/* 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 . */ #include #include #include #include "raul/log.hpp" #include "raul/Thread.hpp" #define LOG(s) (s("[")(_name)("] ")) using std::endl; namespace Raul { struct ThreadImpl { pthread_t pthread; }; static pthread_once_t s_thread_key_once = PTHREAD_ONCE_INIT; static pthread_key_t s_thread_key; static void thread_key_alloc() { pthread_key_create(&s_thread_key, NULL); } Thread::Thread(const std::string& name) : _exit_flag(false) , _impl(new ThreadImpl()) , _name(name) , _thread_exists(false) , _own_thread(true) { pthread_once(&s_thread_key_once, thread_key_alloc); pthread_setspecific(s_thread_key, this); } /** Must be called from thread */ Thread::Thread(pthread_t thread, const std::string& name) : _exit_flag(false) , _impl(new ThreadImpl()) , _name(name) , _thread_exists(true) , _own_thread(false) { _impl->pthread = thread; pthread_once(&s_thread_key_once, thread_key_alloc); pthread_setspecific(s_thread_key, this); } Thread::~Thread() { stop(); delete _impl; } Thread* Thread::create_for_this_thread(const std::string& name) { return new Thread(pthread_self(), name); } Thread& Thread::get() { pthread_once(&s_thread_key_once, thread_key_alloc); Thread* this_thread = reinterpret_cast( pthread_getspecific(s_thread_key)); if (!this_thread) this_thread = create_for_this_thread(""); return *this_thread; } void* Thread::_static_run(void* thread) { Thread* me = static_cast(thread); pthread_setspecific(s_thread_key, thread); me->_run(); me->_thread_exists = false; return NULL; } /** Launch and start the thread. */ void Thread::start() { if (!_thread_exists) { LOG(info) << "Starting thread" << endl; pthread_attr_t attr; pthread_attr_init(&attr); pthread_attr_setstacksize(&attr, 1500000); pthread_create(&_impl->pthread, &attr, _static_run, this); _thread_exists = true; } } /** Stop and terminate the thread. */ void Thread::stop() { if (_thread_exists) { if (_own_thread) { _exit_flag = true; pthread_cancel(_impl->pthread); pthread_join(_impl->pthread, NULL); } _thread_exists = false; LOG(info) << "Exiting thread" << endl; } } void Thread::join() { pthread_join(_impl->pthread, NULL); } void Thread::set_scheduling(int policy, unsigned int priority) { sched_param sp; sp.sched_priority = priority; int result = pthread_setschedparam(_impl->pthread, policy, &sp); if (!result) { LOG(info) << "Set scheduling policy to "; switch (policy) { case SCHED_FIFO: info << "SCHED_FIFO"; break; case SCHED_RR: info << "SCHED_RR"; break; case SCHED_OTHER: info << "SCHED_OTHER"; break; default: info << "UNKNOWN"; break; } info << ", priority " << sp.sched_priority << endl; } else { LOG(info) << "Unable to set scheduling policy (" << strerror(result) << ")" << endl; } } } // namespace Raul