callback_queue_manager.h
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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 <boost/shared_ptr.hpp>
00034 #include <boost/scoped_array.hpp>
00035 #include <boost/unordered_map.hpp>
00036 #include <boost/thread/mutex.hpp>
00037 #include <boost/thread/thread.hpp>
00038 #include <boost/detail/atomic_count.hpp>
00039 
00040 #include <vector>
00041 #include <deque>
00042 
00043 namespace nodelet
00044 {
00045 namespace detail
00046 {
00047 class CallbackQueue;
00048 typedef boost::shared_ptr<CallbackQueue> CallbackQueuePtr;
00049 
00061 class CallbackQueueManager
00062 {
00063 public:
00069   CallbackQueueManager(uint32_t num_worker_threads = 0);
00070   ~CallbackQueueManager();
00071 
00072   void addQueue(const CallbackQueuePtr& queue, bool threaded);
00073   void removeQueue(const CallbackQueuePtr& queue);
00074   void callbackAdded(const CallbackQueuePtr& queue);
00075 
00076   uint32_t getNumWorkerThreads();
00077 
00078   void stop();
00079 
00080 private:
00081   void managerThread();
00082   struct ThreadInfo;
00083   void workerThread(ThreadInfo*);
00084 
00085   class ThreadInfo;
00086   ThreadInfo* getSmallestQueue();
00087 
00088   struct QueueInfo
00089   {
00090     QueueInfo()
00091     : threaded(false)
00092     , thread_index(0xffffffff)
00093     , in_thread(0)
00094     {}
00095 
00096     CallbackQueuePtr queue;
00097     bool threaded;
00098 
00099     // Only used if threaded == false
00100     boost::mutex st_mutex;
00102     uint32_t thread_index;
00103     uint32_t in_thread;
00104   };
00105   typedef boost::shared_ptr<QueueInfo> QueueInfoPtr;
00106 
00107   typedef boost::unordered_map<CallbackQueue*, QueueInfoPtr> M_Queue;
00108   M_Queue queues_;
00109   boost::mutex queues_mutex_;
00110 
00112   typedef std::vector<CallbackQueuePtr> V_Queue;
00113   V_Queue waiting_;
00114   boost::mutex waiting_mutex_;
00115   boost::condition_variable waiting_cond_;
00116   boost::thread_group tg_;
00117 
00118   struct ThreadInfo
00119   {
00120     ThreadInfo()
00121     : calling(0)
00122     {}
00123 
00125     boost::mutex queue_mutex;
00126     boost::condition_variable queue_cond;
00127     std::vector<std::pair<CallbackQueuePtr, QueueInfoPtr> > queue;
00128     boost::detail::atomic_count calling;
00129 
00130 #ifdef NODELET_QUEUE_DEBUG
00131     struct Record
00132     {
00133       Record(double stamp, uint32_t tasks, bool threaded)
00134         : stamp(stamp), tasks(tasks), threaded(threaded)
00135       {}
00136       
00137       double stamp;
00138       uint32_t tasks;
00139       bool threaded;
00140     };
00141 
00142     std::vector<Record> history;
00143 #endif
00144 
00145     // Pad sizeof(ThreadInfo) to be a multiple of 64 (cache line size) to avoid false sharing.
00146     // This still doesn't guarantee ThreadInfo is actually allocated on a cache line boundary though.
00147     static const int ACTUAL_SIZE =
00148       sizeof(boost::mutex) +
00149       sizeof(boost::condition_variable) +
00150       sizeof(std::vector<std::pair<CallbackQueuePtr, QueueInfoPtr> >) +
00151       sizeof(boost::detail::atomic_count);
00152     uint8_t pad[((ACTUAL_SIZE + 63) & ~63) - ACTUAL_SIZE];
00153   };
00155   typedef boost::scoped_array<ThreadInfo> V_ThreadInfo;
00156   V_ThreadInfo thread_info_;
00157 
00158   bool running_;
00159   uint32_t num_worker_threads_;
00160 };
00161 
00162 } // namespace detail
00163 } // namespace nodelet
00164 
00165 #endif // NODELET_CALLBACK_QUEUE_MANAGER_H


nodelet
Author(s): Tully Foote, Radu Bogdan Rusu
autogenerated on Sat Dec 28 2013 17:14:39