nodelet::detail::CallbackQueueManager Class Reference

Internal use. More...

#include <callback_queue_manager.h>

List of all members.

Classes
struct	QueueInfo
struct	ThreadInfo
Public Member Functions
void	addQueue (const CallbackQueuePtr &queue, bool threaded)
void	callbackAdded (const CallbackQueuePtr &queue)
	CallbackQueueManager (uint32_t num_worker_threads=0)
	Constructor.
uint32_t	getNumWorkerThreads ()
void	removeQueue (const CallbackQueuePtr &queue)
void	stop ()
	~CallbackQueueManager ()
Private Types
typedef boost::unordered_map < CallbackQueue *, QueueInfoPtr >	M_Queue
typedef boost::shared_ptr < QueueInfo >	QueueInfoPtr
typedef std::vector < CallbackQueuePtr >	V_Queue
typedef boost::scoped_array < ThreadInfo >	V_ThreadInfo
Private Member Functions
ThreadInfo *	getSmallestQueue ()
void	managerThread ()
void	workerThread (ThreadInfo *)
Private Attributes
uint32_t	num_worker_threads_
M_Queue	queues_
boost::mutex	queues_mutex_
bool	running_
boost::thread_group	tg_
V_ThreadInfo	thread_info_
V_Queue	waiting_
boost::condition_variable	waiting_cond_
boost::mutex	waiting_mutex_

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Detailed Description

Internal use.

Manages a set of callback queues, potentially calling callbacks from them concurrently in different threads. Essentially a task manager specialized for callback queues.

Uses 1 manager thread + N worker threads. The manager thread gives work to the worker threads by finding the thread with the fewest pending tasks and appending to that list. This does mean that a single long-running callback can potentially block other callbacks from being executed. Some kind of work-stealing could mitigate this, and is a good direction for future work.

Definition at line 61 of file callback_queue_manager.h.

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Member Typedef Documentation

typedef boost::unordered_map<CallbackQueue*, QueueInfoPtr> nodelet::detail::CallbackQueueManager::M_Queue [private]

Definition at line 107 of file callback_queue_manager.h.

typedef boost::shared_ptr<QueueInfo> nodelet::detail::CallbackQueueManager::QueueInfoPtr [private]

Definition at line 105 of file callback_queue_manager.h.

typedef std::vector<CallbackQueuePtr> nodelet::detail::CallbackQueueManager::V_Queue [private]

Todo:

SRMW lockfree queue. waiting_mutex_ has the potential for a lot of contention

Definition at line 112 of file callback_queue_manager.h.

typedef boost::scoped_array<ThreadInfo> nodelet::detail::CallbackQueueManager::V_ThreadInfo [private]

Todo:

Use cache-aligned allocator for thread_info_

Definition at line 155 of file callback_queue_manager.h.

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Constructor & Destructor Documentation

nodelet::detail::CallbackQueueManager::CallbackQueueManager

(

uint32_t

num_worker_threads = 0

)

Constructor.

By default, uses the number of hardware threads available on the current system.

Definition at line 46 of file callback_queue_manager.cpp.

nodelet::detail::CallbackQueueManager::~CallbackQueueManager

(

)

Definition at line 63 of file callback_queue_manager.cpp.

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Member Function Documentation

void nodelet::detail::CallbackQueueManager::addQueue	(	const CallbackQueuePtr &	queue,
		bool	threaded
	)

Definition at line 110 of file callback_queue_manager.cpp.

void nodelet::detail::CallbackQueueManager::callbackAdded

(

const CallbackQueuePtr &

queue

)

Definition at line 129 of file callback_queue_manager.cpp.

uint32_t nodelet::detail::CallbackQueueManager::getNumWorkerThreads

(

)

Definition at line 105 of file callback_queue_manager.cpp.

CallbackQueueManager::ThreadInfo * nodelet::detail::CallbackQueueManager::getSmallestQueue

(

)

[private]

Definition at line 139 of file callback_queue_manager.cpp.

void nodelet::detail::CallbackQueueManager::managerThread

(

)

[private]

Definition at line 163 of file callback_queue_manager.cpp.

void nodelet::detail::CallbackQueueManager::removeQueue

(

const CallbackQueuePtr &

queue

)

Definition at line 121 of file callback_queue_manager.cpp.

void nodelet::detail::CallbackQueueManager::stop

(

)

Definition at line 87 of file callback_queue_manager.cpp.

void nodelet::detail::CallbackQueueManager::workerThread

(

ThreadInfo *

info

)

[private]

Definition at line 244 of file callback_queue_manager.cpp.

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Member Data Documentation

uint32_t nodelet::detail::CallbackQueueManager::num_worker_threads_ [private]

Definition at line 159 of file callback_queue_manager.h.

M_Queue nodelet::detail::CallbackQueueManager::queues_ [private]

Definition at line 108 of file callback_queue_manager.h.

boost::mutex nodelet::detail::CallbackQueueManager::queues_mutex_ [private]

Definition at line 109 of file callback_queue_manager.h.

bool nodelet::detail::CallbackQueueManager::running_ [private]

Definition at line 158 of file callback_queue_manager.h.

boost::thread_group nodelet::detail::CallbackQueueManager::tg_ [private]

Definition at line 116 of file callback_queue_manager.h.

V_ThreadInfo nodelet::detail::CallbackQueueManager::thread_info_ [private]

Definition at line 156 of file callback_queue_manager.h.

V_Queue nodelet::detail::CallbackQueueManager::waiting_ [private]

Definition at line 113 of file callback_queue_manager.h.

boost::condition_variable nodelet::detail::CallbackQueueManager::waiting_cond_ [private]

Definition at line 115 of file callback_queue_manager.h.

boost::mutex nodelet::detail::CallbackQueueManager::waiting_mutex_ [private]

Definition at line 114 of file callback_queue_manager.h.

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The documentation for this class was generated from the following files:

• callback_queue_manager.h
• callback_queue_manager.cpp