ArASyncTask.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"
// Threadable.cpp -- Threadable interface class
#ifndef WIN32
#include <pthread.h>
#endif
#include "ariaOSDef.h"
#include "ArASyncTask.h"
#include "ArLog.h"


AREXPORT ArASyncTask::ArASyncTask() :
  myFunc(this, &ArASyncTask::runThread, NULL)
{
}

AREXPORT ArASyncTask::~ArASyncTask()
{
}

AREXPORT int ArASyncTask::create(bool joinable, bool lowerPriority)
{
  return(ArThread::create(&myFunc, joinable, lowerPriority));
}

AREXPORT void * ArASyncTask::runInThisThread(void *arg)
{
  myJoinable=true;
  myRunning=true;
#ifdef WIN32
  myThread=GetCurrentThread();
#else
  myThread=pthread_self();
#endif
  
  if (myName.size() == 0)
    ArLog::log(ourLogLevel, "Running anonymous thread with ID %d", 
           myThread);
  else
    ArLog::log(ourLogLevel, "Running %s thread with ID %d", myName.c_str(),
           myThread);
  
  ourThreadsMutex.lock();
  // MPL BUGFIX, this wasn't workign for some reason (was printing
  // 0)...  so I got rid of it and did it the easier way anyhow
  //printf("!!!! %d\n", ourThreads.insert(MapType::value_type(myThread, this)).second);
  ourThreads[myThread] = this;
  ourThreadsMutex.unlock();

  return(runThread(arg));
}

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