mirror of
https://github.com/introlab/rtabmap_ros.git
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matlabbe
b92d0444ac
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@855 f169173b-cf89-36c8-b27e-44dbe73f0c83
130 lines
3.3 KiB
C++
130 lines
3.3 KiB
C++
/*
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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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#ifndef UOBJDELETIONTHREAD_H
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#define UOBJDELETIONTHREAD_H
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#include "rtabmap/utilite/UThreadNode.h"
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#include "rtabmap/utilite/UEvent.h"
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#include "rtabmap/utilite/UEventsManager.h"
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/**
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* Event used by UObjDeletionThread to notify when its object is deleted. It contains
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* the object id used for deletion (can be retrieved by UEvent::getCode()).
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*/
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class UObjDeletedEvent : public UEvent
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{
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public:
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UObjDeletedEvent(int objDeletionThreadId) : UEvent(objDeletionThreadId) {}
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virtual ~UObjDeletedEvent() {}
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/**
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* @return string "UObjDeletedEvent"
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*/
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virtual std::string getClassName() const {return std::string("UObjDeletedEvent");}
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};
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/**
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* This class can be used to delete a dynamically created object in another thread. Give the
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* dynamic reference to object to it and it will notify with a UObjDeletedEvent when the object is deleted.
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* The deletion can be delayed on startDeletion(), the thread will wait the time given before deleting the object.
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*/
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template<class T>
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class UObjDeletionThread : public UThread
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{
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public:
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/**
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* The constructor.
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* @param obj the object to delete
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* @param id the custom id which will be sent in a event UObjDeletedEvent after the object is deleted
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*/
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UObjDeletionThread(T * obj, int id=0) :
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obj_(obj),
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id_(id),
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waitMs_(0) {}
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/**
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* The destructor. If this thread is not started but with an object set, the
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* object is deleted. If the thread has not finished to delete the object, the
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* calling thread will wait (on a UThreadNode::join()) until the object is deleted.
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* @param obj the object to delete
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* @param id the custom id which will be sent in a event UObjDeletedEvent after the object is deleted
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*/
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virtual ~UObjDeletionThread()
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{
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join(true);
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if(obj_)
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{
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delete obj_;
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}
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}
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/**
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* Start the thread after optional delay.
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* @param waitMs the delay before deletion
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*/
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void startDeletion(int waitMs = 0) {waitMs_ = waitMs; this->start();}
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/**
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* Get id of the deleted object.
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* @return the id
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*/
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int id() const {return id_;}
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/**
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* Set a new object, if one was already set, the old one is deleted.
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* @param obj the object to delete
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*/
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void setObj(T * obj)
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{
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join();
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if(obj_)
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{
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delete obj_;
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obj_ = 0;
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}
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obj_ = obj;
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}
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private:
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/**
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* Thread main loop...
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*/
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virtual void mainLoop()
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{
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if(waitMs_)
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{
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uSleep(waitMs_);
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}
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if(obj_)
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{
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delete obj_;
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obj_ = 0;
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}
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this->kill();
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UEventsManager::post(new UObjDeletedEvent(id_), false);
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}
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private:
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T * obj_;
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int id_;
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int waitMs_;
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};
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#endif /* UOBJDELETIONTHREAD_H */
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