ompl/base/src/PlannerTerminationCondition.cpp
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #include "ompl/base/PlannerTerminationCondition.h" 00038 #include "ompl/util/Time.h" 00039 #include <boost/bind.hpp> 00040 #include <boost/thread.hpp> 00041 #include <boost/lambda/bind.hpp> 00042 #include <utility> 00043 00044 namespace ompl 00045 { 00046 namespace base 00047 { 00048 00050 class PlannerTerminationCondition::PlannerTerminationConditionImpl 00051 { 00052 public: 00053 PlannerTerminationConditionImpl(const PlannerTerminationConditionFn &fn, double period) : 00054 fn_(fn), 00055 period_(period), 00056 terminate_(false), 00057 thread_(NULL), 00058 evalValue_(false), 00059 signalThreadStop_(false) 00060 { 00061 if (period_ > 0.0) 00062 startEvalThread(); 00063 } 00064 00065 ~PlannerTerminationConditionImpl() 00066 { 00067 stopEvalThread(); 00068 } 00069 00070 bool eval() const 00071 { 00072 if (terminate_) 00073 return true; 00074 if (period_ > 0.0) 00075 return evalValue_; 00076 return fn_(); 00077 } 00078 00079 void terminate() const 00080 { 00081 // it is ok to have unprotected write here 00082 terminate_ = true; 00083 } 00084 00085 private: 00086 00088 void startEvalThread() 00089 { 00090 if (!thread_) 00091 { 00092 signalThreadStop_ = false; 00093 evalValue_ = false; 00094 thread_ = new boost::thread(boost::bind(&PlannerTerminationConditionImpl::periodicEval, this)); 00095 } 00096 } 00097 00099 void stopEvalThread() 00100 { 00101 signalThreadStop_ = true; 00102 if (thread_) 00103 { 00104 thread_->join(); 00105 delete thread_; 00106 thread_ = NULL; 00107 } 00108 } 00109 00111 void periodicEval() 00112 { 00113 // we want to check for termination at least once every ms; 00114 // even though we may evaluate the condition itself more rarely 00115 00116 unsigned int count = 1; 00117 time::duration s = time::seconds(period_); 00118 if (period_ > 0.001) 00119 { 00120 count = 0.5 + period_ / 0.001; 00121 s = time::seconds(period_ / (double) count); 00122 } 00123 00124 while (!terminate_ && !signalThreadStop_) 00125 { 00126 evalValue_ = fn_(); 00127 for (unsigned int i = 0 ; i < count ; ++i) 00128 { 00129 if (terminate_ || signalThreadStop_) 00130 break; 00131 boost::this_thread::sleep(s); 00132 } 00133 } 00134 } 00135 00137 PlannerTerminationConditionFn fn_; 00138 00140 double period_; 00141 00143 mutable bool terminate_; 00144 00146 boost::thread *thread_; 00147 00149 bool evalValue_; 00150 00152 bool signalThreadStop_; 00153 }; 00154 00156 } 00157 } 00158 00159 ompl::base::PlannerTerminationCondition::PlannerTerminationCondition(const PlannerTerminationConditionFn &fn) : 00160 impl_(new PlannerTerminationConditionImpl(fn, -1.0)) 00161 { 00162 } 00163 00164 ompl::base::PlannerTerminationCondition::PlannerTerminationCondition(const PlannerTerminationConditionFn &fn, double period) : 00165 impl_(new PlannerTerminationConditionImpl(fn, period)) 00166 { 00167 } 00168 00169 void ompl::base::PlannerTerminationCondition::terminate() const 00170 { 00171 impl_->terminate(); 00172 } 00173 00174 bool ompl::base::PlannerTerminationCondition::eval() const 00175 { 00176 return impl_->eval(); 00177 } 00178 00179 ompl::base::PlannerTerminationCondition ompl::base::plannerNonTerminatingCondition() 00180 { 00181 return PlannerTerminationCondition(boost::lambda::constant(false)); 00182 } 00183 00184 ompl::base::PlannerTerminationCondition ompl::base::plannerAlwaysTerminatingCondition() 00185 { 00186 return PlannerTerminationCondition(boost::lambda::constant(true)); 00187 } 00188 00190 namespace ompl 00191 { 00192 namespace base 00193 { 00194 static bool plannerOrTerminationConditionAux(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2) 00195 { 00196 return c1() || c2(); 00197 } 00198 00199 static bool plannerAndTerminationConditionAux(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2) 00200 { 00201 return c1() && c2(); 00202 } 00203 00204 // return true if a certain point in time has passed 00205 static bool timePassed(const time::point &endTime) 00206 { 00207 return time::now() > endTime; 00208 } 00209 } 00210 } 00212 00213 ompl::base::PlannerTerminationCondition ompl::base::plannerOrTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2) 00214 { 00215 return PlannerTerminationCondition(boost::bind(&plannerOrTerminationConditionAux, c1, c2)); 00216 } 00217 00218 ompl::base::PlannerTerminationCondition ompl::base::plannerAndTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2) 00219 { 00220 return PlannerTerminationCondition(boost::bind(&plannerAndTerminationConditionAux, c1, c2)); 00221 } 00222 00223 ompl::base::PlannerTerminationCondition ompl::base::timedPlannerTerminationCondition(double duration) 00224 { 00225 return PlannerTerminationCondition(boost::bind(&timePassed, time::now() + time::seconds(duration))); 00226 } 00227 00228 ompl::base::PlannerTerminationCondition ompl::base::timedPlannerTerminationCondition(double duration, double interval) 00229 { 00230 if (interval > duration) 00231 interval = duration; 00232 return PlannerTerminationCondition(boost::bind(&timePassed, time::now() + time::seconds(duration)), interval); 00233 }