thread.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */
/*
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 *    this list of conditions and the following disclaimer in the documentation
 *    and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */

#pragma once

#include "rptypes.h"
#define CLASS_THREAD(c, x) rp::hal::Thread::create_member<c, &c::x>(this)

namespace rp::hal
{
class Thread
{
   public:
    enum priority_val_t
    {
        PRIORITY_REALTIME = 0,
        PRIORITY_HIGH = 1,
        PRIORITY_NORMAL = 2,
        PRIORITY_LOW = 3,
        PRIORITY_IDLE = 4,
    };

    template <class T, u_result (T::*PROC)(void)>
    static Thread create_member(T* pthis)
    {
        return create(_thread_thunk<T, PROC>, pthis);
    }

    template <class T, u_result (T::*PROC)(void)>
    static _word_size_t THREAD_PROC _thread_thunk(void* data)
    {
        return (static_cast<T*>(data)->*PROC)();
    }
    static Thread create(thread_proc_t proc, void* data = nullptr);

   public:
    ~Thread() {}
    Thread() : _data(nullptr), _func(nullptr), _handle(0) {}
    _word_size_t getHandle() { return _handle; }
    u_result terminate();
    void* getData() { return _data; }
    u_result join(unsigned long timeout = -1);
    u_result setPriority(priority_val_t p);
    priority_val_t getPriority();

    bool operator==(const Thread& right)
    {
        return this->_handle == right._handle;
    }

   protected:
    Thread(thread_proc_t proc, void* data)
        : _data(data), _func(proc), _handle(0)
    {
    }
    void* _data;
    thread_proc_t _func;
    _word_size_t _handle;
};
}