CHMTSLAM_3D_viewer.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#include "hmtslam-precomp.h" // Precomp header

#include <mrpt/utils/CTicTac.h>
#include <mrpt/random.h>
#include <mrpt/utils/CFileStream.h>
#include <mrpt/system/os.h>

using namespace mrpt::slam;
using namespace mrpt::hmtslam;
using namespace mrpt::utils;

/*---------------------------------------------------------------

                                                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::utils::LVL_DEBUG,"[thread_3D_viewer] 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_3D_viewer] Thread finished. CPU time used:%.06f secs \n",timCPU);
                obj->m_terminationFlag_3D_viewer = true;

        }
        catch(std::exception &e)
        {
                obj->m_terminationFlag_3D_viewer = true;

                // Release semaphores:

                obj->logFmt(mrpt::utils::LVL_ERROR,"%s", e.what() );

                // DEBUG: Terminate application:
                obj->m_terminateThreads = true;

        }
        catch(...)
        {
                obj->m_terminationFlag_3D_viewer = true;

                obj->logFmt(mrpt::utils::LVL_ERROR,
                        "\n---------------------- EXCEPTION CAUGHT! ---------------------\n"
                        " In CHierarchicalMappingFramework::thread_3D_viewer. Unexpected runtime error!!\n");

                // DEBUG: Terminate application:
                obj->m_terminateThreads = true;
        }

}