cartographer/cartographer_grpc/framework/completion_queue_thread.h

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/*
* Copyright 2017 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_COMPLETION_QUEUE_THREAD_H
#define CARTOGRAPHER_COMPLETION_QUEUE_THREAD_H
#include <grpc++/grpc++.h>
#include <memory>
#include <thread>
namespace cartographer_grpc {
namespace framework {
class CompletionQueueThread {
public:
using CompletionQueueRunner =
std::function<void(::grpc::ServerCompletionQueue*)>;
explicit CompletionQueueThread(
std::unique_ptr<::grpc::ServerCompletionQueue> completion_queue);
void Start(CompletionQueueRunner runner);
private:
std::unique_ptr<::grpc::ServerCompletionQueue> completion_queue_;
std::unique_ptr<std::thread> worker_thread_;
};
} // namespace framework
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_COMPLETION_QUEUE_THREAD_H