108 lines
2.8 KiB
C++
108 lines
2.8 KiB
C++
/*
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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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#include "cartographer/common/task.h"
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namespace cartographer {
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namespace common {
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Task::~Task() {
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// TODO(gaschler): Relax some checks after testing.
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if (state_ != NEW && state_ != COMPLETED) {
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LOG(WARNING) << "Delete Task between dispatch and completion.";
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}
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}
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Task::State Task::GetState() {
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absl::MutexLock locker(&mutex_);
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return state_;
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}
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void Task::SetWorkItem(const WorkItem& work_item) {
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absl::MutexLock locker(&mutex_);
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CHECK_EQ(state_, NEW);
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work_item_ = work_item;
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}
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void Task::AddDependency(std::weak_ptr<Task> dependency) {
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std::shared_ptr<Task> shared_dependency;
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{
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absl::MutexLock locker(&mutex_);
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CHECK_EQ(state_, NEW);
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if ((shared_dependency = dependency.lock())) {
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++uncompleted_dependencies_;
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}
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}
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if (shared_dependency) {
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shared_dependency->AddDependentTask(this);
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}
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}
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void Task::SetThreadPool(ThreadPoolInterface* thread_pool) {
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absl::MutexLock locker(&mutex_);
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CHECK_EQ(state_, NEW);
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state_ = DISPATCHED;
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thread_pool_to_notify_ = thread_pool;
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if (uncompleted_dependencies_ == 0) {
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state_ = DEPENDENCIES_COMPLETED;
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CHECK(thread_pool_to_notify_);
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thread_pool_to_notify_->NotifyDependenciesCompleted(this);
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}
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}
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void Task::AddDependentTask(Task* dependent_task) {
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absl::MutexLock locker(&mutex_);
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if (state_ == COMPLETED) {
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dependent_task->OnDependenyCompleted();
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return;
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}
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bool inserted = dependent_tasks_.insert(dependent_task).second;
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CHECK(inserted) << "Given dependency is already a dependency.";
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}
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void Task::OnDependenyCompleted() {
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absl::MutexLock locker(&mutex_);
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CHECK(state_ == NEW || state_ == DISPATCHED);
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--uncompleted_dependencies_;
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if (uncompleted_dependencies_ == 0 && state_ == DISPATCHED) {
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state_ = DEPENDENCIES_COMPLETED;
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CHECK(thread_pool_to_notify_);
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thread_pool_to_notify_->NotifyDependenciesCompleted(this);
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}
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}
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void Task::Execute() {
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{
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absl::MutexLock locker(&mutex_);
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CHECK_EQ(state_, DEPENDENCIES_COMPLETED);
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state_ = RUNNING;
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}
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// Execute the work item.
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if (work_item_) {
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work_item_();
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}
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absl::MutexLock locker(&mutex_);
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state_ = COMPLETED;
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for (Task* dependent_task : dependent_tasks_) {
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dependent_task->OnDependenyCompleted();
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}
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}
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} // namespace common
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} // namespace cartographer
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