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 boost::mutex g_poll_manager_mutex;
39 {
40  if (!g_poll_manager)
41  {
42  boost::mutex::scoped_lock lock(g_poll_manager_mutex);
43  if (!g_poll_manager)
44  {
45  g_poll_manager.reset(new PollManager);
46  }
47  }
48 
49  return g_poll_manager;
50 }
51 
53  : shutting_down_(false)
54 {
55 }
56 
58 {
59  shutdown();
60 }
61 
63 {
64  shutting_down_ = false;
65  thread_ = boost::thread(&PollManager::threadFunc, this);
66 }
67 
69 {
70  if (shutting_down_) return;
71 
72  shutting_down_ = true;
73  if (thread_.get_id() != boost::this_thread::get_id())
74  {
75  thread_.join();
76  }
77 
78  boost::recursive_mutex::scoped_lock lock(signal_mutex_);
79  poll_signal_.disconnect_all_slots();
80 }
81 
83 {
84  disableAllSignalsInThisThread();
85 
86  while (!shutting_down_)
87  {
88  {
89  boost::recursive_mutex::scoped_lock lock(signal_mutex_);
90  poll_signal_();
91  }
92 
93  if (shutting_down_)
94  {
95  return;
96  }
97 
98  poll_set_.update(100);
99  }
100 }
101 
102 boost::signals2::connection PollManager::addPollThreadListener(const VoidFunc& func)
103 {
104  boost::recursive_mutex::scoped_lock lock(signal_mutex_);
105  return poll_signal_.connect(func);
106 }
107 
108 void PollManager::removePollThreadListener(boost::signals2::connection c)
109 {
110  boost::recursive_mutex::scoped_lock lock(signal_mutex_);
111  c.disconnect();
112 }
113 
114 }
boost::recursive_mutex signal_mutex_
Definition: poll_manager.h:70
boost::function< void(void)> VoidFunc
Definition: poll_manager.h:46
boost::mutex g_poll_manager_mutex
void update(int poll_timeout)
Process all socket events.
Definition: poll_set.cpp:184
void removePollThreadListener(boost::signals2::connection c)
static const PollManagerPtr & instance()
PollManagerPtr g_poll_manager
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 Fri Jun 8 2018 02:54:34