job_processing.cpp
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00001 /*
00002  * Copyright (c) 2013, 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  * Author: Mario Prats, Ioan Sucan
00030  */
00031 
00032 #include <ros/ros.h>
00033 #include <job_processing.h>
00034 
00035 namespace benchmark_tool
00036 {
00037 
00038 std::deque<boost::function<void(void)> > JobProcessing::main_loop_jobs_;
00039 boost::mutex JobProcessing::main_loop_jobs_lock_;
00040 moveit_rviz_plugin::BackgroundProcessing JobProcessing::background_process_;
00041 
00042 void JobProcessing::addBackgroundJob(const boost::function<void(void)> &job)
00043 {
00044   background_process_.addJob(job, "noname");
00045 }
00046 
00047 void JobProcessing::addMainLoopJob(const boost::function<void(void)> &job)
00048 {
00049   boost::mutex::scoped_lock slock(main_loop_jobs_lock_);
00050   main_loop_jobs_.push_back(job);
00051 }
00052 
00053 void JobProcessing::executeMainLoopJobs()
00054 {
00055   main_loop_jobs_lock_.lock();
00056   while ( ! main_loop_jobs_.empty())
00057   {
00058     boost::function<void(void)> fn = main_loop_jobs_.front();
00059     main_loop_jobs_.pop_front();
00060     main_loop_jobs_lock_.unlock();
00061     try
00062     {
00063       fn();
00064     }
00065     catch(std::runtime_error &ex)
00066     {
00067       ROS_ERROR("Exception caught executing main loop job: %s", ex.what());
00068     }
00069     catch(...)
00070     {
00071       ROS_ERROR("Exception caught executing main loop job");
00072     }
00073     main_loop_jobs_lock_.lock();
00074   }
00075   main_loop_jobs_lock_.unlock();
00076 }
00077 
00078 } //namespace


benchmarks_gui
Author(s): Mario Prats
autogenerated on Mon Oct 6 2014 02:34:25