ActiveObject.cpp
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00001 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
00002 
00003 // -- BEGIN LICENSE BLOCK ----------------------------------------------
00004 // This file is part of FZIs ic_workspace.
00005 //
00006 // This program is free software licensed under the LGPL
00007 // (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
00008 // You can find a copy of this license in LICENSE folder in the top
00009 // directory of the source code.
00010 //
00011 // © Copyright 2014 FZI Forschungszentrum Informatik, Karlsruhe, Germany
00012 //
00013 // -- END LICENSE BLOCK ------------------------------------------------
00014 
00015 //----------------------------------------------------------------------
00022 //----------------------------------------------------------------------
00023 #include "icl_core_thread/ActiveObject.h"
00024 
00025 namespace icl_core {
00026 namespace thread {
00027 
00028 ActiveObject::ActiveObject(const icl_core::String& description, icl_core::ThreadPriority priority)
00029   : Thread(description, priority),
00030     m_sem(0)
00031 {
00032 }
00033 
00034 void ActiveObject::run()
00035 {
00036   onThreadStart();
00037 
00038   // Continually process the operation queue.
00039   while (execute())
00040   {
00041     m_sem.wait();
00042     if (execute())
00043     {
00044       // Process all queued operations.
00045       while (!m_operation_queue.empty())
00046       {
00047         // Try to lock the queue mutex
00048         if (m_operation_queue_mutex.lock())
00049         {
00050           // Extract the next pending operation from the queue.
00051           ActiveOperation *op = m_operation_queue.front();
00052           m_operation_queue.pop_front();
00053 
00054           // Release the mutex before executing the operation!
00055           m_operation_queue_mutex.unlock();
00056 
00057           // Finally, execute the operation.
00058           op->invoke();
00059           delete op;
00060         }
00061       }
00062     }
00063   }
00064 
00065   // Delete any pending operations.
00066   while (!m_operation_queue.empty())
00067   {
00068     delete m_operation_queue.front();
00069     m_operation_queue.pop_front();
00070   }
00071 
00072   onThreadStop();
00073 }
00074 
00075 void ActiveObject::stop()
00076 {
00077   Thread::stop();
00078   m_sem.post();
00079 }
00080 
00081 void ActiveObject::queue(ActiveOperation *active_operation)
00082 {
00083   if (execute() && m_operation_queue_mutex.lock())
00084   {
00085     m_operation_queue.push_back(active_operation);
00086     m_operation_queue_mutex.unlock();
00087     m_sem.post();
00088   }
00089   else
00090   {
00091     delete active_operation;
00092   }
00093 }
00094 
00095 }
00096 }


schunk_svh_driver
Author(s): Georg Heppner
autogenerated on Fri Aug 28 2015 12:59:18