MT_buffer.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <vector>
#include <cstdint>
#include <thread>
#include <mutex>
 
namespace mrpt
{
namespace containers
{
/** This class is a bulk sequence of bytes with MultiThread (MT)-safe read and
 * write operations.
 * \ingroup stlext_grp
 */
class MT_buffer
{
   private:
        std::vector<uint8_t> m_data;
        std::mutex m_cs;
 
   public:
        /** Default constructor */
        MT_buffer() {}
        /** Destructor */
        virtual ~MT_buffer() {}
        /** Empty the buffer */
        void clear()
        {
                m_cs.lock();
                m_data.clear();
                m_cs.unlock();
        }
 
        /** Return the number of available bytes at this moment. */
        size_t size()
        {
                size_t s;
                m_cs.lock();
                s = m_data.size();
                m_cs.unlock();
                return s;
        }
 
        /** Append new data to the stream */
        void appendData(const std::vector<uint8_t>& d)
        {
                m_cs.lock();
                m_data.insert(m_data.begin(), d.begin(), d.end());
                m_cs.unlock();
        }
 
        /** Read the whole buffer and empty it. */
        void readAndClear(std::vector<uint8_t>& d)
        {
                m_cs.lock();
                d.clear();
                m_data.swap(d);
                m_cs.unlock();
        }
 
        /** Read the whole buffer. */
        void read(std::vector<uint8_t>& d)
        {
                m_cs.lock();
                d = m_data;
                m_cs.unlock();
        }
 
};  // end of MT_buffer
 
}  // namespace containers
}  // namespace mrpt