poll_manager.cpp
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27 
28 #include "ros/poll_manager.h"
29 #include "ros/common.h"
30 
31 #include <signal.h>
32 
33 namespace ros
34 {
35 
37 {
38  static PollManagerPtr poll_manager = boost::make_shared<PollManager>();
39  return poll_manager;
40 }
41 
43  : shutting_down_(false)
44 {
45 }
46 
48 {
49  shutdown();
50 }
51 
53 {
54  shutting_down_ = false;
55  thread_ = boost::thread(&PollManager::threadFunc, this);
56 }
57 
59 {
60  if (shutting_down_) return;
61 
62  shutting_down_ = true;
63  if (thread_.get_id() != boost::this_thread::get_id())
64  {
65  thread_.join();
66  }
67 
68  boost::recursive_mutex::scoped_lock lock(signal_mutex_);
69  poll_signal_.disconnect_all_slots();
70 }
71 
73 {
74  disableAllSignalsInThisThread();
75 
76  while (!shutting_down_)
77  {
78  {
79  boost::recursive_mutex::scoped_lock lock(signal_mutex_);
80  poll_signal_();
81  }
82 
83  if (shutting_down_)
84  {
85  return;
86  }
87 
88  poll_set_.update(100);
89  }
90 }
91 
92 boost::signals2::connection PollManager::addPollThreadListener(const VoidFunc& func)
93 {
94  boost::recursive_mutex::scoped_lock lock(signal_mutex_);
95  return poll_signal_.connect(func);
96 }
97 
98 void PollManager::removePollThreadListener(boost::signals2::connection c)
99 {
100  boost::recursive_mutex::scoped_lock lock(signal_mutex_);
101  c.disconnect();
102 }
103 
104 }
boost::recursive_mutex signal_mutex_
Definition: poll_manager.h:70
boost::function< void(void)> VoidFunc
Definition: poll_manager.h:46
void update(int poll_timeout)
Process all socket events.
Definition: poll_set.cpp:186
void removePollThreadListener(boost::signals2::connection c)
static const PollManagerPtr & instance()
boost::signals2::connection addPollThreadListener(const VoidFunc &func)
boost::thread thread_
Definition: poll_manager.h:72
volatile bool shutting_down_
Definition: poll_manager.h:67
VoidSignal poll_signal_
Definition: poll_manager.h:69


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Sun Aug 26 2018 03:03:33