77 lines
2.2 KiB
C
77 lines
2.2 KiB
C
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/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_COMMON_TASK_H_
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#define CARTOGRAPHER_COMMON_TASK_H_
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#include <set>
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#include "absl/synchronization/mutex.h"
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#include "glog/logging.h"
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#include "thread_pool.h"
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namespace cartographer {
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namespace common {
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class ThreadPoolInterface;
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class Task {
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public:
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friend class ThreadPoolInterface;
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using WorkItem = std::function<void()>;
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enum State { NEW, DISPATCHED, DEPENDENCIES_COMPLETED, RUNNING, COMPLETED };
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Task() = default;
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~Task();
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State GetState() LOCKS_EXCLUDED(mutex_);
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// State must be 'NEW'.
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void SetWorkItem(const WorkItem& work_item) LOCKS_EXCLUDED(mutex_);
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// State must be 'NEW'. 'dependency' may be nullptr, in which case it is
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// assumed completed.
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void AddDependency(std::weak_ptr<Task> dependency) LOCKS_EXCLUDED(mutex_);
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private:
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// Allowed in all states.
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void AddDependentTask(Task* dependent_task);
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// State must be 'DEPENDENCIES_COMPLETED' and becomes 'COMPLETED'.
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void Execute() LOCKS_EXCLUDED(mutex_);
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// State must be 'NEW' and becomes 'DISPATCHED' or 'DEPENDENCIES_COMPLETED'.
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void SetThreadPool(ThreadPoolInterface* thread_pool) LOCKS_EXCLUDED(mutex_);
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// State must be 'NEW' or 'DISPATCHED'. If 'DISPATCHED', may become
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// 'DEPENDENCIES_COMPLETED'.
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void OnDependenyCompleted();
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WorkItem work_item_ GUARDED_BY(mutex_);
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ThreadPoolInterface* thread_pool_to_notify_ GUARDED_BY(mutex_) = nullptr;
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State state_ GUARDED_BY(mutex_) = NEW;
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unsigned int uncompleted_dependencies_ GUARDED_BY(mutex_) = 0;
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std::set<Task*> dependent_tasks_ GUARDED_BY(mutex_);
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absl::Mutex mutex_;
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};
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} // namespace common
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} // namespace cartographer
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#endif // CARTOGRAPHER_COMMON_TASK_H_
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