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>

#include <thread>

using namespace mrpt::slam;
using namespace mrpt::hmtslam;
using namespace mrpt::utils;
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::utils::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:
                // -------------------------
                time_t timCreat, timExit;
                double timCPU = 0;
                MRPT_TODO("Fix thread times")
                // 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;
        }
}