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Clear the queue when consumer reads from it #96

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merged 2 commits into from
Apr 7, 2022
Merged

Clear the queue when consumer reads from it #96

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bfb132c
Get the latest package each time the consumer reads from the queue.
corycrean Mar 18, 2022
67f6849
Improve documentation.
corycrean Mar 24, 2022
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12 changes: 10 additions & 2 deletions include/ur_client_library/comm/pipeline.h
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Original file line number Diff line number Diff line change
Expand Up @@ -319,7 +319,7 @@ class Pipeline
}

/*!
* \brief Returns the next package in the queue. Can be used instead of registering a consumer.
* \brief Returns the most recent package in the queue. Can be used instead of registering a consumer. If the queue already contains one or more items, the queue will be flushed and the newest item will be returned. If there is no item inside the queue, the function will wait for \p timeout for a new package
*
* \param product Unique pointer to be set to the package
* \param timeout Time to wait if no package is in the queue before returning
Expand All @@ -328,7 +328,15 @@ class Pipeline
*/
bool getLatestProduct(std::unique_ptr<T>& product, std::chrono::milliseconds timeout)
{
return queue_.waitDequeTimed(product, timeout);
// If the queue has more than one package, get the latest one.
bool res = false;
while (queue_.tryDequeue(product))
{
res = true;
}

// If the queue is empty, wait for a package.
return res || queue_.waitDequeTimed(product, timeout);
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Personally not a fan of this type of return structure, but I can accept that as subjective.

}

private:
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