job_processing.cpp

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/* Author: Mario Prats, Ioan Sucan */

#include <ros/ros.h>
#include <job_processing.h>

namespace benchmark_tool
{

std::deque<boost::function<void(void)> > JobProcessing::main_loop_jobs_;
boost::mutex JobProcessing::main_loop_jobs_lock_;
moveit::tools::BackgroundProcessing JobProcessing::background_process_;

void JobProcessing::addBackgroundJob(const boost::function<void(void)> &job)
{
  background_process_.addJob(job, "noname");
}

void JobProcessing::addMainLoopJob(const boost::function<void(void)> &job)
{
  boost::mutex::scoped_lock slock(main_loop_jobs_lock_);
  main_loop_jobs_.push_back(job);
}

void JobProcessing::executeMainLoopJobs()
{
  main_loop_jobs_lock_.lock();
  while ( ! main_loop_jobs_.empty())
  {
    boost::function<void(void)> fn = main_loop_jobs_.front();
    main_loop_jobs_.pop_front();
    main_loop_jobs_lock_.unlock();
    try
    {
      fn();
    }
    catch(std::runtime_error &ex)
    {
      ROS_ERROR("Exception caught executing main loop job: %s", ex.what());
    }
    catch(...)
    {
      ROS_ERROR("Exception caught executing main loop job");
    }
    main_loop_jobs_lock_.lock();
  }
  main_loop_jobs_lock_.unlock();
}

} //namespace