poll_manager.cpp

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
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 * modification, are permitted provided that the following conditions are met:
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 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#include "ros/poll_manager.h"
#include "ros/common.h"

#include <signal.h>

namespace ros
{

const PollManagerPtr& PollManager::instance()
{
  static PollManagerPtr poll_manager = boost::make_shared<PollManager>();
  return poll_manager;
}

PollManager::PollManager()
  : shutting_down_(false)
{
}

PollManager::~PollManager()
{
  shutdown();
}

void PollManager::start()
{
  shutting_down_ = false;
  thread_ = boost::thread(&PollManager::threadFunc, this);
}

void PollManager::shutdown()
{
  if (shutting_down_) return;

  shutting_down_ = true;
  if (thread_.get_id() != boost::this_thread::get_id())
  {
    thread_.join();
  }

  boost::recursive_mutex::scoped_lock lock(signal_mutex_);
  poll_signal_.disconnect_all_slots();
}

void PollManager::threadFunc()
{
  disableAllSignalsInThisThread();

  while (!shutting_down_)
  {
    {
      boost::recursive_mutex::scoped_lock lock(signal_mutex_);
      poll_signal_();
    }

    if (shutting_down_)
    {
      return;
    }

    poll_set_.update(100);
  }
}

boost::signals2::connection PollManager::addPollThreadListener(const VoidFunc& func)
{
  boost::recursive_mutex::scoped_lock lock(signal_mutex_);
  return poll_signal_.connect(func);
}

void PollManager::removePollThreadListener(boost::signals2::connection c)
{
  boost::recursive_mutex::scoped_lock lock(signal_mutex_);
  c.disconnect();
}

}