job_processing.cpp

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 * Author: Mario Prats, Ioan Sucan
 */

#include <ros/ros.h>
#include <job_processing.h>

namespace benchmark_tool
{

std::deque<boost::function<void(void)> > JobProcessing::main_loop_jobs_;
boost::mutex JobProcessing::main_loop_jobs_lock_;
moveit_rviz_plugin::BackgroundProcessing JobProcessing::background_process_;

void JobProcessing::addBackgroundJob(const boost::function<void(void)> &job)
{
  background_process_.addJob(job, "noname");
}

void JobProcessing::addMainLoopJob(const boost::function<void(void)> &job)
{
  boost::mutex::scoped_lock slock(main_loop_jobs_lock_);
  main_loop_jobs_.push_back(job);
}

void JobProcessing::executeMainLoopJobs()
{
  main_loop_jobs_lock_.lock();
  while ( ! main_loop_jobs_.empty())
  {
    boost::function<void(void)> fn = main_loop_jobs_.front();
    main_loop_jobs_.pop_front();
    main_loop_jobs_lock_.unlock();
    try
    {
      fn();
    }
    catch(std::runtime_error &ex)
    {
      ROS_ERROR("Exception caught executing main loop job: %s", ex.what());
    }
    catch(...)
    {
      ROS_ERROR("Exception caught executing main loop job");
    }
    main_loop_jobs_lock_.lock();
  }
  main_loop_jobs_lock_.unlock();
}

} //namespace