/* 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" #include "raul/ThreadVar.hpp" #define LOG(s) (s("[")(_name)("] ")) using std::endl; namespace Raul { struct ThreadImpl { pthread_t pthread; }; static ThreadVar self(NULL); Thread::Thread(const std::string& name) : _impl(new ThreadImpl()) , _name(name) , _thread_exists(false) , _own_thread(true) , _exit_flag(false) { } /** Must be called from thread */ Thread::Thread(pthread_t thread, const std::string& name) : _impl(new ThreadImpl()) , _name(name) , _thread_exists(true) , _own_thread(false) , _exit_flag(false) { _impl->pthread = thread; } Thread::~Thread() { stop(); delete _impl; } Thread& Thread::get(const std::string& name) { if (!self) { self = new Thread(pthread_self(), name); } return *self; } void* Thread::_static_run(void* thread) { Thread* me = static_cast(thread); self = me; me->_run(); me->_thread_exists = false; return NULL; } 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; } } 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(bool realtime, unsigned priority) { sched_param sp; sp.sched_priority = priority; const int policy = realtime ? SCHED_FIFO : SCHED_OTHER; const int result = pthread_setschedparam(_impl->pthread, policy, &sp); if (!result) { LOG(info) << (fmt("Set scheduling policy to %1% priority %2%\n") % (realtime ? "realtime" : "normal") % sp.sched_priority); } else { LOG(info) << (fmt("Unable to set scheduling policy (%1%)\n") % strerror(result)); } } } // namespace Raul