filter_job.h

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/* Author: Suat Gedikli */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
 
namespace mesh_filter
{
MOVEIT_CLASS_FORWARD(Job);  // Defines JobPtr, ConstPtr, WeakPtr... etc
 
class Job
{
public:
  Job() : done_(false)
  {
  }
  virtual ~Job() = default;
 
  inline void wait() const;
  virtual void execute() = 0;
  inline void cancel();
  inline bool isDone() const;
 
protected:
  bool done_;
  mutable std::condition_variable condition_;
  mutable std::mutex mutex_;
};
 
void Job::wait() const
{
  std::unique_lock<std::mutex> lock(mutex_);
  while (!done_)
    condition_.wait(lock);
}
 
void Job::cancel()
{
  std::unique_lock<std::mutex> lock(mutex_);
  done_ = true;
  condition_.notify_all();
}
 
bool Job::isDone() const
{
  return done_;
}
 
template <typename ReturnType>
class FilterJob : public Job
{
public:
  FilterJob(const std::function<ReturnType()>& exec) : Job(), exec_(exec)
  {
  }
  void execute() override;
  const ReturnType& getResult() const;
 
private:
  std::function<ReturnType()> exec_;
  ReturnType result_;
};
 
template <typename ReturnType>
void FilterJob<ReturnType>::execute()
{
  std::unique_lock<std::mutex> lock(mutex_);
  if (!done_)  // not canceled !
    result_ = exec_();
 
  done_ = true;
  condition_.notify_all();
}
 
template <typename ReturnType>
const ReturnType& FilterJob<ReturnType>::getResult() const
{
  wait();
  return result_;
}
 
template <>
class FilterJob<void> : public Job
{
public:
  FilterJob(const std::function<void()>& exec) : Job(), exec_(exec)
  {
  }
  void execute() override
  {
    std::unique_lock<std::mutex> lock(mutex_);
    if (!done_)  // not canceled !
      exec_();
 
    done_ = true;
    condition_.notify_all();
  }
 
private:
  std::function<void()> exec_;
};
}  // namespace mesh_filter