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\n#include \n#include \n#include \n \n#include \"ThreadSafeQueue.hpp\"\n \nusing namespace mn::CppUtils;\n \nstruct Cmd {\n std::string name;\n std::shared_ptr data;\n};\n \n// We require a thread-safe queue, which is not part of the standard!\n// See https://github.com/mbedded-ninja/CppUtils/blob/master/include/CppUtils/ThreadSafeQueue.hpp\nThreadSafeQueue queue_;\n \nvoid ThreadFn() {\n Cmd cmd;\n \n while(true) {\n queue_.Pop(cmd);\n std::cout << \"Received command. cmd.name = \" << cmd.name << std::endl;\n \n if(cmd.name == \"CMD_1\") { \n auto data = std::static_pointer_cast(cmd.data); // Cast back to exact data type\n std::cout << \"Received data (as string) = \\\"\" << *data << \"\\\"\" << std::endl;\n } else if(cmd.name == \"CMD_2\") {\n // Do stuff with cmd.data\n } else if(cmd.name == \"QUIT\") {\n // Break from infinite while loop, which will mean that\n // this function will return and then thread.join() will\n // return\n break; \n } else\n throw std::runtime_error(\"Command name not recognized.\");\n }\n}\n \nint main() {\n std::thread t(ThreadFn);\n \n auto data = std::shared_ptr(new std::string(\"hello\"));\n \n Cmd cmd;\n cmd.name = \"CMD_1\";\n cmd.data = std::static_pointer_cast(data); // Cast away the exact data type\n queue_.Push(cmd);\n \n cmd.name = \"QUIT\";\n cmd.data = nullptr; // Some commands may not need data!\n queue_.Push(cmd);\n \n t.join();\n}","codes",[3372],{"_3373":3374,"_3368":3375},"file","ThreadSafeQueue.hpp","///\n/// \\file \t\t\t\tThreadSafeQueue.hpp\n/// \\author \t\t\tGeoffrey Hunter (www.mbedded.ninja) \n/// \\edited n/a\n/// \\created\t\t\t2017-08-09\n/// \\last-modified\t\t2017-10-06\n/// \\brief \t\t\t\tContains the ThreadSafeQueue class.\n/// \\details\n///\t\tSee README.md in root dir for more info.\n\n#ifndef MN_CPP_UTILS_THREAD_SAFE_QUEUE_H_\n#define MN_CPP_UTILS_THREAD_SAFE_QUEUE_H_\n\n// System includes\n#include \n#include \n#include \n\nnamespace mn {\n namespace CppUtils {\n\n /// \\brief A thread-safe queue designed for inter-thread communication.\n template\n class ThreadSafeQueue {\n public:\n\n /// \\brief Adds something to the back of the thread-safe queue.\n /// \\details This may be called from multiple threads at the \"same time\". Method\n /// will block until item can be placed onto queue.\n void Push(const T &item) {\n std::unique_lock uniqueLock(mutex_);\n\n // Push item onto queue\n queue_.push(item);\n\n // IMPORTANT: This has to be done BEFORE conditional variable is notified\n uniqueLock.unlock();\n\n // IMPORTANT: This has to be done AFTER mutex has been unlocked\n conditionVariable_.notify_one();\n }\n\n /// \\brief Waits indefinitely until an item is available on the queue. Removes one item.\n /// \\details This may be called from multiple threads at the \"same time\". Method\n /// will block indefinitely (no timeout) until there is an item on the queue.\n void Pop(T& item) {\n\n // Lock the mutex\n std::unique_lock uniqueLock(mutex_);\n\n conditionVariable_.wait(uniqueLock, [&] {\n return !queue_.empty();\n });\n\n // If we get here, there is an item on the queue for us, and the lock has been taken out\n item = queue_.front();\n queue_.pop();\n\n // Mutex will automatically be unlocked here\n // (as it is a unique_lock)\n }\n\n /// \\brief Removes one item from the front of the thread-safe queue.\n /// \\details This may be called from multiple threads at the \"same time\". Method\n /// will block until the is an item on the queue OR a timeout occurs.\n /// \\returns Returns true is item received, returns false if a timeout occurred.\n bool TryPop(T& item, const std::chrono::milliseconds& timeout) {\n\n // Lock the mutex\n std::unique_lock uniqueLock(mutex_);\n\n if(!conditionVariable_.wait_for(uniqueLock, timeout, [&] {\n return !queue_.empty();\n })) {\n return false;\n }\n\n // If we get here, there is an item on the queue for us, and the lock has been taken out\n item = queue_.front();\n queue_.pop();\n\n // Mutex will automatically be unlocked here\n // (as it is a unique_lock)\n return true;\n }\n\n size_t Size() {\n return queue_.size();\n }\n\n private:\n\n std::queue queue_;\n std::mutex mutex_;\n std::condition_variable conditionVariable_;\n\n };\n } // namespace CppUtils\n} // namespace mn\n\n#endif // #ifndef 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