ArThread.h

/*
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
*/

#ifndef ARTHREAD_H
#define ARTHREAD_H


#include <map>
#ifndef WIN32
#include <pthread.h>
#endif
#include "ariaTypedefs.h"
#include "ArMutex.h"
#include "ArFunctor.h"
#include "ArLog.h"


class ArThread
{
public:

#ifdef WIN32
  typedef HANDLE ThreadType;
#else
  typedef pthread_t ThreadType;
#endif

  typedef std::map<ThreadType, ArThread*> MapType;
  typedef enum {
    STATUS_FAILED=1, 
    STATUS_NORESOURCE, 
    STATUS_NO_SUCH_THREAD, 
    STATUS_INVALID, 
    STATUS_JOIN_SELF, 
    STATUS_ALREADY_DETATCHED 
  } Status;

  AREXPORT ArThread(bool blockAllSignals=true);
  AREXPORT ArThread(ThreadType thread, bool joinable,
            bool blockAllSignals=true);
  AREXPORT ArThread(ArFunctor *func, bool joinable=true,
            bool blockAllSignals=true);
  AREXPORT virtual ~ArThread();

  AREXPORT static void init(void);
  AREXPORT static ArThread * self(void);
  AREXPORT static void stopAll();
  AREXPORT static void cancelAll(void);
  AREXPORT static void joinAll(void);
  AREXPORT static void yieldProcessor(void);
  static ArLog::LogLevel getLogLevel(void) { return ourLogLevel; }
  static void setLogLevel(ArLog::LogLevel level) { ourLogLevel = level; }

  AREXPORT virtual int create(ArFunctor *func, bool joinable=true,
                  bool lowerPriority=true);
  AREXPORT virtual void stopRunning(void) {myRunning=false;}
  AREXPORT virtual int join(void **ret=NULL);
  AREXPORT virtual int detach(void);
  AREXPORT virtual void cancel(void);

  AREXPORT virtual bool getRunning(void) const {return(myRunning);}
  AREXPORT virtual bool getRunningWithLock(void) 
    { bool running; lock(); running = myRunning; unlock(); return running; }
  AREXPORT virtual bool getJoinable(void) const {return(myJoinable);}
  AREXPORT virtual const ThreadType * getThread(void) const {return(&myThread);}
  AREXPORT virtual ArFunctor * getFunc(void) const {return(myFunc);}

  AREXPORT virtual void setRunning(bool running) {myRunning=running;}

  AREXPORT int lock(void) {return(myMutex.lock());}
  AREXPORT int tryLock(void) {return(myMutex.tryLock());}
  AREXPORT int unlock(void) {return(myMutex.unlock());}

  bool getBlockAllSignals(void) {return(myBlockAllSignals);}

  virtual const char *getThreadName(void) { return myName.c_str();  }

  virtual void setThreadName(const char *name) { myName = name; }


  AREXPORT virtual void threadStarted(void);

  AREXPORT virtual void logThreadInfo(void);

protected:
  static ArMutex ourThreadsMutex;
  static MapType ourThreads;
  AREXPORT static ArLog::LogLevel ourLogLevel; 

  AREXPORT virtual int doJoin(void **ret=NULL);

  std::string myName;

  ArMutex myMutex;
  bool myRunning;
  bool myJoinable;
  bool myBlockAllSignals;
  ArFunctor *myFunc;
  ThreadType myThread;
  ArStrMap myStrMap;

#ifndef WIN32
  pid_t myPID;
#endif

};


#endif // ARTHREAD_H

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