58 lines
1.7 KiB
C++
58 lines
1.7 KiB
C++
/*
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* Copyright 2016 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_THREAD_POOL_H_
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#define CARTOGRAPHER_COMMON_THREAD_POOL_H_
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#include <deque>
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#include <functional>
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#include <thread>
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#include <vector>
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#include "cartographer/common/mutex.h"
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namespace cartographer {
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namespace common {
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// A fixed number of threads working on a work queue of work items. Adding a
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// new work item does not block, and will be executed by a background thread
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// eventually. The queue must be empty before calling the destructor. The thread
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// pool will then wait for the currently executing work items to finish and then
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// destroy the threads.
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class ThreadPool {
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public:
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explicit ThreadPool(int num_threads);
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~ThreadPool();
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ThreadPool(const ThreadPool&) = delete;
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ThreadPool& operator=(const ThreadPool&) = delete;
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void Schedule(const std::function<void()>& work_item);
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private:
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void DoWork();
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Mutex mutex_;
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bool running_ GUARDED_BY(mutex_) = true;
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std::vector<std::thread> pool_ GUARDED_BY(mutex_);
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std::deque<std::function<void()>> work_queue_ GUARDED_BY(mutex_);
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};
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} // namespace common
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} // namespace cartographer
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#endif // CARTOGRAPHER_COMMON_THREAD_POOL_H_
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