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 }