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ArASyncTask.cpp

00001 /*
00002 MobileRobots Advanced Robotics Interface for Applications (ARIA)
00003 Copyright (C) 2004, 2005 ActivMedia Robotics LLC
00004 Copyright (C) 2006, 2007 MobileRobots Inc.
00005 
00006      This program is free software; you can redistribute it and/or modify
00007      it under the terms of the GNU General Public License as published by
00008      the Free Software Foundation; either version 2 of the License, or
00009      (at your option) any later version.
00010 
00011      This program is distributed in the hope that it will be useful,
00012      but WITHOUT ANY WARRANTY; without even the implied warranty of
00013      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014      GNU General Public License for more details.
00015 
00016      You should have received a copy of the GNU General Public License
00017      along with this program; if not, write to the Free Software
00018      Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019 
00020 If you wish to redistribute ARIA under different terms, contact 
00021 MobileRobots for information about a commercial version of ARIA at 
00022 robots@mobilerobots.com or 
00023 MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
00024 */
00025 
00026 #include "ArExport.h"
00027 // Threadable.cpp -- Threadable interface class
00028 #ifndef WIN32
00029 #include <pthread.h>
00030 #endif
00031 #include "ariaOSDef.h"
00032 #include "ArASyncTask.h"
00033 #include "ArLog.h"
00034 
00035 
00036 AREXPORT ArASyncTask::ArASyncTask() :
00037   myFunc(this, &ArASyncTask::runThread, NULL)
00038 {
00039 }
00040 
00041 AREXPORT ArASyncTask::~ArASyncTask()
00042 {
00043 }
00044 
00045 AREXPORT int ArASyncTask::create(bool joinable, bool lowerPriority)
00046 {
00047   return(ArThread::create(&myFunc, joinable, lowerPriority));
00048 }
00049 
00058 AREXPORT void * ArASyncTask::runInThisThread(void *arg)
00059 {
00060   myJoinable=true;
00061   myRunning=true;
00062 #ifdef WIN32
00063   myThread=GetCurrentThread();
00064 #else
00065   myThread=pthread_self();
00066 #endif
00067   
00068   if (myName.size() == 0)
00069     ArLog::log(ourLogLevel, "Running anonymous thread with ID %d", 
00070            myThread);
00071   else
00072     ArLog::log(ourLogLevel, "Running %s thread with ID %d", myName.c_str(),
00073            myThread);
00074   
00075   ourThreadsMutex.lock();
00076   // MPL BUGFIX, this wasn't workign for some reason (was printing
00077   // 0)...  so I got rid of it and did it the easier way anyhow
00078   //printf("!!!! %d\n", ourThreads.insert(MapType::value_type(myThread, this)).second);
00079   ourThreads[myThread] = this;
00080   ourThreadsMutex.unlock();
00081 
00082   return(runThread(arg));
00083 }

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