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PlannerTerminationCondition.cpp
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278 lines (243 loc) · 9.67 KB
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Rice University
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Rice University nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan */
#include "ompl/base/PlannerTerminationCondition.h"
#include "ompl/util/Time.h"
#include <thread>
#include <utility>
namespace ompl
{
namespace base
{
/// @cond IGNORE
class PlannerTerminationCondition::PlannerTerminationConditionImpl
{
public:
PlannerTerminationConditionImpl(PlannerTerminationConditionFn fn, double period)
: fn_(std::move(fn))
, period_(period)
, terminate_(false)
, thread_(nullptr)
, evalValue_(false)
, signalThreadStop_(false)
{
if (period_ > 0.0)
startEvalThread();
}
~PlannerTerminationConditionImpl()
{
stopEvalThread();
}
bool eval() const
{
if (terminate_)
return true;
if (period_ > 0.0)
return evalValue_;
return fn_();
}
void terminate() const
{
// it is ok to have unprotected write here
terminate_ = true;
}
private:
/** \brief Start the thread evaluating termination conditions if not already started */
void startEvalThread()
{
if (thread_ == nullptr)
{
signalThreadStop_ = false;
evalValue_ = false;
thread_ = new std::thread([this]
{
periodicEval();
});
}
}
/** \brief Stop the thread evaluating termination conditions if not already stopped */
void stopEvalThread()
{
signalThreadStop_ = true;
if (thread_ != nullptr)
{
thread_->join();
delete thread_;
thread_ = nullptr;
}
}
/** \brief Worker function that runs in a separate thread (calls computeEval())*/
void periodicEval()
{
// we want to check for termination at least once every ms;
// even though we may evaluate the condition itself more rarely
unsigned int count = 1;
time::duration s = time::seconds(period_);
if (period_ > 0.001)
{
count = 0.5 + period_ / 0.001;
s = time::seconds(period_ / (double)count);
}
while (!terminate_ && !signalThreadStop_)
{
evalValue_ = fn_();
for (unsigned int i = 0; i < count; ++i)
{
if (terminate_ || signalThreadStop_)
break;
std::this_thread::sleep_for(s);
}
}
}
/** \brief Function pointer to the piece of code that decides whether a termination condition has been met
*/
PlannerTerminationConditionFn fn_;
/** \brief Interval of time (seconds) to wait between calls to computeEval() */
double period_;
/** \brief Flag indicating whether the user has externally requested that the condition for termination
* should become true */
mutable bool terminate_;
/** \brief Thread for periodicEval() */
std::thread *thread_;
/** \brief Cached value returned by fn_() */
bool evalValue_;
/** \brief Flag used to signal the condition evaluation thread to stop. */
bool signalThreadStop_;
};
/// @endcond
}
}
ompl::base::PlannerTerminationCondition::PlannerTerminationCondition(const PlannerTerminationConditionFn &fn)
: impl_(std::make_shared<PlannerTerminationConditionImpl>(fn, -1.0))
{
}
ompl::base::PlannerTerminationCondition::PlannerTerminationCondition(const PlannerTerminationConditionFn &fn,
double period)
: impl_(std::make_shared<PlannerTerminationConditionImpl>(fn, period))
{
}
void ompl::base::PlannerTerminationCondition::terminate() const
{
impl_->terminate();
}
bool ompl::base::PlannerTerminationCondition::eval() const
{
return impl_->eval();
}
ompl::base::PlannerTerminationCondition ompl::base::plannerNonTerminatingCondition()
{
return PlannerTerminationCondition([]
{
return false;
});
}
ompl::base::PlannerTerminationCondition ompl::base::plannerAlwaysTerminatingCondition()
{
return PlannerTerminationCondition([]
{
return true;
});
}
ompl::base::PlannerTerminationCondition ompl::base::plannerOrTerminationCondition(const PlannerTerminationCondition &c1,
const PlannerTerminationCondition &c2)
{
return PlannerTerminationCondition([c1, c2]
{
return c1() || c2();
});
}
ompl::base::PlannerTerminationCondition
ompl::base::plannerAndTerminationCondition(const PlannerTerminationCondition &c1, const PlannerTerminationCondition &c2)
{
return PlannerTerminationCondition([c1, c2]
{
return c1() && c2();
});
}
ompl::base::PlannerTerminationCondition ompl::base::timedPlannerTerminationCondition(double duration)
{
return timedPlannerTerminationCondition(time::seconds(duration));
}
ompl::base::PlannerTerminationCondition ompl::base::timedPlannerTerminationCondition(time::duration duration)
{
const time::point endTime(time::now() + duration);
return PlannerTerminationCondition([endTime]
{
return time::now() > endTime;
});
}
ompl::base::PlannerTerminationCondition ompl::base::timedPlannerTerminationCondition(double duration, double interval)
{
if (interval > duration)
interval = duration;
const time::point endTime(time::now() + time::seconds(duration));
return PlannerTerminationCondition([endTime]
{
return time::now() > endTime;
});
}
ompl::base::PlannerTerminationCondition
ompl::base::exactSolnPlannerTerminationCondition(const ompl::base::ProblemDefinitionPtr& pdef)
{
return PlannerTerminationCondition([pdef]
{
return pdef->hasExactSolution();
});
}
namespace ompl
{
namespace base
{
IterationTerminationCondition::IterationTerminationCondition(unsigned int numIterations)
: maxCalls_(numIterations), timesCalled_(0u)
{
}
bool IterationTerminationCondition::eval()
{
++timesCalled_;
return (timesCalled_ > maxCalls_);
}
void IterationTerminationCondition::reset()
{
timesCalled_ = 0u;
}
IterationTerminationCondition::operator PlannerTerminationCondition()
{
return PlannerTerminationCondition([this]
{
return eval();
});
}
}
}