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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.
*
*/
#pragma once
#include "hal/types.h"
#define CLASS_THREAD(c , x ) \
rp::hal::Thread::create_member<c, &c::x>(this )
namespace rp{ namespace hal{
class Thread
{
public:
enum priority_val_t
{
PRIORITY_REALTIME = 0,
PRIORITY_HIGH = 1,
PRIORITY_NORMAL = 2,
PRIORITY_LOW = 3,
PRIORITY_IDLE = 4,
};
template <class T, u_result (T::*PROC)(void)>
static Thread create_member(T * pthis)
{
return create(_thread_thunk<T,PROC>, pthis);
}
template <class T, u_result (T::*PROC)(void) >
static _word_size_t THREAD_PROC _thread_thunk(void * data)
{
return (static_cast<T *>(data)->*PROC)();
}
static Thread create(thread_proc_t proc, void * data = NULL );
public:
~Thread() { }
Thread(): _data(NULL),_func(NULL),_handle(0) {}
_word_size_t getHandle(){ return _handle;}
u_result terminate();
void *getData() { return _data;}
u_result join(unsigned long timeout = -1);
// disabled as on platforms like Linux, the priority will be inherited by the child thread
// which may caused unexpected behavior.
// Please using Thread::SetSelfPriority instead
// u_result setPriority( priority_val_t p);
priority_val_t getPriority();
static u_result SetSelfPriority(priority_val_t p);
bool operator== ( const Thread & right) { return this->_handle == right._handle; }
protected:
Thread( thread_proc_t proc, void * data ): _data(data),_func(proc), _handle(0) {}
void * _data;
thread_proc_t _func;
_word_size_t _handle;
};
}}
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