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/*
* RPLIDAR SDK
*
* Copyright (c) 2009 - 2014 RoboPeak Team
* http://www.robopeak.com
* Copyright (c) 2014 - 2020 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 "sdkcommon.h"
#include <process.h>
namespace rp{ namespace hal{
Thread Thread::create(thread_proc_t proc, void * data)
{
Thread newborn(proc, data);
newborn._handle = (_word_size_t)(
_beginthreadex(NULL, 0, (unsigned int (_stdcall * )( void * ))proc,
data, 0, NULL));
return newborn;
}
u_result Thread::terminate()
{
if (!this->_handle) return RESULT_OK;
if (TerminateThread( reinterpret_cast<HANDLE>(this->_handle), -1))
{
CloseHandle(reinterpret_cast<HANDLE>(this->_handle));
this->_handle = NULL;
return RESULT_OK;
}else
{
return RESULT_OPERATION_FAIL;
}
}
u_result Thread::SetSelfPriority( priority_val_t p)
{
HANDLE selfHandle = GetCurrentThread();
int win_priority = THREAD_PRIORITY_NORMAL;
switch(p)
{
case PRIORITY_REALTIME:
win_priority = THREAD_PRIORITY_TIME_CRITICAL;
break;
case PRIORITY_HIGH:
win_priority = THREAD_PRIORITY_HIGHEST;
break;
case PRIORITY_NORMAL:
win_priority = THREAD_PRIORITY_NORMAL;
break;
case PRIORITY_LOW:
win_priority = THREAD_PRIORITY_LOWEST;
break;
case PRIORITY_IDLE:
win_priority = THREAD_PRIORITY_IDLE;
break;
}
if (SetThreadPriority(selfHandle, win_priority))
{
return RESULT_OK;
}
return RESULT_OPERATION_FAIL;
}
Thread::priority_val_t Thread::getPriority()
{
if (!this->_handle) return PRIORITY_NORMAL;
int win_priority = ::GetThreadPriority(reinterpret_cast<HANDLE>(this->_handle));
if (win_priority == THREAD_PRIORITY_ERROR_RETURN)
{
return PRIORITY_NORMAL;
}
if (win_priority >= THREAD_PRIORITY_TIME_CRITICAL )
{
return PRIORITY_REALTIME;
}
else if (win_priority<THREAD_PRIORITY_TIME_CRITICAL && win_priority>=THREAD_PRIORITY_ABOVE_NORMAL)
{
return PRIORITY_HIGH;
}
else if (win_priority<THREAD_PRIORITY_ABOVE_NORMAL && win_priority>THREAD_PRIORITY_BELOW_NORMAL)
{
return PRIORITY_NORMAL;
}else if (win_priority<=THREAD_PRIORITY_BELOW_NORMAL && win_priority>THREAD_PRIORITY_IDLE)
{
return PRIORITY_LOW;
}else if (win_priority<=THREAD_PRIORITY_IDLE)
{
return PRIORITY_IDLE;
}
return PRIORITY_NORMAL;
}
u_result Thread::join(unsigned long timeout)
{
if (!this->_handle) return RESULT_OK;
switch ( WaitForSingleObject(reinterpret_cast<HANDLE>(this->_handle), timeout))
{
case WAIT_OBJECT_0:
CloseHandle(reinterpret_cast<HANDLE>(this->_handle));
this->_handle = NULL;
return RESULT_OK;
case WAIT_ABANDONED:
return RESULT_OPERATION_FAIL;
case WAIT_TIMEOUT:
return RESULT_OPERATION_TIMEOUT;
}
return RESULT_OK;
}
}}
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