background_processing.cpp

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/* Author: Ioan Sucan */
 
#include <mutex>
 
#include <moveit/planning_scene_rviz_plugin/background_processing.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <moveit/utils/logger.hpp>
 
namespace moveit
{
namespace tools
{
BackgroundProcessing::BackgroundProcessing()
{
  // spin a thread that will process user events
  run_processing_thread_ = true;
  processing_ = false;
  processing_thread_ = std::make_unique<std::thread>([this]() { return processingThread(); });
}
 
BackgroundProcessing::~BackgroundProcessing()
{
  run_processing_thread_ = false;
  new_action_condition_.notify_all();
  processing_thread_->join();
}
 
void BackgroundProcessing::processingThread()
{
  std::unique_lock<std::mutex> ulock(action_lock_);
 
  while (run_processing_thread_)
  {
    while (actions_.empty() && run_processing_thread_)
      new_action_condition_.wait(ulock);
 
    while (!actions_.empty())
    {
      JobCallback fn = actions_.front();
      std::string action_name = action_names_.front();
      actions_.pop_front();
      action_names_.pop_front();
      processing_ = true;
 
      // make sure we are unlocked while we process the event
      action_lock_.unlock();
      try
      {
        RCLCPP_DEBUG(moveit::getLogger("moveit.ros.background_processing"), "Begin executing '%s'", action_name.c_str());
        fn();
        RCLCPP_DEBUG(moveit::getLogger("moveit.ros.background_processing"), "Done executing '%s'", action_name.c_str());
      }
      catch (std::exception& ex)
      {
        RCLCPP_ERROR(moveit::getLogger("moveit.ros.background_processing"),
                     "Exception caught while processing action '%s': %s", action_name.c_str(), ex.what());
      }
      processing_ = false;
      if (queue_change_event_)
        queue_change_event_(COMPLETE, action_name);
      action_lock_.lock();
    }
  }
}
 
void BackgroundProcessing::addJob(const std::function<void()>& job, const std::string& name)
{
  {
    std::scoped_lock _(action_lock_);
    actions_.push_back(job);
    action_names_.push_back(name);
    new_action_condition_.notify_all();
  }
  if (queue_change_event_)
    queue_change_event_(ADD, name);
}
 
void BackgroundProcessing::clear()
{
  bool update = false;
  std::deque<std::string> removed;
  {
    std::scoped_lock _(action_lock_);
    update = !actions_.empty();
    actions_.clear();
    action_names_.swap(removed);
  }
  if (update && queue_change_event_)
  {
    for (const std::string& it : removed)
      queue_change_event_(REMOVE, it);
  }
}
 
std::size_t BackgroundProcessing::getJobCount() const
{
  std::scoped_lock _(action_lock_);
  return actions_.size() + (processing_ ? 1 : 0);
}
 
void BackgroundProcessing::setJobUpdateEvent(const JobUpdateCallback& event)
{
  std::scoped_lock _(action_lock_);
  queue_change_event_ = event;
}
 
void BackgroundProcessing::clearJobUpdateEvent()
{
  setJobUpdateEvent(JobUpdateCallback());
}
 
}  // end of namespace tools
}  // end of namespace moveit