sync_queue.h

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/******************************************************************************
 * Copyright 2024 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
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#pragma once
 
#include <condition_variable>
#include <mutex>
#include <queue>
#include <thread>
#include <utility>
 
namespace apollo {
namespace lidar {
namespace drivers {
 
template <typename T>
class SyncQueue {
 public:
    inline size_t push(const T& value) {
        bool empty = false;
        size_t size = 0;
 
        {
            std::lock_guard<std::mutex> lg(mtx_);
            empty = queue_.empty();
            queue_.push(value);
            size = queue_.size();
        }
 
        if (empty)
            cv_.notify_one();
        return size;
    }
 
    inline T pop() {
        T value;
 
        std::lock_guard<std::mutex> lg(mtx_);
        if (!queue_.empty()) {
            value = queue_.front();
            queue_.pop();
        }
 
        return value;
    }
 
    inline bool popWait(T& ret_ele, unsigned int usec = 1000000) {
        {
            std::lock_guard<std::mutex> lg(mtx_);
            if (!queue_.empty()) {
                ret_ele = queue_.front();
                queue_.pop();
                return true;
            }
        }
 
        std::this_thread::sleep_for(std::chrono::microseconds(1000));
        return false;
    }
 
    inline void clear() {
        std::queue<T> empty;
        std::lock_guard<std::mutex> lg(mtx_);
        swap(empty, queue_);
    }
 
 private:
    std::queue<T> queue_;
    std::mutex mtx_;
    std::condition_variable cv_;
};
 
}  // namespace drivers
}  // namespace lidar
}  // namespace apollo