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/*
* Copyright (C) 2017 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef IGNITION_COMMON_WORKER_POOL_HH_
#define IGNITION_COMMON_WORKER_POOL_HH_
#include <functional>
#include <memory>
#include <ignition/common/Export.hh>
#include <ignition/common/Time.hh>
#include <ignition/common/SuppressWarning.hh>
namespace ignition
{
namespace common
{
/// \brief forward declaration
class WorkerPoolPrivate;
/// \brief A pool of worker threads that do stuff in parallel
class IGNITION_COMMON_VISIBLE WorkerPool
{
/// \brief Creates worker threads. The number of worker threads is
/// determined by max(std::thread::hardware_concurrency, _minThreadCount).
/// \param[in] _minThreadCount The minimum number of threads to
/// create in the pool. A value of zero is converted to a value of 1.
/// \note It's not recommended to set _minThreadCount greater than
/// std::thread::hardware_concurrency.
public: explicit WorkerPool(const unsigned int _minThreadCount = 1u);
/// \brief closes worker threads
public: ~WorkerPool();
/// \brief Adds work to the worker pool with optional callback
/// \param[in] _work function to do one piece of work
/// \param[in] _cb optional callback when the work is done
/// \remark Typical work is a function bound with arguments. It must
// return within a finite amount of time.
public: void AddWork(std::function<void()> _work,
std::function<void()> _cb = std::function<void()>());
/// \brief Waits until all work is done and threads are idle
/// \param[in] _timeout How long to wait, default to forever
/// \returns true if all work was finished
/// \remarks The return value can be false even when waiting forever if
// the WorkerPool is destructed before all work is completed
public: bool IGN_DEPRECATED(4) WaitForResults(const Time &_timeout);
/// \brief Waits until all work is done and threads are idle
/// \param[in] _timeout How long to wait, default to forever
/// \returns true if all work was finished
/// \remarks The return value can be false even when waiting forever if
// the WorkerPool is destructed before all work is completed
public: bool WaitForResults(
const std::chrono::steady_clock::duration &_timeout =
std::chrono::steady_clock::duration::zero());
IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
/// \brief private implementation pointer
private: std::unique_ptr<WorkerPoolPrivate> dataPtr;
IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
};
}
}
#endif
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