background_processing.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <deque>
#include <string>
#include <boost/thread.hpp>
#include <boost/function.hpp>
#include <boost/noncopyable.hpp>
#include <memory>
 
namespace moveit
{
namespace tools
{
class BackgroundProcessing : private boost::noncopyable
{
public:
  enum JobEvent
  {
    ADD,
    REMOVE,
    COMPLETE
  };
 
  typedef boost::function<void(JobEvent, const std::string&)> JobUpdateCallback;
 
  typedef boost::function<void()> JobCallback;
 
  BackgroundProcessing();
 
  ~BackgroundProcessing();
 
  void addJob(const JobCallback& job, const std::string& name);
 
  std::size_t getJobCount() const;
 
  void clear();
 
  void setJobUpdateEvent(const JobUpdateCallback& event);
 
  void clearJobUpdateEvent();
 
private:
  std::unique_ptr<boost::thread> processing_thread_;
  bool run_processing_thread_;
 
  mutable boost::mutex action_lock_;
  boost::condition_variable new_action_condition_;
  std::deque<JobCallback> actions_;
  std::deque<std::string> action_names_;
 
  JobUpdateCallback queue_change_event_;
 
  bool processing_;
 
  void processingThread();
};
}  // namespace tools
}  // namespace moveit