scheduler.hpp

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//
// Copyright (c) 2011, Willow Garage, Inc.
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//       contributors may be used to endorse or promote products derived from
//       this software without specific prior written permission.
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#pragma once

#include <Python.h>
#include <ecto/log.hpp>
#include <ecto/forward.hpp>
#include <ecto/profile.hpp>

#include <boost/asio.hpp>
#ifndef BOOST_SIGNALS2_MAX_ARGS  // this is also defined in tendril.hpp (TODO: consolidate)
  #define BOOST_SIGNALS2_MAX_ARGS 3
#endif
#include <boost/signals2/signal.hpp>
#include <boost/thread/mutex.hpp>

#include <ecto/graph/types.hpp>

namespace ecto {

class scheduler {
public:
  enum State {
    INIT = 0,
    RUNNING,
    EXECUTING,
    STOPPING,
    FINI = -1,
    ERROR = -2
  };

  explicit scheduler(plasm_ptr p);
  ~scheduler();

  bool execute(unsigned num_iters = 0);
  bool prepare_jobs(unsigned num_iters = 0);

  bool run_job();
  bool run(unsigned timeout_usec);
  bool run();

  inline bool running() const;
  inline bool executing() const;

  void stop();

  std::string stats() const { return graphstats_.as_string(graph_); }

  inline State state() const;

private:
  inline State state(State);
  void execute_init(unsigned num_iteRelWithDebInfors);
  void execute_iter(unsigned cur_iter, unsigned num_iters,
                    std::size_t stack_idx);
  void execute_fini();
  void interrupt();

  void compute_stack();

  plasm_ptr plasm_;
  ecto::graph::graph_t& graph_;

  std::vector<ecto::graph::graph_t::vertex_descriptor> stack_;

  profile::graph_stats_type graphstats_;

  boost::asio::io_service io_svc_;

  mutable boost::mutex mtx_;
  State state_;
  std::size_t runners_;

  // sigint handling
  boost::signals2::connection interrupt_connection;
  bool interrupted;
}; // scheduler

template<typename Mutex_T = boost::mutex, typename Count_T = std::size_t>
class ref_count {
public:
  ref_count(Mutex_T & m, Count_T & t)
  : m_(m), t_(t) {
    typename Mutex_T::scoped_lock l(m_);
    ++t_;
  }
  ~ref_count() {
    typename Mutex_T::scoped_lock l(m_);
    --t_;
  }
private:
  Mutex_T & m_;
  Count_T & t_;
};

scheduler::State scheduler::state() const
{
  boost::mutex::scoped_lock l(mtx_);
  return state_;
}

bool scheduler::running() const
{
  boost::mutex::scoped_lock l(mtx_);
  return static_cast<int>(state_) > 0;
}

bool scheduler::executing() const
{
  boost::mutex::scoped_lock l(mtx_);
  return state_ == scheduler::EXECUTING;
}

scheduler::State scheduler::state(State state)
{
  boost::mutex::scoped_lock l(mtx_);
  state_ = state;
  return state_;
}


} // End of namespace ecto.