Classes | Public Member Functions | Private Types | Private Member Functions | Private Attributes
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

ThreadInfogetSmallestQueue ()
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_

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 65 of file callback_queue_manager.h.


Member Typedef Documentation

Definition at line 110 of file callback_queue_manager.h.

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

Definition at line 108 of file callback_queue_manager.h.

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

Definition at line 115 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 158 of file callback_queue_manager.h.


Constructor & Destructor Documentation

Constructor.

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

Definition at line 46 of file callback_queue_manager.cpp.

Definition at line 63 of file callback_queue_manager.cpp.


Member Function Documentation

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

Definition at line 110 of file callback_queue_manager.cpp.

Definition at line 129 of file callback_queue_manager.cpp.

Definition at line 105 of file callback_queue_manager.cpp.

Definition at line 139 of file callback_queue_manager.cpp.

Definition at line 163 of file callback_queue_manager.cpp.

Definition at line 121 of file callback_queue_manager.cpp.

Definition at line 87 of file callback_queue_manager.cpp.

Definition at line 244 of file callback_queue_manager.cpp.


Member Data Documentation

Definition at line 162 of file callback_queue_manager.h.

Definition at line 111 of file callback_queue_manager.h.

Definition at line 112 of file callback_queue_manager.h.

Definition at line 161 of file callback_queue_manager.h.

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

Definition at line 119 of file callback_queue_manager.h.

Definition at line 159 of file callback_queue_manager.h.

Definition at line 116 of file callback_queue_manager.h.

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

Definition at line 118 of file callback_queue_manager.h.

Definition at line 117 of file callback_queue_manager.h.


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


nodelet
Author(s): Tully Foote, Radu Bogdan Rusu
autogenerated on Sun Feb 17 2019 03:43:51