX4 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 OWNER 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.
*
****************************************************************************/
#pragma once
#include <px4_platform_common/sem.h>
#include "LockGuard.hpp"
template<class T, size_t N>
class BlockingQueue
{
public:
BlockingQueue()
{
px4_sem_init(&_sem_head, 0, N);
px4_sem_init(&_sem_tail, 0, 0);
}
~BlockingQueue()
{
px4_sem_destroy(&_sem_head);
px4_sem_destroy(&_sem_tail);
}
void push(T newItem)
{
px4_sem_wait(&_sem_head);
_data[_tail] = newItem;
_tail = (_tail + 1) % N;
px4_sem_post(&_sem_tail);
}
T pop()
{
px4_sem_wait(&_sem_tail);
T ret = _data[_head];
_head = (_head + 1) % N;
px4_sem_post(&_sem_head);
return ret;
}
private:
px4_sem_t _sem_head;
px4_sem_t _sem_tail;
T _data[N] {};
size_t _head{0};
size_t _tail{0};
};