openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

common/queue.h

@@ -0,0 +1,52 @@
+#pragma once
+
+#include <condition_variable>
+#include <mutex>
+#include <queue>
+
+template <class T>
+class SafeQueue {
+public:
+  SafeQueue() = default;
+
+  void push(const T& v) {
+    {
+      std::unique_lock lk(m);
+      q.push(v);
+    }
+    cv.notify_one();
+  }
+
+  T pop() {
+    std::unique_lock lk(m);
+    cv.wait(lk, [this] { return !q.empty(); });
+    T v = q.front();
+    q.pop();
+    return v;
+  }
+
+  bool try_pop(T& v, int timeout_ms = 0) {
+    std::unique_lock lk(m);
+    if (!cv.wait_for(lk, std::chrono::milliseconds(timeout_ms), [this] { return !q.empty(); })) {
+      return false;
+    }
+    v = q.front();
+    q.pop();
+    return true;
+  }
+
+  bool empty() const {
+    std::scoped_lock lk(m);
+    return q.empty();
+  }
+
+  size_t size() const {
+    std::scoped_lock lk(m);
+    return q.size();
+  }
+
+private:
+  mutable std::mutex m;
+  std::condition_variable cv;
+  std::queue<T> q;
+};