job_processing.h

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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
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 *       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
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * Author: Mario Prats, Ioan Sucan
 */

#ifndef BT_JOB_PROCESSING_
#define BT_JOB_PROCESSING_

#include <moveit/planning_scene_rviz_plugin/background_processing.h>

namespace benchmark_tool
{

class JobProcessing
{
public:

  static std::deque<boost::function<void(void)> > main_loop_jobs_;
  static boost::mutex main_loop_jobs_lock_;

  static moveit_rviz_plugin::BackgroundProcessing background_process_;

  // pass the execution of this function call to a separate thread that runs in the background
  static void addBackgroundJob(const boost::function<void(void)> &job);

  // queue the execution of this function for the next time the main update() loop gets called
  static void addMainLoopJob(const boost::function<void(void)> &job);

  static void executeMainLoopJobs();
};


} //namespace

#endif