多线程编程学习——condition_variable_any

condition_variable_any

• 定义

  boost::condition_variable_any planner_cond_;
  

• 用法

  boost::condition_variable_any planner_cond_;
  planner_thread_ = new boost::thread(boost::bind(&GlobalPlanner::planThread, this));
  

  条件判断锁

  planner_cond_.notify_one();//触发条件
  

  void GlobalPlanner::planThread(void)
  {
  ros::NodeHandle n;
  boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);
  while (n.ok())
  {
      while (!run_planner_)
      {
          planner_cond_.wait(lock);    //planner_cond_.notify_one();触发条件
      }
  
      run_planner_ = false;
  
      geometry_msgs::PoseStamped goal = nav_info_->obtainGoal();
      std::vector<geometry_msgs::PoseStamped> plan;
      bool res = makePlan(goal, plan);
  
      if (res && (!plan.empty()))
      {
          nav_info_->setGlobalPlan(plan);
          nav_info_->setNewGlobalPlanFlag(true);
          nav_info_->setNavStatus(CONTROLLING);
          LOG(WARNING) << "run global planner finished!";
      }
      else
      {
          nav_info_->setNavStatus(PLANNING);
          nav_info_->setReplanFlag(true);
          LOG(ERROR) << "run global planner failed! try again!";
      }
  }