Detailed Description

Collaboration diagram for Threads (in #include <mrpt/system/threads.h>):

Classes
struct	mrpt::system::TThreadHandle
	A MRPT thread handle. More...

Enumerations
enum	mrpt::system::TProcessPriority { mrpt::system::ppIdle = 0, mrpt::system::ppNormal, mrpt::system::ppHigh, mrpt::system::ppVeryHigh }
	The type for cross-platform process (application) priorities. More...

enum	mrpt::system::TThreadPriority { mrpt::system::tpLowests =-15, mrpt::system::tpLower = -2, mrpt::system::tpLow = -1, mrpt::system::tpNormal = 0, mrpt::system::tpHigh = 1, mrpt::system::tpHigher = 2, mrpt::system::tpHighest = 15 }
	The type for cross-platform thread priorities. More...

Functions
template<typename T >
TThreadHandle	mrpt::system::createThread (void(*func)(T), T param)
	Creates a new thread from a function (or static method) with one generic parameter. More...

template<typename T >
TThreadHandle	mrpt::system::createThreadRef (void(*func)(T &), T &param)

TThreadHandle	mrpt::system::createThread (void(*func)(void))

template<typename CLASS , typename PARAM >
TThreadHandle	mrpt::system::createThreadFromObjectMethod (CLASS obj, void(CLASS::func)(PARAM), PARAM param)
	Creates a new thread running a non-static method (so it will have access to "this") from another method of the same class - with one generic parameter. More...

template<typename CLASS , typename PARAM >
TThreadHandle	mrpt::system::createThreadFromObjectMethodRef (CLASS obj, void(CLASS::func)(PARAM &), PARAM &param)

template<typename CLASS >
TThreadHandle	mrpt::system::createThreadFromObjectMethod (CLASS obj, void(CLASS::func)(void))

void BASE_IMPEXP	mrpt::system::joinThread (TThreadHandle &threadHandle)
	Waits until the given thread ends. More...

unsigned long BASE_IMPEXP	mrpt::system::getCurrentThreadId () MRPT_NO_THROWS
	Returns the ID of the current thread. More...

void BASE_IMPEXP	mrpt::system::exitThread () MRPT_NO_THROWS
	Explicit close of the current (running) thread. More...

void BASE_IMPEXP	mrpt::system::getCurrentThreadTimes (time_t &creationTime, time_t &exitTime, double &cpuTime)
	Returns the creation and exit times of the current thread and its CPU time consumed. More...

void BASE_IMPEXP	mrpt::system::changeCurrentThreadPriority (TThreadPriority priority)
	Change the priority of the current thread - for Windows, see also changeCurrentProcessPriority() More...

void BASE_IMPEXP	mrpt::system::terminateThread (TThreadHandle &threadHandle) MRPT_NO_THROWS
	Terminate a thread, giving it no choice to delete objects, etc (use only as a last resource) More...

void BASE_IMPEXP	mrpt::system::changeCurrentProcessPriority (TProcessPriority priority)
	Change the priority of the given process (it applies to all the threads, plus independent modifiers for each thread). More...

unsigned int BASE_IMPEXP	mrpt::system::getNumberOfProcessors ()
	Return the number of processors ("cores"), or 1 if it cannot be determined. More...

void BASE_IMPEXP	mrpt::system::sleep (int time_ms) MRPT_NO_THROWS
	An OS-independent method for sending the current thread to "sleep" for a given period of time. More...

bool BASE_IMPEXP	mrpt::system::launchProcess (const std::string &command)
	Executes the given command (which may contain a program + arguments), and waits until it finishes. More...

Enumeration Type Documentation

◆ TProcessPriority

enum mrpt::system::TProcessPriority

The type for cross-platform process (application) priorities.

See also: changeCurrentProcessPriority

Enumerator
ppIdle
ppNormal
ppHigh
ppVeryHigh

Definition at line 51 of file threads.h.

◆ TThreadPriority

enum mrpt::system::TThreadPriority

The type for cross-platform thread priorities.

See also: changeThreadPriority

Enumerator
tpLowests
tpLower
tpLow
tpNormal
tpHigh
tpHigher
tpHighest

Definition at line 61 of file threads.h.

Function Documentation

◆ changeCurrentProcessPriority()

void BASE_IMPEXP mrpt::system::changeCurrentProcessPriority ( TProcessPriority priority )

Change the priority of the given process (it applies to all the threads, plus independent modifiers for each thread).

Windows: See SetPriorityClass
Linux (pthreads): Requires root permissions to increase process priority! Internally it calls nice(), so it has no effect if () was called and a SCHED_RR is already active.
See also
createThread, changeThreadPriority

Definition at line 144 of file threads.cpp.

References mrpt::system::ppHigh, mrpt::system::ppIdle, mrpt::system::ppNormal, mrpt::system::ppVeryHigh, and THROW_EXCEPTION.

◆ changeCurrentThreadPriority()

void BASE_IMPEXP mrpt::system::changeCurrentThreadPriority ( TThreadPriority priority )

Change the priority of the current thread - for Windows, see also changeCurrentProcessPriority()

Windows: This is equivalent to SetThreadPriority() (read the docs there)
Linux (pthreads): May require root permissions! This sets the Round Robin scheduler with the given priority level. Read sched_setscheduler.
See also
createThread, changeCurrentProcessPriority, changeCurrentThreadPriority

Definition at line 94 of file threads.cpp.

