/* 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 "raul/Thread.hpp" namespace Raul { struct ThreadImpl { pthread_t pthread; }; Thread::Thread() : _impl(new ThreadImpl()) , _thread_exists(false) , _exit_flag(false) { } Thread::~Thread() { join(); delete _impl; } void* Thread::_static_run(void* thread) { Thread* me = static_cast(thread); me->_run(); me->_thread_exists = false; return NULL; } void Thread::start() { if (!_thread_exists) { 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::join() { if (_thread_exists) { _exit_flag = true; pthread_join(_impl->pthread, NULL); _thread_exists = false; } } bool Thread::set_scheduling(bool realtime, unsigned priority) { sched_param sp; sp.sched_priority = priority; const int policy = realtime ? SCHED_FIFO : SCHED_OTHER; return !pthread_setschedparam(_impl->pthread, policy, &sp); } } // namespace Raul