/* This file is part of Raul. Copyright 2007-2012 David Robillard Raul is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or any later version. Raul is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with Raul. If not, see . */ #ifndef RAUL_THREAD_HPP #define RAUL_THREAD_HPP #include "raul/Noncopyable.hpp" namespace Raul { struct ThreadImpl; /** Abstract base class for a thread. * * Extend this and override the _run method to easily create a thread * to perform some task. * * \ingroup raul */ class Thread : Noncopyable { public: virtual ~Thread() { join(); } /** Start the thread if it is not already running. * * This is separate from construction to prevent race conditions during * construction of derived classes. */ virtual void start() { if (!_thread_exists) { pthread_attr_t attr; pthread_attr_init(&attr); pthread_attr_setstacksize(&attr, 1500000); pthread_create(&_pthread, &attr, _static_run, this); _thread_exists = true; } } /** Stop the thread and block the caller until the thread exits. * * This sets _exit_flag to true, derived classes must ensure they actually * exit when this occurs. */ virtual void join() { if (_thread_exists) { _exit_flag = true; pthread_join(_pthread, NULL); _thread_exists = false; } } /** Set the scheduling policy for this thread. * @return True on success. */ virtual bool set_scheduling(bool realtime, unsigned priority) { sched_param sp; sp.sched_priority = priority; const int policy = realtime ? SCHED_FIFO : SCHED_OTHER; return !pthread_setschedparam(_pthread, policy, &sp); } protected: /** Construct a thread. * * Note this does not actually start a thread to prevent race conditions * during construction. To actually begin execution, call start(). */ explicit Thread() : _thread_exists(false) , _exit_flag(false) {} /** Thread function to execute. * * This is called once on start, and terminated on stop. * Implementations likely want to put some infinite loop here. * * When _exit_flag becomes true (via a call to stop()) the loop * should exit. */ virtual void _run() {} private: static void* _static_run(void* thread) { Thread* me = static_cast(thread); me->_run(); me->_thread_exists = false; return NULL; } pthread_t _pthread; bool _thread_exists; protected: bool _exit_flag; }; } // namespace Raul #endif // RAUL_THREAD_HPP