References mrpt::system::tpHigh, mrpt::system::tpHigher, mrpt::system::tpHighest, mrpt::system::tpLow, mrpt::system::tpLower, mrpt::system::tpLowests, and mrpt::system::tpNormal.

◆ createThread() [1/2]

template<typename T >

TThreadHandle mrpt::system::createThread	(	void(*)(T)	func,
		T	param
	)

inline

Creates a new thread from a function (or static method) with one generic parameter.

This function creates, and starts a new thread running some code given by a function. The thread function should end by returning as normal.

Parameters

func	The function with the code to run in the thread.
param	The parameter to be passed to the new thread function.

Returns: A structure that represents the thread (it contains its ID and, in Windows, its HANDLE).

Exceptions

std::exception If the operation fails

See also: createThreadFromObjectMethod, joinThread, changeThreadPriority

Definition at line 80 of file threads.h.

References mrpt::system::TThreadHandle::m_thread.

Referenced by mrpt::gui::WxSubsystem::createOneInstanceMainThread(), mrpt::detectors::CFaceDetection::init(), mrpt::hwdrivers::CImpinjRFID::initialize(), my_CriticalSections_Multi(), and my_CSemaphore().

◆ createThread() [2/2]

TThreadHandle mrpt::system::createThread ( void(*)(void) func )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 92 of file threads.h.

References mrpt::system::TThreadHandle::m_thread.

◆ createThreadFromObjectMethod() [1/2]

template<typename CLASS , typename PARAM >

TThreadHandle mrpt::system::createThreadFromObjectMethod	(	CLASS *	obj,
		void(CLASS::*)(PARAM)	func,
		PARAM	param
	)

inline

Creates a new thread running a non-static method (so it will have access to "this") from another method of the same class - with one generic parameter.

This function creates, and starts a new thread running some code given by a function. The thread function should end by returning as normal. Example of usage:

class MyClass {
public:
  void myThread(int n);
  void someMethod() {
     createThreadFromObjectMethod(this, &MyClass::myThread, 123 );
     ....
  }
};

Parameters

func	The function with the code to run in the thread.
param	The parameter to be passed to the new thread function.

Returns: A structure that represents the thread (it contains its ID and, in Windows, its HANDLE).

Exceptions

std::exception If the operation fails

See also: createThread, joinThread, changeThreadPriority

Definition at line 121 of file threads.h.

References mrpt::system::TThreadHandle::m_thread.

Referenced by mrpt::system::CFileSystemWatcher::CFileSystemWatcher(), mrpt::hmtslam::CHMTSLAM::CHMTSLAM(), mrpt::hwdrivers::CNTRIPClient::CNTRIPClient(), mrpt::hwdrivers::CIbeoLuxETH::initialize(), mrpt::hwdrivers::CCameraSensor::initialize(), mrpt::pbmap::PbMapLocaliser::PbMapLocaliser(), mrpt::pbmap::PbMapMaker::PbMapMaker(), mrpt::hwdrivers::CRovio::retrieve_video(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateState().

◆ createThreadFromObjectMethod() [2/2]

template<typename CLASS >

TThreadHandle mrpt::system::createThreadFromObjectMethod	(	CLASS *	obj,
		void(CLASS::*)(void)	func
	)

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 135 of file threads.h.

References mrpt::system::TThreadHandle::m_thread.

◆ createThreadFromObjectMethodRef()

template<typename CLASS , typename PARAM >

TThreadHandle mrpt::system::createThreadFromObjectMethodRef	(	CLASS *	obj,
		void(CLASS::*)(PARAM &)	func,
		PARAM &	param
	)

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 128 of file threads.h.

References mrpt::system::TThreadHandle::m_thread.

◆ createThreadRef()

template<typename T >

TThreadHandle mrpt::system::createThreadRef	(	void(*)(T &)	func,
		T &	param
	)

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 86 of file threads.h.

References mrpt::system::TThreadHandle::m_thread.

Referenced by mrpt::utils::net::DNS_resolve_async().

◆ exitThread()

void mrpt::system::exitThread ( )

Explicit close of the current (running) thread.

Do not use normally, it's better just to return from the running thread function.

See also: createThread

Definition at line 367 of file threads.cpp.

Referenced by mrpt::hwdrivers::CImpinjRFID::startDriver().

◆ getCurrentThreadId()

unsigned long mrpt::system::getCurrentThreadId ( )

Returns the ID of the current thread.

Definition at line 83 of file threads.cpp.

Referenced by mrpt::synch::CCriticalSection::enter(), mrpt::system::getCurrentThreadTimes(), mrpt::synch::CCriticalSection::leave(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::optimizeGraph(), sem_thread_example(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), and mrpt::hmtslam::CHMTSLAM::thread_TBI().

◆ getCurrentThreadTimes()

void mrpt::system::getCurrentThreadTimes	(	time_t &	creationTime,
		time_t &	exitTime,
		double &	cpuTime
	)

Returns the creation and exit times of the current thread and its CPU time consumed.

Parameters

creationTime	The creation time of the thread.
exitTime	The exit time of the thread, or undefined if it is still running.
cpuTime	The CPU time consumed by the thread, in seconds.

Exceptions

std::exception If the operation fails