/*---------------------------------------------------------------
CHMTSLAM_3D_viewer
Optional 3D real-time viewer within HMT-SLAM
---------------------------------------------------------------*/
void CHMTSLAM::thread_3D_viewer()
{
CHMTSLAM* obj = this;
CTicTac tictac;
try
{
// Start thread:
// -------------------------
obj->logFmt(
mrpt::system::LVL_DEBUG,
"[thread_3D_viewer] Thread started (ID=0x%08lX)\n",
std::this_thread::get_id());
// --------------------------------------------
// The main loop
// Executes until termination is signaled
// --------------------------------------------
while (!obj->m_terminateThreads)
{
std::this_thread::sleep_for(100ms);
}; // end while execute thread
// Finish thread:
// -------------------------
MRPT_TODO("Fix thread times")
// try { mrpt::system::getCurrentThreadTimes( timCreat,timExit,timCPU);
// } catch(...) {};
// obj->logFmt(mrpt::system::LVL_DEBUG,"[thread_3D_viewer] Thread
// finished. CPU time used:%.06f secs \n",timCPU);
obj->m_terminationFlag_3D_viewer = true;
}
catch (const std::exception& e)
{
obj->m_terminationFlag_3D_viewer = true;
// Release semaphores:
obj->logFmt(mrpt::system::LVL_ERROR, "%s", e.what());
// DEBUG: Terminate application:
obj->m_terminateThreads = true;
}
catch (...)
{
obj->m_terminationFlag_3D_viewer = true;
obj->logFmt(
mrpt::system::LVL_ERROR,
"\n---------------------- EXCEPTION CAUGHT! ---------------------\n"
" In CHierarchicalMappingFramework::thread_3D_viewer. Unexpected "
"runtime error!!\n");
// DEBUG: Terminate application:
obj->m_terminateThreads = true;
}
}
/*---------------------------------------------------------------
CHMTSLAM_TBI
Topological Bayesian Inference (TBI) process within HMT-SLAM
---------------------------------------------------------------*/
void CHMTSLAM::thread_TBI()
{
CHMTSLAM *obj = this;
CTicTac tictac;
// Seems that must be called in each thread??
if (obj->m_options.random_seed)
randomGenerator.randomize( obj->m_options.random_seed );
else randomGenerator.randomize();
try
{
// Start thread:
// -------------------------
obj->logFmt(mrpt::utils::LVL_DEBUG, "[thread_TBI] Thread started (ID=0x%08lX)\n", mrpt::system::getCurrentThreadId() );
// --------------------------------------------
// The main loop
// Executes until termination is signaled
// --------------------------------------------
while ( !obj->m_terminateThreads )
{
mrpt::system::sleep(100);
}; // end while execute thread
// Finish thread:
// -------------------------
time_t timCreat,timExit; double timCPU=0;
try { mrpt::system::getCurrentThreadTimes( timCreat,timExit,timCPU); } catch(...) {};
obj->logFmt(mrpt::utils::LVL_DEBUG, "[thread_TBI] Thread finished. CPU time used:%.06f secs \n",timCPU);
obj->m_terminationFlag_TBI = true;
}
catch(std::exception &e)
{
obj->m_terminationFlag_TBI = true;
// Release semaphores:
obj->logFmt(mrpt::utils::LVL_ERROR, "%s", e.what() );
// DEBUG: Terminate application:
obj->m_terminateThreads = true;
}
catch(...)
{
obj->m_terminationFlag_TBI = true;
obj->logFmt(mrpt::utils::LVL_ERROR,
"\n---------------------- EXCEPTION CAUGHT! ---------------------\n"
" In CHierarchicalMappingFramework::thread_TBI. Unexpected runtime error!!\n");
// Release semaphores:
// DEBUG: Terminate application:
obj->m_terminateThreads = true;
}
}