Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://!orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This distribution is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef HYDROICEUTIL_JOB_QUEUE_H
00012 #define HYDROICEUTIL_JOB_QUEUE_H
00013 
00014 #include <IceUtil/Handle.h>
00015 #include <IceUtil/Shared.h>
00016 #include <IceUtil/Monitor.h>
00017 #include <IceUtil/Mutex.h>
00018 #include <gbxsickacfr/gbxiceutilacfr/thread.h>
00019 #include <hydroutil/uncopyable.h>
00020 #include <gbxsickacfr/gbxutilacfr/tracer.h>
00021 #include <vector>
00022 #include <list>
00023 
00024 namespace hydroiceutil {
00025 
00026 
00034 class Job : public IceUtil::Shared
00035 {
00036 public:        
00037     Job();
00038     virtual ~Job() {}
00039 
00042     virtual void execute()=0;
00043 
00045     virtual std::string toString() const=0;
00046 
00050     void cancel();
00051 
00053     bool isCancelled();
00054 
00055 private:
00056     
00057     bool isCancelled_;
00058     IceUtil::Mutex isCancelledMutex_;
00059 
00060 };
00062 typedef IceUtil::Handle<Job> JobPtr;
00063 
00065 struct JobQueueStatus
00066 {
00068     int activeJobCount;
00070     int queuedJobCount;
00071 };
00072 
00084 class JobQueue :  public IceUtil::Shared, 
00085                   public IceUtil::Monitor<IceUtil::Mutex>,
00086                   private hydroutil::Uncopyable
00087 {
00088 public: 
00090     struct Config
00091     {
00092         Config() :
00093             threadPoolSize(1),
00094             queueSizeWarn(0),
00095             traceAddEvents(false),
00096             traceDoneEvents(false) {};
00097 
00099         void validate( gbxsickacfr::gbxutilacfr::Tracer& tracer );
00100 
00103         int threadPoolSize;
00106         int queueSizeWarn;
00109         bool traceAddEvents;
00112         bool traceDoneEvents;
00113     };
00114 
00118     JobQueue( gbxsickacfr::gbxutilacfr::Tracer& tracer, const Config& config=Config() );
00119 
00121     ~JobQueue();
00122 
00126     void stop();
00127 
00129     void add( const JobPtr& job );
00130 
00132     JobQueueStatus status();
00133 
00134     //
00135     // No doxy-tags because these are only used by workers.
00136     //
00137 
00138     // The worker asks for a job to work on.
00139     // Blocks until a job arrives
00140     JobPtr get( gbxsickacfr::gbxiceutilacfr::Thread* thread );
00141 
00142 private: 
00143     // incoming job requests
00144     std::list<JobPtr>               pendingJobs_;
00145 
00146     // worker pool
00147     std::vector<gbxsickacfr::gbxiceutilacfr::ThreadPtr> workerPool_;
00148     int activeJobCount_;
00149 
00150     bool isQueueStopping_;
00151 
00152     gbxsickacfr::gbxutilacfr::Tracer& tracer_;
00153     Config config_;
00154 };
00156 typedef IceUtil::Handle<JobQueue> JobQueuePtr;
00157 
00158 } // namespace
00159 
00160 #endif
jobqueue.h
