background_processing.h

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
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 *     * 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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/* Author: Ioan Sucan */

#ifndef MOVEIT_MOTION_PLANNING_RVIZ_PLUGIN_BACKGROUND_PROCESSING_
#define MOVEIT_MOTION_PLANNING_RVIZ_PLUGIN_BACKGROUND_PROCESSING_

#include <deque>
#include <boost/thread.hpp>
#include <boost/function.hpp>
#include <boost/scoped_ptr.hpp>

namespace moveit_rviz_plugin
{

class BackgroundProcessing
{
public:
  enum JobEvent
    {
      ADD, REMOVE, COMPLETE
    };
  typedef boost::function<void(JobEvent)> JobUpdateCallback;

  BackgroundProcessing();
  ~BackgroundProcessing();

  void addJob(const boost::function<void()> &job, const std::string &name);
  std::size_t getJobCount() const;
  void clear();

  void setJobUpdateEvent(const JobUpdateCallback &event);

private:

  boost::scoped_ptr<boost::thread> processing_thread_;
  bool run_processing_thread_;

  mutable boost::mutex action_lock_;
  boost::condition_variable new_action_condition_;
  std::deque<boost::function<void()> > actions_;
  std::deque<std::string> action_names_;

  JobUpdateCallback queue_change_event_;

  bool processing_;

  void processingThread();
};

}

#endif