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#include <cstdlib>
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#include <rsc/misc/SignalWaiter.h>
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#include <rsb/depthsensors2/VideoMode.h>
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#include <map>
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#include <vector>
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#include <deque>
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#include <sstream>
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#include <boost/program_options.hpp>
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#include <boost/algorithm/string/split.hpp>
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#include <boost/algorithm/string/classification.hpp>
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include <rsb/depthsensors2/Factory.h>
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#include <rst/tracking/TrackedPostures3DFloat.pb.h>
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#include <rsb/depthsensors2/BoostSignalToRSBConnector.h>
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using namespace std;
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using namespace rsb;
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using namespace boost;
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using namespace rsc::threading;
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boost::shared_ptr<rsc::threading::SynchronizedQueue<std::pair<boost::posix_time::ptime, boost::shared_ptr<string> > > > dataQueue1;
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boost::shared_ptr< rsb::Informer<string> > informer1;
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void publishThread1() {
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try {
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while(true) {
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std::pair<boost::posix_time::ptime, boost::shared_ptr<string> > data = dataQueue1->pop();
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if(!data.second) {
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break;
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}
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rsb::EventPtr event = informer1->createEvent();
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event->mutableMetaData().setCreateTime(data.first);
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event->setData(data.second);
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informer1->publish(event);
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}
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} catch(rsc::threading::InterruptedException ex) {
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}
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}
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boost::shared_ptr<rsc::threading::SynchronizedQueue<std::pair<boost::posix_time::ptime, boost::shared_ptr<string> > > > dataQueue2(
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new rsc::threading::SynchronizedQueue<std::pair<boost::posix_time::ptime, boost::shared_ptr<string> > >(1));
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boost::shared_ptr< rsb::Informer<string> > informer2;
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void publishThread2() {
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try {
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while(true) {
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std::pair<boost::posix_time::ptime, boost::shared_ptr<string> > data = dataQueue2->pop();
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if(!data.second) {
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break;
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}
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rsb::EventPtr event = informer2->createEvent();
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event->mutableMetaData().setCreateTime(data.first);
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event->setData(data.second);
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informer2->publish(event);
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}
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} catch(rsc::threading::InterruptedException ex) {
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}
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}
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int main(int argc, char* argv[]) {
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dataQueue1 = boost::shared_ptr<rsc::threading::SynchronizedQueue<std::pair<boost::posix_time::ptime, boost::shared_ptr<string> > > >(
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new rsc::threading::SynchronizedQueue<std::pair<boost::posix_time::ptime, boost::shared_ptr<string> > >());
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dataQueue2 = boost::shared_ptr<rsc::threading::SynchronizedQueue<std::pair<boost::posix_time::ptime, boost::shared_ptr<string> > > >(
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new rsc::threading::SynchronizedQueue<std::pair<boost::posix_time::ptime, boost::shared_ptr<string> > >());
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informer1 = boost::shared_ptr< rsb::Informer<string> >(rsb::getFactory().createInformer<string>(Scope("/fun1")));
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informer2 = boost::shared_ptr< rsb::Informer<string> >(rsb::getFactory().createInformer<string>(Scope("/fun2")));
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thread t1(publishThread1);
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thread t2(publishThread2);
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for(int i=0; i<10000; i++) {
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boost::shared_ptr<string> ptr1(new string("fun"));
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dataQueue1->push(pair< boost::posix_time::ptime, boost::shared_ptr<string> >(boost::posix_time::ptime(), ptr1));
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boost::shared_ptr<string> ptr2(new string("fun"));
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dataQueue2->push(pair< boost::posix_time::ptime, boost::shared_ptr<string> >(boost::posix_time::ptime(), ptr2));
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}
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dataQueue1->push(pair< boost::posix_time::ptime, boost::shared_ptr<string> >(boost::posix_time::ptime(), boost::shared_ptr<string>()));
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dataQueue2->push(pair< boost::posix_time::ptime, boost::shared_ptr<string> >(boost::posix_time::ptime(), boost::shared_ptr<string>()));
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t1.join();
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t2.join();
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return 0;
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}
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