background_processing.cpp
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34 
35 /* Author: Ioan Sucan */
36 
38 #include <ros/console.h>
39 
40 namespace moveit
41 {
42 namespace tools
43 {
45 {
46  // spin a thread that will process user events
48  processing_ = false;
49  processing_thread_.reset(new boost::thread(boost::bind(&BackgroundProcessing::processingThread, this)));
50 }
51 
53 {
54  run_processing_thread_ = false;
56  processing_thread_->join();
57 }
58 
60 {
61  boost::unique_lock<boost::mutex> ulock(action_lock_);
62 
64  {
65  while (actions_.empty() && run_processing_thread_)
67 
68  while (!actions_.empty())
69  {
70  JobCallback fn = actions_.front();
71  std::string action_name = action_names_.front();
72  actions_.pop_front();
73  action_names_.pop_front();
74  processing_ = true;
75 
76  // make sure we are unlocked while we process the event
77  action_lock_.unlock();
78  try
79  {
80  ROS_DEBUG_NAMED("background_processing", "Begin executing '%s'", action_name.c_str());
81  fn();
82  ROS_DEBUG_NAMED("background_processing", "Done executing '%s'", action_name.c_str());
83  }
84  catch (std::exception& ex)
85  {
86  ROS_ERROR_NAMED("background_processing", "Exception caught while processing action '%s': %s",
87  action_name.c_str(), ex.what());
88  }
89  processing_ = false;
91  queue_change_event_(COMPLETE, action_name);
92  action_lock_.lock();
93  }
94  }
95 }
96 
97 void BackgroundProcessing::addJob(const boost::function<void()>& job, const std::string& name)
98 {
99  {
100  boost::mutex::scoped_lock _(action_lock_);
101  actions_.push_back(job);
102  action_names_.push_back(name);
104  }
106  queue_change_event_(ADD, name);
107 }
108 
110 {
111  bool update = false;
112  std::deque<std::string> removed;
113  {
114  boost::mutex::scoped_lock _(action_lock_);
115  update = !actions_.empty();
116  actions_.clear();
117  action_names_.swap(removed);
118  }
119  if (update && queue_change_event_)
120  for (std::deque<std::string>::iterator it = removed.begin(); it != removed.end(); ++it)
122 }
123 
125 {
126  boost::mutex::scoped_lock _(action_lock_);
127  return actions_.size() + (processing_ ? 1 : 0);
128 }
129 
131 {
132  boost::mutex::scoped_lock _(action_lock_);
133  queue_change_event_ = event;
134 }
135 
137 {
139 }
140 
141 } // end of namespace tools
142 } // end of namespace moveit
void notify_all() BOOST_NOEXCEPT
void addJob(const JobCallback &job, const std::string &name)
Add a job to the queue of jobs to execute. A name is also specifies for the job.
void wait(unique_lock< mutex > &m)
BackgroundProcessing()
Constructor. The background thread is activated automatically.
Called when a job is removed from the queue without execution.
Called when a job is completed (and removed from the queue)
void update(const std::string &key, const XmlRpc::XmlRpcValue &v)
~BackgroundProcessing()
Finishes currently executing job, clears the remaining queue.
#define ROS_DEBUG_NAMED(name,...)
std::unique_ptr< boost::thread > processing_thread_
std::size_t getJobCount() const
Get the size of the queue of jobs (includes currently processed job).
void clear()
Clear the queue of jobs.
boost::function< void()> JobCallback
The signature for job callbacks.
void clearJobUpdateEvent()
Clear the callback to be triggered when events in JobEvent take place.
boost::function< void(JobEvent, const std::string &)> JobUpdateCallback
The signature for callback triggered when job events take place: the event that took place and the na...
#define ROS_ERROR_NAMED(name,...)
Called when a job is added to the queue.
Main namespace for MoveIt!
boost::condition_variable new_action_condition_
void setJobUpdateEvent(const JobUpdateCallback &event)
Set the callback to be triggered when events in JobEvent take place.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jul 18 2018 02:48:31