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00037 #include <moveit/background_processing/background_processing.h>
00038 #include <console_bridge/console.h>
00039
00040 moveit::tools::BackgroundProcessing::BackgroundProcessing()
00041 {
00042
00043 run_processing_thread_ = true;
00044 processing_ = false;
00045 processing_thread_.reset(new boost::thread(boost::bind(&BackgroundProcessing::processingThread, this)));
00046 }
00047
00048 moveit::tools::BackgroundProcessing::~BackgroundProcessing()
00049 {
00050 run_processing_thread_ = false;
00051 new_action_condition_.notify_all();
00052 processing_thread_->join();
00053 }
00054
00055 void moveit::tools::BackgroundProcessing::processingThread()
00056 {
00057 boost::unique_lock<boost::mutex> ulock(action_lock_);
00058
00059 while (run_processing_thread_)
00060 {
00061 while (actions_.empty() && run_processing_thread_)
00062 new_action_condition_.wait(ulock);
00063
00064 while (!actions_.empty())
00065 {
00066 JobCallback fn = actions_.front();
00067 std::string action_name = action_names_.front();
00068 actions_.pop_front();
00069 action_names_.pop_front();
00070 processing_ = true;
00071
00072
00073 action_lock_.unlock();
00074 try
00075 {
00076 logDebug("moveit.background: Begin executing '%s'", action_name.c_str());
00077 fn();
00078 logDebug("moveit.background: Done executing '%s'", action_name.c_str());
00079 }
00080 catch(std::runtime_error &ex)
00081 {
00082 logError("Exception caught while processing action '%s': %s", action_name.c_str(), ex.what());
00083 }
00084 catch(...)
00085 {
00086 logError("Exception caught while processing action '%s'", action_name.c_str());
00087 }
00088 processing_ = false;
00089 if (queue_change_event_)
00090 queue_change_event_(COMPLETE, action_name);
00091 action_lock_.lock();
00092 }
00093 }
00094 }
00095
00096 void moveit::tools::BackgroundProcessing::addJob(const boost::function<void()> &job, const std::string &name)
00097 {
00098 {
00099 boost::mutex::scoped_lock _(action_lock_);
00100 actions_.push_back(job);
00101 action_names_.push_back(name);
00102 new_action_condition_.notify_all();
00103 }
00104 if (queue_change_event_)
00105 queue_change_event_(ADD, name);
00106 }
00107
00108 void moveit::tools::BackgroundProcessing::clear()
00109 {
00110 bool update = false;
00111 std::deque<std::string> removed;
00112 {
00113 boost::mutex::scoped_lock _(action_lock_);
00114 update = !actions_.empty();
00115 actions_.clear();
00116 action_names_.swap(removed);
00117 }
00118 if (update && queue_change_event_)
00119 for (std::deque<std::string>::iterator it = removed.begin() ; it != removed.end() ; ++it)
00120 queue_change_event_(REMOVE, *it);
00121 }
00122
00123 std::size_t moveit::tools::BackgroundProcessing::getJobCount() const
00124 {
00125 boost::mutex::scoped_lock _(action_lock_);
00126 return actions_.size() + (processing_ ? 1 : 0);
00127 }
00128
00129 void moveit::tools::BackgroundProcessing::setJobUpdateEvent(const JobUpdateCallback &event)
00130 {
00131 boost::mutex::scoped_lock _(action_lock_);
00132 queue_change_event_ = event;
00133 }
00134
00135 void moveit::tools::BackgroundProcessing::clearJobUpdateEvent()
00136 {
00137 setJobUpdateEvent(JobUpdateCallback());
00138 }