diff options
| -rw-r--r-- | raul/Thread.h | 73 | ||||
| -rw-r--r-- | src/Thread.cpp | 85 |
2 files changed, 93 insertions, 65 deletions
diff --git a/raul/Thread.h b/raul/Thread.h index e979094..8c739f1 100644 --- a/raul/Thread.h +++ b/raul/Thread.h @@ -49,79 +49,22 @@ public: static Thread* create_for_this_thread(const std::string& name="") { return new Thread(pthread_self(), name); } - /** Return the calling thread. - * The return value of this should NOT be cached unless the thread is - * explicitly user created with create(). - */ - static Thread& get() { - Thread* this_thread = reinterpret_cast<Thread*>(pthread_getspecific(_thread_key)); - if (!this_thread) - this_thread = new Thread(); // sets thread-specific data - - return *this_thread; - } - - /** Launch and start the thread. */ - virtual void start() { - std::cout << "[" << _name << " Thread] Starting." << std::endl; + static Thread& get(); - pthread_attr_t attr; - pthread_attr_init(&attr); - pthread_attr_setstacksize(&attr, 1500000); - - pthread_create(&_pthread, &attr, _static_run, this); - _pthread_exists = true; - } - - /** Stop and terminate the thread. */ - virtual void stop() { - if (_pthread_exists) { - pthread_cancel(_pthread); - pthread_join(_pthread, NULL); - _pthread_exists = false; - std::cout << "[" << _name << " Thread] Exiting." << std::endl; - } - } + virtual void start(); + virtual void stop(); - void set_scheduling(int policy, unsigned int priority) { - sched_param sp; - sp.sched_priority = priority; - int result = pthread_setschedparam(_pthread, SCHED_FIFO, &sp); - if (!result) { - std::cout << "[" << _name << "] Set scheduling policy to "; - switch (policy) { - case SCHED_FIFO: std::cout << "SCHED_FIFO"; break; - case SCHED_RR: std::cout << "SCHED_RR"; break; - case SCHED_OTHER: std::cout << "SCHED_OTHER"; break; - default: std::cout << "UNKNOWN"; break; - } - std::cout << ", priority " << sp.sched_priority << std::endl; - } else { - std::cout << "[" << _name << "] Unable to set scheduling policy (" - << strerror(result) << ")" << std::endl; - } - } + void set_scheduling(int policy, unsigned int priority); const std::string& name() { return _name; } void set_name(const std::string& name) { _name = name; } - const unsigned context() { return _context; } - void set_context(unsigned context) { _context = context; } + const unsigned context() { return _context; } + void set_context(unsigned context) { _context = context; } protected: - Thread(const std::string& name="") : _context(0), _name(name), _pthread_exists(false) - { - pthread_once(&_thread_key_once, thread_key_alloc); - pthread_setspecific(_thread_key, this); - } - - /** Must be called from thread */ - Thread(pthread_t thread, const std::string& name="") - : _context(0), _name(name), _pthread_exists(true), _pthread(thread) - { - pthread_once(&_thread_key_once, thread_key_alloc); - pthread_setspecific(_thread_key, this); - } + Thread(const std::string& name=""); + Thread(pthread_t thread, const std::string& name=""); /** Thread function to execute. * diff --git a/src/Thread.cpp b/src/Thread.cpp index 58edff2..1542363 100644 --- a/src/Thread.cpp +++ b/src/Thread.cpp @@ -23,5 +23,90 @@ namespace Raul { pthread_once_t Thread::_thread_key_once = PTHREAD_ONCE_INIT; pthread_key_t Thread::_thread_key; + +Thread::Thread(const std::string& name) + : _context(0) + , _name(name) + , _pthread_exists(false) +{ + pthread_once(&_thread_key_once, thread_key_alloc); + pthread_setspecific(_thread_key, this); +} + + +/** Must be called from thread */ +Thread::Thread(pthread_t thread, const std::string& name) + : _context(0) + , _name(name) + , _pthread_exists(true) + , _pthread(thread) +{ + pthread_once(&_thread_key_once, thread_key_alloc); + pthread_setspecific(_thread_key, this); +} + + +/** Return the calling thread. + * The return value of this should NOT be cached unless the thread is + * explicitly user created with create(). + */ +Thread& +Thread::get() +{ + Thread* this_thread = reinterpret_cast<Thread*>(pthread_getspecific(_thread_key)); + if (!this_thread) + this_thread = new Thread(); // sets thread-specific data + + return *this_thread; +} + +/** Launch and start the thread. */ +void +Thread::start() +{ + std::cout << "[" << _name << " Thread] Starting." << std::endl; + + pthread_attr_t attr; + pthread_attr_init(&attr); + pthread_attr_setstacksize(&attr, 1500000); + + pthread_create(&_pthread, &attr, _static_run, this); + _pthread_exists = true; +} + +/** Stop and terminate the thread. */ +void +Thread::stop() +{ + if (_pthread_exists) { + pthread_cancel(_pthread); + pthread_join(_pthread, NULL); + _pthread_exists = false; + std::cout << "[" << _name << " Thread] Exiting." << std::endl; + } +} + +void +Thread::set_scheduling(int policy, unsigned int priority) +{ + sched_param sp; + sp.sched_priority = priority; + int result = pthread_setschedparam(_pthread, SCHED_FIFO, &sp); + if (!result) { + std::cout << "[" << _name << "] Set scheduling policy to "; + switch (policy) { + case SCHED_FIFO: std::cout << "SCHED_FIFO"; break; + case SCHED_RR: std::cout << "SCHED_RR"; break; + case SCHED_OTHER: std::cout << "SCHED_OTHER"; break; + default: std::cout << "UNKNOWN"; break; + } + std::cout << ", priority " << sp.sched_priority << std::endl; + } else { + std::cout << "[" << _name << "] Unable to set scheduling policy (" + << strerror(result) << ")" << std::endl; + } +} + + } // namespace Raul |