nodelet::detail::CallbackQueueManager Class Reference

Internal use. More...

#include <callback_queue_manager.h>

List of all members.


struct  QueueInfo
struct  ThreadInfo

Public Member Functions

void addQueue (const CallbackQueuePtr &queue, bool threaded)
void callbackAdded (const CallbackQueuePtr &queue)
 CallbackQueueManager (uint32_t num_worker_threads=boost::thread::hardware_concurrency())
uint32_t getNumWorkerThreads ()
void removeQueue (const CallbackQueuePtr &queue)
 ~CallbackQueueManager ()

Private Types

typedef boost::unordered_map
< CallbackQueue
*, QueueInfoPtr
typedef boost::shared_ptr
< QueueInfo
typedef std::vector
< CallbackQueuePtr
typedef std::vector< ThreadInfoV_ThreadInfo

Private Member Functions

ThreadInfogetSmallestQueue ()
void managerThread ()
void workerThread (ThreadInfo *)

Private Attributes

uint32_t num_worker_threads_
M_Queue queues_
boost::mutex queues_mutex_
bool running_
boost::thread_group tg_
V_ThreadInfo thread_info_
V_Queue waiting_
boost::condition_variable waiting_cond_
boost::mutex waiting_mutex_

Detailed Description

Internal use.

Manages a set of callback queues, potentially calling callbacks from them concurrently in different threads. Essentially a task manager specialized for callback queues.

Uses 1 manager thread + N worker threads. The manager thread gives work to the worker threads by finding the thread with the fewest pending tasks and appending to that list. This does mean that a single long-running callback can potentially block other callbacks from being executed. Some kind of work-stealing could mitigate this, and is a good direction for future work.

Definition at line 59 of file callback_queue_manager.h.

Member Typedef Documentation

Definition at line 98 of file callback_queue_manager.h.

typedef boost::shared_ptr<QueueInfo> nodelet::detail::CallbackQueueManager::QueueInfoPtr [private]

Definition at line 96 of file callback_queue_manager.h.

Definition at line 103 of file callback_queue_manager.h.

Definition at line 126 of file callback_queue_manager.h.

Constructor & Destructor Documentation

nodelet::detail::CallbackQueueManager::CallbackQueueManager ( uint32_t  num_worker_threads = boost::thread::hardware_concurrency()  ) 

Definition at line 46 of file callback_queue_manager.cpp.

nodelet::detail::CallbackQueueManager::~CallbackQueueManager (  ) 

Definition at line 60 of file callback_queue_manager.cpp.

Member Function Documentation

void nodelet::detail::CallbackQueueManager::addQueue ( const CallbackQueuePtr queue,
bool  threaded 

Definition at line 83 of file callback_queue_manager.cpp.

void nodelet::detail::CallbackQueueManager::callbackAdded ( const CallbackQueuePtr queue  ) 

Definition at line 102 of file callback_queue_manager.cpp.

uint32_t nodelet::detail::CallbackQueueManager::getNumWorkerThreads (  ) 

Definition at line 78 of file callback_queue_manager.cpp.

CallbackQueueManager::ThreadInfo * nodelet::detail::CallbackQueueManager::getSmallestQueue (  )  [private]

Definition at line 112 of file callback_queue_manager.cpp.

void nodelet::detail::CallbackQueueManager::managerThread (  )  [private]

Definition at line 139 of file callback_queue_manager.cpp.

void nodelet::detail::CallbackQueueManager::removeQueue ( const CallbackQueuePtr queue  ) 

Definition at line 94 of file callback_queue_manager.cpp.

void nodelet::detail::CallbackQueueManager::workerThread ( ThreadInfo info  )  [private]

Definition at line 215 of file callback_queue_manager.cpp.

Member Data Documentation

Definition at line 130 of file callback_queue_manager.h.

Definition at line 99 of file callback_queue_manager.h.

Definition at line 100 of file callback_queue_manager.h.

Definition at line 129 of file callback_queue_manager.h.

boost::thread_group nodelet::detail::CallbackQueueManager::tg_ [private]

Definition at line 107 of file callback_queue_manager.h.

Definition at line 127 of file callback_queue_manager.h.

Definition at line 104 of file callback_queue_manager.h.

boost::condition_variable nodelet::detail::CallbackQueueManager::waiting_cond_ [private]

Definition at line 106 of file callback_queue_manager.h.

Definition at line 105 of file callback_queue_manager.h.

The documentation for this class was generated from the following files:
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Author(s): Tully Foote, Radu Bogdan Rusu
autogenerated on Fri Jan 11 09:40:18 2013