ArThread.cpp

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program 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 2 of the License, or
     (at your option) any later version.

     This program 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 this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#include "ArExport.h"
// ArThread.cc -- Thread classes


#include "ariaOSDef.h"
#include <errno.h>
#include <list>
#include "ArThread.h"
#include "ArLog.h"


ArMutex ArThread::ourThreadsMutex;
ArThread::MapType ArThread::ourThreads;
AREXPORT ArLog::LogLevel ArThread::ourLogLevel = ArLog::Verbose; // todo, instead of AREXPORT move accessors into .cpp?

AREXPORT void ArThread::stopAll()
{
  MapType::iterator iter;

  ourThreadsMutex.lock();
  for (iter=ourThreads.begin(); iter != ourThreads.end(); ++iter)
    (*iter).second->stopRunning();
  ourThreadsMutex.unlock();
}

AREXPORT void ArThread::joinAll()
{
  MapType::iterator iter;
  ArThread *thread;

  thread=self();
  ourThreadsMutex.lock();
  for (iter=ourThreads.begin(); iter != ourThreads.end(); ++iter)
  {
    if ((*iter).second->getJoinable() && thread && (thread != (*iter).second))
    {
      (*iter).second->doJoin();
    }
  }
  ourThreads.clear();
  // MPL BUG I'm not to sure why this insert was here, as far as I can
  // tell all it would do is make it so you could join the threads
  // then start them all up again, but I don't see much utility in
  // that so I'm not going to worry about it now
 
  //ourThreads.insert(MapType::value_type(thread->myThread, thread));
  ourThreadsMutex.unlock();
}

AREXPORT ArThread::ArThread(bool blockAllSignals) :
  myRunning(false),
  myJoinable(false),
  myBlockAllSignals(blockAllSignals),
  myFunc(0),
  myThread(),
  myStrMap()
{
}

AREXPORT ArThread::ArThread(ThreadType thread, bool joinable,
                bool blockAllSignals) :
  myRunning(false),
  myJoinable(joinable),
  myBlockAllSignals(blockAllSignals),
  myFunc(0),
  myThread(thread),
  myStrMap()
{
}

AREXPORT ArThread::ArThread(ArFunctor *func, bool joinable,
                bool blockAllSignals) :
  myRunning(false),
  myJoinable(false),
  myBlockAllSignals(blockAllSignals),
  myFunc(func),
  myThread(),
  myStrMap()
{
  create(func, joinable);
}

AREXPORT ArThread::~ArThread()
{
}

AREXPORT int ArThread::join(void **iret)
{
  int ret;
  ret=doJoin(iret);
  if (ret)
    return(ret);

  ourThreadsMutex.lock();
  ourThreads.erase(myThread);
  ourThreadsMutex.unlock();

  return(0);
}

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