threading_manager.h
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2 // Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
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28 
29 #ifndef VIGIR_FOOTSTEP_PLANNING_THREADING_MANAGER_H__
30 #define VIGIR_FOOTSTEP_PLANNING_THREADING_MANAGER_H__
31 
32 #include <ros/ros.h>
33 
36 
37 
38 
40 {
41 namespace threading
42 {
43 template <class T>
45 {
46 public:
47  ThreadingManager(int threads = -1, unsigned int jobs_per_thread = 10, bool auto_start = true)
48  {
49  ROS_INFO("[Manager] Spawning %i workers.", threads);
50  for (int n = 0; n < threads; n++)
51  workers.push_back(boost::shared_ptr<Worker<T> >(new Worker<T>(queue, jobs_per_thread, auto_start)));
52  }
53 
55  {
56  ROS_INFO("[Manager] Destruct");
57  stopJobs();
58  }
59 
60  void addJob(boost::shared_ptr<T>& job) { queue.queueJob(job); }
61  void addJobs(std::list<boost::shared_ptr<T> >& jobs) { queue.queueJobs(jobs); }
62 
63  void stopJobs()
64  {
65  ROS_INFO("[Manager] Wait for thread termination...");
66  for (typename std::list<boost::shared_ptr<Worker<T> > >::iterator itr = workers.begin(); itr != workers.end(); itr++)
67  (*itr)->stop();
68  deleteJobs();
69  ROS_INFO("[Manager] Wait for thread termination...Done!");
70  }
71 
73  {
74  ROS_INFO("[Manager] Interrupt jobs...");
75  for (typename std::list<boost::shared_ptr<Worker<T> > >::iterator itr = workers.begin(); itr != workers.end(); itr++)
76  (*itr)->interruptJobs();
77  deleteJobs();
78  ROS_INFO("[Manager] Interrupt jobs...Done!");
79  }
80 
81  void deleteJobs() { queue.clear(); }
82 
83  bool hasJobsFinished() { return !queue.hasOpenJobs(); }
85  {
86  try
87  {
88  queue.waitUntilJobsProcessed();
89  }
90  catch(boost::thread_interrupted& interrupt)
91  {
92  ROS_INFO("[Manager] Catched boost::interruption");
93  interruptJobs();
94  throw(interrupt);
95  }
96  }
97 
98  // typedefs
101 
102 protected:
104  std::list<boost::shared_ptr<Worker<T> > > workers;
105 };
106 }
107 }
108 
109 #endif
void addJobs(std::list< boost::shared_ptr< T > > &jobs)
ThreadingManager(int threads=-1, unsigned int jobs_per_thread=10, bool auto_start=true)
#define ROS_INFO(...)
boost::shared_ptr< const ThreadingManager > ConstPtr
boost::shared_ptr< ThreadingManager > Ptr
std::list< boost::shared_ptr< Worker< T > > > workers


vigir_footstep_planning_lib
Author(s): Alexander Stumpf
autogenerated on Mon Jun 10 2019 15:47:33