feat(slam): add rtabmap_ros
This commit is contained in:
X-lanni
@@ -0,0 +1,301 @@
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/*
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* utilite is a cross-platform library with
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* useful utilities for fast and small developing.
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* Copyright (C) 2010 Mathieu Labbe
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*
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* utilite is free library: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* utilite is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "rtabmap/utilite/UThread.h"
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#include "rtabmap/utilite/ULogger.h"
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#ifdef __APPLE__
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#include <mach/thread_policy.h>
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#include <mach/mach.h>
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#endif
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#define PRINT_DEBUG 0
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////////////////////////////
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// public:
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////////////////////////////
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UThread::UThread(Priority priority) :
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state_(kSIdle),
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priority_(priority),
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handle_(0),
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threadId_(0),
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cpuAffinity_(-1)
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{}
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UThread::~UThread()
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{
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#if PRINT_DEBUG
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ULOGGER_DEBUG("");
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#endif
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}
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void UThread::kill()
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{
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#if PRINT_DEBUG
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ULOGGER_DEBUG("");
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#endif
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killSafelyMutex_.lock();
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{
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if(this->isRunning())
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{
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// Thread is creating
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while(state_ == kSCreating)
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{
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uSleep(1);
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}
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if(state_ == kSRunning)
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{
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state_ = kSKilled;
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// Call function to do something before wait
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mainLoopKill();
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}
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else
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{
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UERROR("thread (%d) is supposed to be running...", threadId_);
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}
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}
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else
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{
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#if PRINT_DEBUG
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UDEBUG("thread (%d) is not running...", threadId_);
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#endif
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}
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}
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killSafelyMutex_.unlock();
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}
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void UThread::join(bool killFirst)
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{
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//make sure the thread is created
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while(this->isCreating())
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{
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uSleep(1);
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}
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#ifdef _WIN32
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#if PRINT_DEBUG
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UDEBUG("Thread %d joining %d", UThreadC<void>::Self(), threadId_);
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#endif
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if(UThreadC<void>::Self() == threadId_)
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#else
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#if PRINT_DEBUG
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UDEBUG("Thread %d joining %d", UThreadC<void>::Self(), handle_);
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#endif
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if(UThreadC<void>::Self() == handle_)
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#endif
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{
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UERROR("Thread cannot join itself");
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return;
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}
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if(killFirst)
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{
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this->kill();
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}
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runningMutex_.lock();
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runningMutex_.unlock();
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#if PRINT_DEBUG
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UDEBUG("Join ended for %d", UThreadC<void>::Self());
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#endif
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}
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void UThread::start()
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{
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#if PRINT_DEBUG
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ULOGGER_DEBUG("");
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#endif
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if(state_ == kSIdle || state_ == kSKilled)
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{
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if(state_ == kSKilled)
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{
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// make sure it is finished
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runningMutex_.lock();
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runningMutex_.unlock();
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}
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state_ = kSCreating;
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int r = UThreadC<void>::Create(threadId_, &handle_, true); // Create detached
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if(r)
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{
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UERROR("Failed to create a thread! errno=%d", r);
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threadId_=0;
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handle_=0;
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state_ = kSIdle;
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}
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else
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{
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#if PRINT_DEBUG
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ULOGGER_DEBUG("StateThread::startThread() thread id=%d _handle=%d", threadId_, handle_);
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#endif
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}
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}
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}
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//TODO : Support pThread
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void UThread::setPriority(Priority priority)
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{
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priority_ = priority;
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}
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//TODO : Support pThread
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void UThread::applyPriority()
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{
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if(handle_)
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{
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#ifdef _WIN32
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int p = THREAD_PRIORITY_NORMAL;
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switch(priority_)
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{
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case kPLow:
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p = THREAD_PRIORITY_LOWEST;
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break;
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case kPBelowNormal:
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p = THREAD_PRIORITY_BELOW_NORMAL;
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break;
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case kPNormal:
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p = THREAD_PRIORITY_NORMAL;
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break;
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case kPAboveNormal:
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p = THREAD_PRIORITY_ABOVE_NORMAL;
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break;
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case kPRealTime:
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p = THREAD_PRIORITY_TIME_CRITICAL;
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break;
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default:
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break;
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}
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SetThreadPriority(handle_, p);
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#endif
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}
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}
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void UThread::setAffinity(int cpu)
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{
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cpuAffinity_ = cpu;
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if(cpuAffinity_<0)
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{
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cpuAffinity_ = 0;
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}
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}
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//TODO : Support Windows and linux
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void UThread::applyAffinity()
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{
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if(cpuAffinity_>0)
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{
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#ifdef _WIN32
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#elif __APPLE__
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thread_affinity_policy_data_t affPolicy;
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affPolicy.affinity_tag = cpuAffinity_;
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kern_return_t ret = thread_policy_set(
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mach_thread_self(),
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THREAD_AFFINITY_POLICY,
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(integer_t*) &affPolicy,
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THREAD_AFFINITY_POLICY_COUNT);
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if(ret != KERN_SUCCESS)
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{
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UERROR("thread_policy_set returned %d", ret);
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}
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#else
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/*unsigned long mask = cpuAffinity_;
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if (pthread_setaffinity_np(
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pthread_self(),
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sizeof(mask),
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&mask) <0)
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{
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UERROR("pthread_setaffinity_np failed");
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}
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}*/
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#endif
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}
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}
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bool UThread::isCreating() const
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{
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return state_ == kSCreating;
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}
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bool UThread::isRunning() const
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{
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return state_ == kSRunning || state_ == kSCreating;
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}
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bool UThread::isIdle() const
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{
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return state_ == kSIdle;
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}
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bool UThread::isKilled() const
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{
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return state_ == kSKilled;
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}
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////////////////////////////
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// private:
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////////////////////////////
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void UThread::ThreadMain()
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{
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runningMutex_.lock();
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applyPriority();
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applyAffinity();
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#if PRINT_DEBUG
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ULOGGER_DEBUG("before mainLoopBegin()");
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#endif
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state_ = kSRunning;
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mainLoopBegin();
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#if PRINT_DEBUG
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ULOGGER_DEBUG("before mainLoop()");
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#endif
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while(state_ == kSRunning)
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{
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mainLoop();
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}
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#if PRINT_DEBUG
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ULOGGER_DEBUG("before mainLoopEnd()");
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#endif
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mainLoopEnd();
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handle_ = 0;
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threadId_ = 0;
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state_ = kSIdle;
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runningMutex_.unlock();
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#if PRINT_DEBUG
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ULOGGER_DEBUG("Exiting thread loop");
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#endif
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}
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