Public Types | Public Member Functions | Static Public Member Functions | Private Types | Private Member Functions | Static Private Member Functions | Private Attributes | List of all members
UThread Class Referenceabstract

#include <UThread.h>

Inheritance diagram for UThread:
Inheritance graph
[legend]

Public Types

enum  Priority {
  kPLow, kPBelowNormal, kPNormal, kPAboveNormal,
  kPRealTime
}
 
- Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE Handle
 
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
typedef void(* Handler) ()
 

Public Member Functions

Handle getThreadHandle () const
 
unsigned long getThreadId () const
 
bool isCreating () const
 
bool isIdle () const
 
bool isKilled () const
 
bool isRunning () const
 
void join (bool killFirst=false)
 
void kill ()
 
void setAffinity (int cpu=0)
 
void setPriority (Priority priority)
 
void start ()
 
 UThread (Priority priority=kPNormal)
 
virtual ~UThread ()
 
- Public Member Functions inherited from UThreadC< void >
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
virtual ~UThreadC ()
 
virtual ~UThreadC ()
 

Static Public Member Functions

static unsigned long currentThreadId ()
 
- Static Public Member Functions inherited from UThreadC< void >
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Detach (Handle H)
 
static int Detach (const Handle &H)
 
static int Join (const Handle &H)
 
static int Join (Handle H)
 
static int Kill (Handle H)
 
static int Kill (const Handle &H)
 

Private Types

enum  State { kSIdle, kSCreating, kSRunning, kSKilled }
 

Private Member Functions

void applyAffinity ()
 
void applyPriority ()
 
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
virtual void mainLoop ()=0
 
virtual void mainLoopBegin ()
 
virtual void mainLoopEnd ()
 
virtual void mainLoopKill ()
 
void operator= (UThread &)
 
void ThreadMain ()
 
 UThread (const UThread &)
 

Static Private Member Functions

static int Detach (Handle H)
 
static int Join (Handle H)
 
static int Kill (Handle H)
 

Private Attributes

int cpuAffinity_
 
Handle handle_
 
UMutex killSafelyMutex_
 
Priority priority_
 
UMutex runningMutex_
 
State state_
 
unsigned long threadId_
 

Additional Inherited Members

- Protected Member Functions inherited from UThreadC< void >
 UThreadC ()
 
 UThreadC ()
 
- Static Protected Member Functions inherited from UThreadC< void >
static void Exit ()
 
static void Exit ()
 
static Handle Self ()
 
static int Self ()
 
static void TestCancel ()
 
static void TestCancel ()
 

Detailed Description

The class UThread is an abstract class for creating thread objects. A UThread provides methods to create threads as an object-style fashion.

For most of inherited classes, only mainLoop() needs to be implemented, then only start() needs to be called from the outside. The main loop is called until the thread itself calls kill() or another thread calls kill() or join() (with parameter to true) on this thread. Unlike kill(), join() is a blocking call: the calling thread will wait until this thread has finished, thus join() must not be called inside the mainLoop().

If inside the mainLoop(), at some time, the thread needs to wait on a mutex/semaphore (like for the acquisition of a resource), the function mainLoopKill() should be implemented to release the mutex/semaphore when the thread is killed, to avoid a deadlock. The function killCleanup() is called after the thread's state is set to kSKilled. After the mutex/semaphore is released in killCleanup(), on wake up, the thread can know if it needs to stop by calling isKilled().

To do an initialization process (executed by the worker thread) just one time before entering the mainLoop(), mainLoopBegin() can be implemented.

Example:

class SimpleThread : public UThread
{
public:
SimpleThread() {}
virtual ~SimpleThread() {
// The calling thread will wait until this thread has finished.
this->join(true);
}
protected:
virtual void mainLoop() {
// Do some works...
// This will stop the thread, otherwise the mainLoop() is recalled.
this->kill();
}
};
int main(int argc, char * argv[])
{
SimpleThread t;
t.start();
t.join(); // Wait until the thread has finished.
return 0;
}
See also
start()
kill()
join()
mainLoopBegin()
mainLoopKill()
mainLoop()

Definition at line 86 of file UThread.h.

