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https://github.com/moveit/moveit_task_constructor.git
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- 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
92 lines
2.7 KiB
C++
92 lines
2.7 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2017, Bielefeld University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Bielefeld University nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Robert Haschke */
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#include "job_queue.h"
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#include <ros/console.h>
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namespace moveit { namespace tools {
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JobQueue::JobQueue(QObject *parent) : QObject(parent)
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{
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}
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void JobQueue::addJob(const std::function<void()>& job)
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{
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boost::unique_lock<boost::mutex> ulock(jobs_mutex_);
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jobs_.push_back(job);
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}
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void JobQueue::clear()
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{
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jobs_.clear();
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}
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size_t JobQueue::numPending()
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{
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boost::unique_lock<boost::mutex> ulock(jobs_mutex_);
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return jobs_.size();
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}
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void JobQueue::waitForAllJobs()
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{
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boost::unique_lock<boost::mutex> ulock(jobs_mutex_);
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while (!jobs_.empty())
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idle_condition_.wait(ulock);
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}
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void JobQueue::executeJobs()
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{
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boost::unique_lock<boost::mutex> ulock(jobs_mutex_);
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while (!jobs_.empty())
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{
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std::function<void()> fn = jobs_.front();
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jobs_.pop_front();
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ulock.unlock();
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try
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{
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fn();
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}
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catch (std::exception& ex)
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{
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ROS_ERROR("Exception caught executing main loop job: %s", ex.what());
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}
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ulock.lock();
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}
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idle_condition_.notify_all();
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}
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} }
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