moveit_task_constructor/visualization/motion_planning_tasks/job_queue.cpp
Robert Haschke 6ba66b51a7 reworked TaskModels
- separate RemoteTaskModel / LocalTaskModel, reusing existing storage
- TaskListModel collects several TaskModels
- TaskListModelCache: global singleton,
  maintaining TaskListModel of all tasks in system (used by panels)
- create LocalTask from stages available via pluglinlib
2017-11-03 19:16:04 +01:00

92 lines
2.7 KiB
C++

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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();
}
} }