poll_manager.cpp
Go to the documentation of this file.00001 /* 00002 * Copyright (C) 2009, Willow Garage, Inc. 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions are met: 00006 * * Redistributions of source code must retain the above copyright notice, 00007 * this list of conditions and the following disclaimer. 00008 * * Redistributions in binary form must reproduce the above copyright 00009 * notice, this list of conditions and the following disclaimer in the 00010 * documentation and/or other materials provided with the distribution. 00011 * * Neither the names of Willow Garage, Inc. nor the names of its 00012 * contributors may be used to endorse or promote products derived from 00013 * this software without specific prior written permission. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 * POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #include "ros/poll_manager.h" 00029 #include "ros/common.h" 00030 00031 #include <signal.h> 00032 00033 namespace ros 00034 { 00035 00036 PollManagerPtr g_poll_manager; 00037 boost::mutex g_poll_manager_mutex; 00038 const PollManagerPtr& PollManager::instance() 00039 { 00040 if (!g_poll_manager) 00041 { 00042 boost::mutex::scoped_lock lock(g_poll_manager_mutex); 00043 if (!g_poll_manager) 00044 { 00045 g_poll_manager.reset(new PollManager); 00046 } 00047 } 00048 00049 return g_poll_manager; 00050 } 00051 00052 PollManager::PollManager() 00053 { 00054 } 00055 00056 PollManager::~PollManager() 00057 { 00058 shutdown(); 00059 } 00060 00061 void PollManager::start() 00062 { 00063 shutting_down_ = false; 00064 thread_ = boost::thread(&PollManager::threadFunc, this); 00065 } 00066 00067 void PollManager::shutdown() 00068 { 00069 shutting_down_ = true; 00070 if (thread_.get_id() != boost::this_thread::get_id()) 00071 { 00072 thread_.join(); 00073 } 00074 00075 boost::recursive_mutex::scoped_lock lock(signal_mutex_); 00076 poll_signal_.disconnect_all_slots(); 00077 } 00078 00079 void PollManager::threadFunc() 00080 { 00081 disableAllSignalsInThisThread(); 00082 00083 while (!shutting_down_) 00084 { 00085 { 00086 boost::recursive_mutex::scoped_lock lock(signal_mutex_); 00087 poll_signal_(); 00088 } 00089 00090 if (shutting_down_) 00091 { 00092 return; 00093 } 00094 00095 poll_set_.update(100); 00096 } 00097 } 00098 00099 boost::signals::connection PollManager::addPollThreadListener(const VoidFunc& func) 00100 { 00101 boost::recursive_mutex::scoped_lock lock(signal_mutex_); 00102 return poll_signal_.connect(func); 00103 } 00104 00105 void PollManager::removePollThreadListener(boost::signals::connection c) 00106 { 00107 boost::recursive_mutex::scoped_lock lock(signal_mutex_); 00108 c.disconnect(); 00109 } 00110 00111 }