poll_manager.cpp
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00001 /*
00002  * Copyright (C) 2009, Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #include "ros/poll_manager.h"
00029 #include "ros/common.h"
00030 
00031 #include <signal.h>
00032 
00033 namespace ros
00034 {
00035 
00036 PollManagerPtr g_poll_manager;
00037 boost::mutex g_poll_manager_mutex;
00038 const PollManagerPtr& PollManager::instance()
00039 {
00040   if (!g_poll_manager)
00041   {
00042     boost::mutex::scoped_lock lock(g_poll_manager_mutex);
00043     if (!g_poll_manager)
00044     {
00045       g_poll_manager.reset(new PollManager);
00046     }
00047   }
00048 
00049   return g_poll_manager;
00050 }
00051 
00052 PollManager::PollManager()
00053 {
00054 }
00055 
00056 PollManager::~PollManager()
00057 {
00058   shutdown();
00059 }
00060 
00061 void PollManager::start()
00062 {
00063   shutting_down_ = false;
00064   thread_ = boost::thread(&PollManager::threadFunc, this);
00065 }
00066 
00067 void PollManager::shutdown()
00068 {
00069   shutting_down_ = true;
00070   if (thread_.get_id() != boost::this_thread::get_id())
00071   {
00072     thread_.join();
00073   }
00074 
00075   boost::recursive_mutex::scoped_lock lock(signal_mutex_);
00076   poll_signal_.disconnect_all_slots();
00077 }
00078 
00079 void PollManager::threadFunc()
00080 {
00081   disableAllSignalsInThisThread();
00082 
00083   while (!shutting_down_)
00084   {
00085     {
00086       boost::recursive_mutex::scoped_lock lock(signal_mutex_);
00087       poll_signal_();
00088     }
00089 
00090     if (shutting_down_)
00091     {
00092       return;
00093     }
00094 
00095     poll_set_.update(100);
00096   }
00097 }
00098 
00099 boost::signals::connection PollManager::addPollThreadListener(const VoidFunc& func)
00100 {
00101   boost::recursive_mutex::scoped_lock lock(signal_mutex_);
00102   return poll_signal_.connect(func);
00103 }
00104 
00105 void PollManager::removePollThreadListener(boost::signals::connection c)
00106 {
00107   boost::recursive_mutex::scoped_lock lock(signal_mutex_);
00108   c.disconnect();
00109 }
00110 
00111 }


roscpp
Author(s): Morgan Quigley mquigley@cs.stanford.edu, Josh Faust jfaust@willowgarage.com, Brian Gerkey gerkey@willowgarage.com, Troy Straszheim straszheim@willowgarage.com
autogenerated on Sat Dec 28 2013 17:35:52