0.12.3: Increased Tango rendering performance, modified all handleEvent() with new interface (now returning bool)

utilite/include/rtabmap/utilite/UEventsHandler.h

@@ -147,10 +147,15 @@ protected:
      * events are received. If a handling function 
      * takes too much time, the events list can grow 
      * faster than it is emptied. The event can be
-     * modified but must not be deleted.
+     * modified.
+     * @return "true" to notify UEventsManager that this handler took ownership of the
+     *         event (meaning it must delete it). The event will
+     *         not be dispatched to next handlers.
+     * @return "false" to let event be dispatched to next handlers (default behavior). UEventsManager
+     *         will take care of deleting the event.
      *
      */
-    virtual void handleEvent(UEvent * event) = 0;
+    virtual bool handleEvent(UEvent * event) = 0;
 
 protected:
     /**

utilite/include/rtabmap/utilite/UEventsManager.h

@@ -175,7 +175,7 @@ private:
     /*
 	 * This method dispatches an event to all handlers.
 	 */
-    virtual void dispatchEvent(UEvent * event, const UEventsSender * sender);
+    virtual bool dispatchEvent(UEvent * event, const UEventsSender * sender);
 
     /*
      * This method is used to add an events 

utilite/src/UEventsManager.cpp

@@ -190,13 +190,15 @@ void UEventsManager::dispatchEvents()
 	// Past events to handlers
 	for(it=eventsBuf.begin(); it!=eventsBuf.end(); ++it)
 	{
-		dispatchEvent(it->first, it->second);
-		delete it->first;
+		if(!dispatchEvent(it->first, it->second))
+		{
+			delete it->first;
+		}
 	}
     eventsBuf.clear();
 }
 
-void UEventsManager::dispatchEvent(UEvent * event, const UEventsSender * sender)
+bool UEventsManager::dispatchEvent(UEvent * event, const UEventsSender * sender)
 {
 	std::list<UEventsHandler*> handlers;
 
@@ -213,7 +215,9 @@ void UEventsManager::dispatchEvent(UEvent * event, const UEventsSender * sender)
 		handlers = handlers_;
 	}
 
-	for(std::list<UEventsHandler*>::iterator it=handlers.begin(); it!=handlers.end(); ++it)
+	bool handled = false;
+
+	for(std::list<UEventsHandler*>::iterator it=handlers.begin(); it!=handlers.end() && !handled; ++it)
 	{
 		// Check if the handler is still in the
 		// handlers_ list (may be changed if addHandler() or
@@ -228,13 +232,14 @@ void UEventsManager::dispatchEvent(UEvent * event, const UEventsSender * sender)
 			{
 				// To be able to add/remove an handler in a handleEvent call (without a deadlock)
 				// @see _addHandler(), _removeHandler()
-				handler->handleEvent(event);
+				handled = handler->handleEvent(event);
 			}
 
 			handlersMutex_.lock();
 		}
 	}
 	handlersMutex_.unlock();
+	return handled;
 }
 
 void UEventsManager::_addHandler(UEventsHandler* handler)
@@ -309,8 +314,10 @@ void UEventsManager::_postEvent(UEvent * event, bool async, const UEventsSender
     	}
     	else
     	{
-    		dispatchEvent(event, sender);
-    		delete event;
+    		if(!dispatchEvent(event, sender))
+    		{
+    			delete event;
+    		}
     	}
     }
     else