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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/macOS/arch_macOS.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;
return RESULT_OK;
}
u_result Thread::SetSelfPriority( priority_val_t p)
{
// simply ignore this request
return RESULT_OK;
}
Thread::priority_val_t Thread::getPriority()
{
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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