CHMTSLAM_3D_viewer.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

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

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

#include <thread>

using namespace mrpt::slam;
using namespace mrpt::hmtslam;
using namespace mrpt::system;
using namespace std::literals;

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

                        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:
        // -------------------------
        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;
    }
}