void callbackThreadFunction(SharedMemoryTransport<T>* smt, boost::function<void(T&)> callback)
{
T msg;
std::string serialized_data;
ros::Rate loop_rate(10.0);
while(ros::ok()) //wait for the field to at least have something
{
if(!smt->initialized())
{
ROS_WARN("%s: Shared memory transport was shut down while we were waiting for connections. Stopping callback thread!", m_nh->getNamespace().c_str());
return;
}
if(!smt->connected())
{
smt->connect();
}
else if(smt->hasData())
{
break;
}
ROS_WARN_STREAM_THROTTLE(1.0, m_nh->getNamespace() << ": Trying to connect to field " << smt->getFieldName() << "...");
loop_rate.sleep();
//boost::this_thread::interruption_point();
}
if(getCurrentMessage(msg))
{
callback(msg);
}
while(ros::ok())
{
try
{
if(m_use_polling)
{
smt->awaitNewDataPolled(msg);
}
else
{
smt->awaitNewData(msg);
}
callback(msg);
}
catch(ros::serialization::StreamOverrunException& ex)
{
ROS_ERROR("%s: Deserialization failed for topic %s! The string was:\n%s", m_nh->getNamespace().c_str(), m_full_topic_path.c_str(), serialized_data.c_str());
}
//boost::this_thread::interruption_point();
}
}
bool VoiceboxDialog::enqueueCurMessage() {
if (((in_saved_msgs) && (cur_msg == saved_msgs.end()))
||((!in_saved_msgs) && (cur_msg == new_msgs.end()))) {
ERROR("check implementation!\n");
return false;
}
FILE* fp=getCurrentMessage();
if (NULL == fp)
return false;
if (!in_saved_msgs) {
if (cur_msg == new_msgs.begin())
enqueueBack("first_new_msg");
else
enqueueBack("next_new_msg");
} else {
if (cur_msg == saved_msgs.begin())
enqueueBack("first_saved_msg");
else
enqueueBack("next_saved_msg");
}
// notifies the dialog that playback of message starts
enqueueSeparator(PLAYLIST_SEPARATOR_MSG_BEGIN);
// enqueue msg
message.fpopen(cur_msg->name, AmAudioFile::Read, fp);
play_list.addToPlaylist(new AmPlaylistItem(&message, NULL));
if (!isAtLastMsg())
enqueueBack("msg_menu");
else
enqueueBack("msg_end_menu");
//can do save action on cur message?
do_save_cur_msg = !in_saved_msgs;
return true;
}
