nodelet::detail::CallbackQueueManager Class Reference

Internal use. More...

#include <callback_queue_manager.h>

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. More...
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
ThreadInfo *	getSmallestQueue ()
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

M_Queue

typedef boost::unordered_map<CallbackQueue*, QueueInfoPtr> nodelet::detail::CallbackQueueManager::M_Queue

private

Definition at line 110 of file callback_queue_manager.h.

QueueInfoPtr

typedef boost::shared_ptr<QueueInfo> nodelet::detail::CallbackQueueManager::QueueInfoPtr

private

Definition at line 108 of file callback_queue_manager.h.

V_Queue

typedef std::vector<CallbackQueuePtr> nodelet::detail::CallbackQueueManager::V_Queue

private

Todo:

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

Definition at line 115 of file callback_queue_manager.h.

V_ThreadInfo

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

CallbackQueueManager()

nodelet::detail::CallbackQueueManager::CallbackQueueManager

(

uint32_t

num_worker_threads = 0

)

Constructor.

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

Definition at line 46 of file callback_queue_manager.cpp.

~CallbackQueueManager()

nodelet::detail::CallbackQueueManager::~CallbackQueueManager

(

)

Definition at line 63 of file callback_queue_manager.cpp.

Member Function Documentation

addQueue()

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

Definition at line 111 of file callback_queue_manager.cpp.

callbackAdded()

void nodelet::detail::CallbackQueueManager::callbackAdded

(

const CallbackQueuePtr &

queue

)

Definition at line 130 of file callback_queue_manager.cpp.

getNumWorkerThreads()

uint32_t nodelet::detail::CallbackQueueManager::getNumWorkerThreads

(

)

Definition at line 106 of file callback_queue_manager.cpp.

getSmallestQueue()

CallbackQueueManager::ThreadInfo * nodelet::detail::CallbackQueueManager::getSmallestQueue ( )

private

Definition at line 140 of file callback_queue_manager.cpp.

managerThread()

void nodelet::detail::CallbackQueueManager::managerThread ( )

private

Definition at line 164 of file callback_queue_manager.cpp.

removeQueue()

void nodelet::detail::CallbackQueueManager::removeQueue

(

const CallbackQueuePtr &

queue

)

Definition at line 122 of file callback_queue_manager.cpp.

stop()

void nodelet::detail::CallbackQueueManager::stop

(

)

Definition at line 88 of file callback_queue_manager.cpp.

workerThread()

void nodelet::detail::CallbackQueueManager::workerThread ( ThreadInfo *  info )

private

Definition at line 245 of file callback_queue_manager.cpp.

Member Data Documentation

num_worker_threads_

uint32_t nodelet::detail::CallbackQueueManager::num_worker_threads_

private

Definition at line 162 of file callback_queue_manager.h.

queues_

M_Queue nodelet::detail::CallbackQueueManager::queues_

private

Definition at line 111 of file callback_queue_manager.h.

queues_mutex_

boost::mutex nodelet::detail::CallbackQueueManager::queues_mutex_

private

Definition at line 112 of file callback_queue_manager.h.

running_

bool nodelet::detail::CallbackQueueManager::running_

private

Definition at line 161 of file callback_queue_manager.h.

tg_

boost::thread_group nodelet::detail::CallbackQueueManager::tg_

private

Definition at line 119 of file callback_queue_manager.h.

thread_info_

V_ThreadInfo nodelet::detail::CallbackQueueManager::thread_info_

private

Definition at line 159 of file callback_queue_manager.h.

waiting_

V_Queue nodelet::detail::CallbackQueueManager::waiting_

private

Definition at line 116 of file callback_queue_manager.h.

waiting_cond_

boost::condition_variable nodelet::detail::CallbackQueueManager::waiting_cond_

private

Definition at line 118 of file callback_queue_manager.h.

waiting_mutex_

boost::mutex nodelet::detail::CallbackQueueManager::waiting_mutex_

private

Definition at line 117 of file callback_queue_manager.h.

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

• callback_queue_manager.h
• callback_queue_manager.cpp