job_queue.cpp

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/* Author: Robert Haschke */
 
#include "job_queue.h"
#include <ros/console.h>
 
namespace moveit {
namespace tools {
 
JobQueue::JobQueue(QObject* parent) : QObject(parent) {}
 
void JobQueue::addJob(const std::function<void()>& job) {
        boost::unique_lock<boost::mutex> ulock(jobs_mutex_);
        jobs_.push_back(job);
}
 
void JobQueue::clear() {
        jobs_.clear();
}
 
size_t JobQueue::numPending() {
        boost::unique_lock<boost::mutex> ulock(jobs_mutex_);
        return jobs_.size();
}
 
void JobQueue::waitForAllJobs() {
        boost::unique_lock<boost::mutex> ulock(jobs_mutex_);
        while (!jobs_.empty())
                idle_condition_.wait(ulock);
}
 
void JobQueue::executeJobs() {
        boost::unique_lock<boost::mutex> ulock(jobs_mutex_);
        while (!jobs_.empty()) {
                std::function<void()> fn = jobs_.front();
                jobs_.pop_front();
                ulock.unlock();
                try {
                        fn();
                } catch (std::exception& ex) {
                        ROS_ERROR("Exception caught executing main loop job: %s", ex.what());
                }
                ulock.lock();
        }
        idle_condition_.notify_all();
}
}  // namespace tools
}  // namespace moveit