background_processing.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_BACKGROUND_PROCESSING_
#define MOVEIT_BACKGROUND_PROCESSING_

#include <deque>
#include <string>
#include <boost/thread.hpp>
#include <boost/function.hpp>
#include <boost/noncopyable.hpp>
#include <memory>

namespace moveit
{
namespace tools
{
class BackgroundProcessing : private boost::noncopyable
{
public:
  enum JobEvent
  {
    ADD,
    REMOVE,
    COMPLETE
  };

  typedef boost::function<void(JobEvent, const std::string&)> JobUpdateCallback;

  typedef boost::function<void()> JobCallback;

  BackgroundProcessing();

  ~BackgroundProcessing();

  void addJob(const JobCallback& job, const std::string& name);

  std::size_t getJobCount() const;

  void clear();

  void setJobUpdateEvent(const JobUpdateCallback& event);

  void clearJobUpdateEvent();

private:
  std::unique_ptr<boost::thread> processing_thread_;
  bool run_processing_thread_;

  mutable boost::mutex action_lock_;
  boost::condition_variable new_action_condition_;
  std::deque<JobCallback> actions_;
  std::deque<std::string> action_names_;

  JobUpdateCallback queue_change_event_;

  bool processing_;

  void processingThread();
};
}
}

#endif