filter_job.h

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/* Author: Suat Gedikli */

#ifndef MOVEIT_MESH_FILTER_FILTER_JOB_
#define MOVEIT_MESH_FILTER_FILTER_JOB_

#include <moveit/macros/class_forward.h>
#include <boost/thread/condition.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/locks.hpp>

namespace mesh_filter
{
MOVEIT_CLASS_FORWARD(Job);

class Job
{
public:
  Job() : done_(false)
  {
  }
  inline void wait() const;
  virtual void execute() = 0;
  inline void cancel();
  inline bool isDone() const;

protected:
  bool done_;
  mutable boost::condition_variable condition_;
  mutable boost::mutex mutex_;
};

void Job::wait() const
{
  boost::unique_lock<boost::mutex> lock(mutex_);
  while (!done_)
    condition_.wait(lock);
}

void Job::cancel()
{
  boost::unique_lock<boost::mutex> lock(mutex_);
  done_ = true;
  condition_.notify_all();
}

bool Job::isDone() const
{
  return done_;
}

template <typename ReturnType>
class FilterJob : public Job
{
public:
  FilterJob(const boost::function<ReturnType()>& exec) : Job(), exec_(exec)
  {
  }
  virtual void execute();
  const ReturnType& getResult() const;

private:
  boost::function<ReturnType()> exec_;
  ReturnType result_;
};

template <typename ReturnType>
void FilterJob<ReturnType>::execute()
{
  boost::unique_lock<boost::mutex> lock(mutex_);
  if (!done_)  // not canceled !
    result_ = exec_();

  done_ = true;
  condition_.notify_all();
}

template <typename ReturnType>
const ReturnType& FilterJob<ReturnType>::getResult() const
{
  wait();
  return result_;
}

template <>
class FilterJob<void> : public Job
{
public:
  FilterJob(const boost::function<void()>& exec) : Job(), exec_(exec)
  {
  }
  virtual void execute()
  {
    boost::unique_lock<boost::mutex> lock(mutex_);
    if (!done_)  // not canceled !
      exec_();

    done_ = true;
    condition_.notify_all();
  }

private:
  boost::function<void()> exec_;
};
}
#endif