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/*
* RPLIDAR SDK
*
* Copyright (c) 2009 - 2014 RoboPeak Team
* http://www.robopeak.com
* Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
* http://www.slamtec.com
*
*/
/*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
#include "arch/linux/arch_linux.h"
#include <sched.h>
#include <sys/types.h>
#include <sys/syscall.h>
#include <sys/time.h>
#include <sys/resource.h>
namespace rp{ namespace hal{
Thread Thread::create(thread_proc_t proc, void * data)
{
Thread newborn(proc, data);
// tricky code, we assume pthread_t is not a structure but a word size value
assert( sizeof(newborn._handle) >= sizeof(pthread_t));
pthread_create((pthread_t *)&newborn._handle, NULL, (void * (*)(void *))proc, data);
return newborn;
}
u_result Thread::terminate()
{
if (!this->_handle) return RESULT_OK;
return pthread_cancel((pthread_t)this->_handle)==0?RESULT_OK:RESULT_OPERATION_FAIL;
}
u_result Thread::SetSelfPriority( priority_val_t p)
{
pid_t selfTid = syscall(SYS_gettid);
// check whether current schedule policy supports priority levels
int current_policy = SCHED_OTHER;
struct sched_param current_param;
int nice = 0;
int ans;
if (sched_getparam(selfTid, ¤t_param))
{
// cannot retreieve values
return RESULT_OPERATION_FAIL;
}
int pthread_priority_min;
#if 1
pthread_priority_min = sched_get_priority_min(SCHED_RR);
#else
pthread_priority_min = 1;
#endif
int pthread_priority = 0 ;
switch(p)
{
case PRIORITY_REALTIME:
//pthread_priority = pthread_priority_max;
current_policy = SCHED_RR;
pthread_priority = pthread_priority_min + 1;
nice = 0;
break;
case PRIORITY_HIGH:
//pthread_priority = (pthread_priority_max + pthread_priority_min)/2;
current_policy = SCHED_RR;
pthread_priority = pthread_priority_min;
nice = 0;
break;
case PRIORITY_NORMAL:
pthread_priority = 0;
current_policy = SCHED_OTHER;
nice = 0;
break;
case PRIORITY_LOW:
pthread_priority = 0;
current_policy = SCHED_OTHER;
nice = 10;
break;
case PRIORITY_IDLE:
pthread_priority = 0;
current_policy = SCHED_IDLE;
nice = 0;
break;
}
// change the inhertiable behavior
current_policy |= SCHED_RESET_ON_FORK;
current_param.__sched_priority = pthread_priority;
// do not use pthread version as it will make the priority be inherited by a thread child
if ( (ans = sched_setscheduler(selfTid, current_policy , ¤t_param)) )
{
if (ans == EPERM)
{
//DBG_PRINT("warning, current process hasn't the right permission to set threads priority\n");
}
return RESULT_OPERATION_FAIL;
}
if ((current_policy == SCHED_OTHER) || (current_policy == SCHED_BATCH))
{
if (setpriority(PRIO_PROCESS, selfTid, nice)) {
return RESULT_OPERATION_FAIL;
}
}
return RESULT_OK;
}
Thread::priority_val_t Thread::getPriority()
{
if (!this->_handle) return PRIORITY_NORMAL;
int current_policy;
struct sched_param current_param;
if (pthread_getschedparam( (pthread_t) this->_handle, ¤t_policy, ¤t_param))
{
// cannot retreieve values
return PRIORITY_NORMAL;
}
int pthread_priority_max = sched_get_priority_max(SCHED_RR);
int pthread_priority_min = sched_get_priority_min(SCHED_RR);
if (current_param.__sched_priority ==(pthread_priority_max ))
{
return PRIORITY_REALTIME;
}
if (current_param.__sched_priority >=(pthread_priority_max + pthread_priority_min)/2)
{
return PRIORITY_HIGH;
}
return PRIORITY_NORMAL;
}
u_result Thread::join(unsigned long timeout)
{
if (!this->_handle) return RESULT_OK;
pthread_join((pthread_t)(this->_handle), NULL);
this->_handle = 0;
return RESULT_OK;
}
}}
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