00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef MOVEIT_PICK_PLACE_MANIPULATION_PIPELINE_ 00038 #define MOVEIT_PICK_PLACE_MANIPULATION_PIPELINE_ 00039 00040 #include <moveit/pick_place/manipulation_stage.h> 00041 #include <boost/thread.hpp> 00042 #include <boost/shared_ptr.hpp> 00043 #include <boost/function.hpp> 00044 #include <vector> 00045 #include <deque> 00046 00047 namespace pick_place 00048 { 00050 class ManipulationPipeline 00051 { 00052 public: 00053 ManipulationPipeline(const std::string& name, unsigned int nthreads); 00054 virtual ~ManipulationPipeline(); 00055 00056 const std::string& getName() const 00057 { 00058 return name_; 00059 } 00060 00061 void setSolutionCallback(const boost::function<void()>& callback) 00062 { 00063 solution_callback_ = callback; 00064 } 00065 00066 void setEmptyQueueCallback(const boost::function<void()>& callback) 00067 { 00068 empty_queue_callback_ = callback; 00069 } 00070 00071 ManipulationPipeline& addStage(const ManipulationStagePtr& next); 00072 const ManipulationStagePtr& getFirstStage() const; 00073 const ManipulationStagePtr& getLastStage() const; 00074 void reset(); 00075 00076 void setVerbose(bool flag); 00077 00078 void signalStop(); 00079 void start(); 00080 void stop(); 00081 00082 void push(const ManipulationPlanPtr& grasp); 00083 void clear(); 00084 00085 const std::vector<ManipulationPlanPtr>& getSuccessfulManipulationPlans() const 00086 { 00087 return success_; 00088 } 00089 00090 const std::vector<ManipulationPlanPtr>& getFailedManipulationPlans() const 00091 { 00092 return failed_; 00093 } 00094 00095 void reprocessLastFailure(); 00096 00097 protected: 00098 void processingThread(unsigned int index); 00099 00100 std::string name_; 00101 unsigned int nthreads_; 00102 bool verbose_; 00103 std::vector<ManipulationStagePtr> stages_; 00104 00105 std::deque<ManipulationPlanPtr> queue_; 00106 std::vector<ManipulationPlanPtr> success_; 00107 std::vector<ManipulationPlanPtr> failed_; 00108 00109 std::vector<boost::thread*> processing_threads_; 00110 boost::condition_variable queue_access_cond_; 00111 boost::mutex queue_access_lock_; 00112 boost::mutex result_lock_; 00113 00114 boost::function<void()> solution_callback_; 00115 boost::function<void()> empty_queue_callback_; 00116 unsigned int empty_queue_threads_; 00117 00118 bool stop_processing_; 00119 }; 00120 } 00121 00122 #endif