thread.h
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00001 /*
00002  *  RPLIDAR SDK
00003  *
00004  *  Copyright (c) 2009 - 2014 RoboPeak Team
00005  *  http://www.robopeak.com
00006  *  Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
00007  *  http://www.slamtec.com
00008  *
00009  */
00010 /*
00011  * Redistribution and use in source and binary forms, with or without 
00012  * modification, are permitted provided that the following conditions are met:
00013  *
00014  * 1. Redistributions of source code must retain the above copyright notice, 
00015  *    this list of conditions and the following disclaimer.
00016  *
00017  * 2. Redistributions in binary form must reproduce the above copyright notice, 
00018  *    this list of conditions and the following disclaimer in the documentation 
00019  *    and/or other materials provided with the distribution.
00020  *
00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
00022  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 
00023  * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 
00024  * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 
00025  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
00026  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 
00027  * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 
00028  * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
00029  * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR 
00030  * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 
00031  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00032  *
00033  */
00034 
00035 #pragma once
00036 
00037 #include "rptypes.h"
00038 #define CLASS_THREAD(c , x ) \
00039         rp::hal::Thread::create_member<c, &c::x>(this )
00040 
00041 namespace rp{ namespace hal{
00042 
00043 class Thread
00044 {
00045 public:
00046     enum priority_val_t
00047         {
00048                 PRIORITY_REALTIME = 0,
00049                 PRIORITY_HIGH     = 1,
00050                 PRIORITY_NORMAL   = 2,
00051                 PRIORITY_LOW      = 3,
00052                 PRIORITY_IDLE     = 4,
00053         };
00054 
00055     template <class T, u_result (T::*PROC)(void)>
00056     static Thread create_member(T * pthis)
00057     {
00058                 return create(_thread_thunk<T,PROC>, pthis);
00059         }
00060 
00061         template <class T, u_result (T::*PROC)(void) >
00062         static _word_size_t THREAD_PROC _thread_thunk(void * data)
00063         {
00064                 return (static_cast<T *>(data)->*PROC)();
00065         }
00066         static Thread create(thread_proc_t proc, void * data = NULL );
00067 
00068 public:
00069     ~Thread() { }
00070     Thread():  _data(NULL),_func(NULL),_handle(0)  {}
00071     _word_size_t getHandle(){ return _handle;}
00072     u_result terminate();
00073     void *getData() { return _data;}
00074     u_result join(unsigned long timeout = -1);
00075         u_result setPriority( priority_val_t p);
00076         priority_val_t getPriority();
00077 
00078     bool operator== ( const Thread & right) { return this->_handle == right._handle; }
00079 protected:
00080     Thread( thread_proc_t proc, void * data ): _data(data),_func(proc), _handle(0)  {}
00081     void * _data;
00082     thread_proc_t _func;
00083     _word_size_t _handle;
00084 };
00085 
00086 }}
00087 


rplidar_ros
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autogenerated on Fri Dec 16 2016 03:59:16