PriorityScheduler.h

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/* ----------------------------------------------------------------------------
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 * See LICENSE for the license information
 * -------------------------------------------------------------------------- */

 
#pragma once
 
#include <gtsam/base/Scheduler.h>
 
#include <queue>
 
namespace gtsam {
 
namespace detail {

struct PrioritySchedulerPolicy {
  using Metadata = int;
 
  template <typename TaskPtr>
  struct Compare {
    bool operator()(const TaskPtr& a, const TaskPtr& b) const {
      return a.metadata > b.metadata;
    }
  };
 
  template <typename TaskPtr>
  using Container =
      std::priority_queue<TaskPtr, std::vector<TaskPtr>, Compare<TaskPtr>>;
 
  template <typename TaskPtr>
  static void push(Container<TaskPtr>& container, TaskPtr task) {
    container.push(std::move(task));
  }
 
  template <typename TaskPtr>
  static bool popLocal(Container<TaskPtr>& container, TaskPtr& out) {
    if (container.empty()) return false;
    out = container.top();
    container.pop();
    return true;
  }
 
  template <typename TaskPtr>
  static bool popSteal(Container<TaskPtr>& container, TaskPtr& out) {
    return popLocal(container, out);
  }
};
 
}  // namespace detail

template <typename Y>
using PriorityScheduler = Scheduler<Y, detail::PrioritySchedulerPolicy>;
 
}  // namespace gtsam