bool
EGPlanner::checkTerminationConditions()
{
if (!isActive()) {
return true;
}
bool termination = false;
//max steps equal to -1 means run forever
if (mMaxSteps != -1 && mCurrentStep >= mMaxSteps) {
if (!mRepeat) {
pausePlanner();
termination = true;
} else {
resetParameters();
}
if (!mMultiThread) {
Q_EMIT update();
}
} else if (mMaxTime != -1) {
//check time limit
//for now exceeding the time limit simply kills it for good
if (getRunningTime() > mMaxTime) {
termination = true;
stopPlanner();
}
}
if (termination) {
Q_EMIT complete();
}
return termination;
}
/*! After this is called, the planner can no longer be re-started.
This differentiation is needed mainly for the multi-threaded case:
this function stops the planner's thread.
*/
void
EGPlanner::stopPlanner()
{
if (getState()==DONE || getState()==EXITED) return;
//this will stop the planner REGARDLESS of what state it is in!
pausePlanner();
//this also finishes the thread
setState(DONE);
if (mMultiThread) {
DBGP("Waiting for exit");
//wait for the thread to stop spinning
while (getState()!=EXITED);
DBGP("Exited");
}
}
