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   : shutting_down_(false)
00054 {
00055 }
00056 
00057 PollManager::~PollManager()
00058 {
00059   shutdown();
00060 }
00061 
00062 void PollManager::start()
00063 {
00064   shutting_down_ = false;
00065   thread_ = boost::thread(&PollManager::threadFunc, this);
00066 }
00067 
00068 void PollManager::shutdown()
00069 {
00070   if (shutting_down_) return;
00071 
00072   shutting_down_ = true;
00073   if (thread_.get_id() != boost::this_thread::get_id())
00074   {
00075     thread_.join();
00076   }
00077 
00078   boost::recursive_mutex::scoped_lock lock(signal_mutex_);
00079   poll_signal_.disconnect_all_slots();
00080 }
00081 
00082 void PollManager::threadFunc()
00083 {
00084   disableAllSignalsInThisThread();
00085 
00086   while (!shutting_down_)
00087   {
00088     {
00089       boost::recursive_mutex::scoped_lock lock(signal_mutex_);
00090       poll_signal_();
00091     }
00092 
00093     if (shutting_down_)
00094     {
00095       return;
00096     }
00097 
00098     poll_set_.update(100);
00099   }
00100 }
00101 
00102 boost::signals2::connection PollManager::addPollThreadListener(const VoidFunc& func)
00103 {
00104   boost::recursive_mutex::scoped_lock lock(signal_mutex_);
00105   return poll_signal_.connect(func);
00106 }
00107 
00108 void PollManager::removePollThreadListener(boost::signals2::connection c)
00109 {
00110   boost::recursive_mutex::scoped_lock lock(signal_mutex_);
00111   c.disconnect();
00112 }
00113 
00114 }


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 04:01:03