callback_queue_manager.h
Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2010, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef NODELET_CALLBACK_QUEUE_MANAGER_H
00031 #define NODELET_CALLBACK_QUEUE_MANAGER_H
00032 
00033 #include <ros/types.h>
00034 
00035 #include <boost/shared_ptr.hpp>
00036 #include <boost/scoped_array.hpp>
00037 #include <boost/unordered_map.hpp>
00038 #include <boost/thread/mutex.hpp>
00039 #include <boost/thread/thread.hpp>
00040 #include <boost/detail/atomic_count.hpp>
00041 
00042 #include <vector>
00043 #include <deque>
00044 
00045 namespace nodelet
00046 {
00047 namespace detail
00048 {
00049 class CallbackQueue;
00050 typedef boost::shared_ptr<CallbackQueue> CallbackQueuePtr;
00051 
00063 class CallbackQueueManager
00064 {
00065 public:
00071   CallbackQueueManager(uint32_t num_worker_threads = 0);
00072   ~CallbackQueueManager();
00073 
00074   void addQueue(const CallbackQueuePtr& queue, bool threaded);
00075   void removeQueue(const CallbackQueuePtr& queue);
00076   void callbackAdded(const CallbackQueuePtr& queue);
00077 
00078   uint32_t getNumWorkerThreads();
00079 
00080   void stop();
00081 
00082 private:
00083   void managerThread();
00084   struct ThreadInfo;
00085   void workerThread(ThreadInfo*);
00086 
00087   class ThreadInfo;
00088   ThreadInfo* getSmallestQueue();
00089 
00090   struct QueueInfo
00091   {
00092     QueueInfo()
00093     : threaded(false)
00094     , thread_index(0xffffffff)
00095     , in_thread(0)
00096     {}
00097 
00098     CallbackQueuePtr queue;
00099     bool threaded;
00100 
00101     // Only used if threaded == false
00102     boost::mutex st_mutex;
00104     uint32_t thread_index;
00105     uint32_t in_thread;
00106   };
00107   typedef boost::shared_ptr<QueueInfo> QueueInfoPtr;
00108 
00109   typedef boost::unordered_map<CallbackQueue*, QueueInfoPtr> M_Queue;
00110   M_Queue queues_;
00111   boost::mutex queues_mutex_;
00112 
00114   typedef std::vector<CallbackQueuePtr> V_Queue;
00115   V_Queue waiting_;
00116   boost::mutex waiting_mutex_;
00117   boost::condition_variable waiting_cond_;
00118   boost::thread_group tg_;
00119 
00120   struct ThreadInfo
00121   {
00122     ThreadInfo()
00123     : calling(0)
00124     {}
00125 
00127     boost::mutex queue_mutex;
00128     boost::condition_variable queue_cond;
00129     std::vector<std::pair<CallbackQueuePtr, QueueInfoPtr> > queue;
00130     boost::detail::atomic_count calling;
00131 
00132 #ifdef NODELET_QUEUE_DEBUG
00133     struct Record
00134     {
00135       Record(double stamp, uint32_t tasks, bool threaded)
00136         : stamp(stamp), tasks(tasks), threaded(threaded)
00137       {}
00138 
00139       double stamp;
00140       uint32_t tasks;
00141       bool threaded;
00142     };
00143 
00144     std::vector<Record> history;
00145 #endif
00146 
00147     // Pad sizeof(ThreadInfo) to be a multiple of 64 (cache line size) to avoid false sharing.
00148     // This still doesn't guarantee ThreadInfo is actually allocated on a cache line boundary though.
00149     static const int ACTUAL_SIZE =
00150       sizeof(boost::mutex) +
00151       sizeof(boost::condition_variable) +
00152       sizeof(std::vector<std::pair<CallbackQueuePtr, QueueInfoPtr> >) +
00153       sizeof(boost::detail::atomic_count);
00154     uint8_t pad[((ACTUAL_SIZE + 63) & ~63) - ACTUAL_SIZE];
00155   };
00157   typedef boost::scoped_array<ThreadInfo> V_ThreadInfo;
00158   V_ThreadInfo thread_info_;
00159 
00160   bool running_;
00161   uint32_t num_worker_threads_;
00162 };
00163 
00164 } // namespace detail
00165 } // namespace nodelet
00166 
00167 #endif // NODELET_CALLBACK_QUEUE_MANAGER_H


nodelet
Author(s): Tully Foote, Radu Bogdan Rusu
autogenerated on Sun Aug 6 2017 02:23:55