Member Enumeration Documentation

Enum of priorities : kPLow, kPBelowNormal, kPNormal, kPAboveNormal, kPRealTime.

Enumerator
kPLow 
kPBelowNormal 
kPNormal 
kPAboveNormal 
kPRealTime 

Definition at line 92 of file UThread.h.

enum UThread::State
private
Enumerator
kSIdle 
kSCreating 
kSRunning 
kSKilled 

Definition at line 260 of file UThread.h.

Constructor & Destructor Documentation

UThread::UThread ( Priority  priority = kPNormal)

The constructor.

See also
Priority
Parameters
prioritythe thread priority

Definition at line 33 of file UThread.cpp.

UThread::~UThread ( )
virtual

The destructor. Inherited classes must call join(true) inside their destructor to avoid memory leaks where the underlying c-thread is still running.

Note: not safe to delete a thread while other threads are joining it.

Definition at line 41 of file UThread.cpp.

UThread::UThread ( const UThread )
inlineprivate

Definition at line 257 of file UThread.h.

Member Function Documentation

void UThread::applyAffinity ( )
private

Definition at line 208 of file UThread.cpp.

void UThread::applyPriority ( )
private

Definition at line 162 of file UThread.cpp.

int UThread::Create ( Handle *const &  H = 0,
const bool &  CreateDetached = false,
const unsigned int &  StackSize = 0,
const bool &  CancelEnable = false,
const bool &  CancelAsync = false 
) const
private
static unsigned long UThread::currentThreadId ( )
inlinestatic

Definition at line 96 of file UThread.h.

static int UThread::Detach ( Handle  H)
inlinestaticprivate

Definition at line 252 of file UThread.h.

Handle UThread::getThreadHandle ( ) const
inline

Definition at line 171 of file UThread.h.

unsigned long UThread::getThreadId ( ) const
inline

Definition at line 172 of file UThread.h.

bool UThread::isCreating ( ) const
Returns
if the state of the thread is kSCreating (after start() is called but before entering the mainLoop()).

Definition at line 240 of file UThread.cpp.

bool UThread::isIdle ( ) const
Returns
if the state of the thread is kSIdle (before start() is called and after the thread is totally killed (or after join(true))).

Definition at line 250 of file UThread.cpp.

bool UThread::isKilled ( ) const
Returns
if the state of the thread is kSKilled (after kill() is called and before the thread is totally killed).

Definition at line 255 of file UThread.cpp.

bool UThread::isRunning ( ) const
Returns
if the state of the thread is kSRunning (it is executing the mainLoop()) or kSCreating.

Definition at line 245 of file UThread.cpp.

void UThread::join ( bool  killFirst = false)

The caller thread will wait until the thread has finished.

Note : blocking call

Parameters
killFirstif you want kill() to be called before joining (default false), otherwise not.

Definition at line 85 of file UThread.cpp.

static int UThread::Join ( Handle  H)
inlinestaticprivate

Definition at line 246 of file UThread.h.

void UThread::kill ( )

Kill the thread. This functions does nothing if the thread is not started or is killed.

Note : not a blocking call

Definition at line 48 of file UThread.cpp.

static int UThread::Kill ( Handle  H)
inlinestaticprivate

Definition at line 249 of file UThread.h.

virtual void UThread::mainLoop ( )
privatepure virtual

Pure virtual method mainLoop(). The inner loop of the thread. This method is called repetitively until the thread is killed. Note that if kill() is called in mainLoopBegin(), mainLoop() is not called, terminating immediately the thread.

See also
mainLoop()
kill()

Implemented in rtabmap::PreUpdateThread, rtabmap::DBDriver, UCvMat2QImageThread, UEventsManager, rtabmap::CameraMobile, UObjDeletionThread< T >, rtabmap::CameraThread, rtabmap::RtabmapThread, WifiThread, rtabmap::CompressionThread, rtabmap::IMUThread, rtabmap::OdometryThread, and UEventDispatcher.

virtual void UThread::mainLoopBegin ( )
inlineprivatevirtual

Virtual method mainLoopBegin(). User can implement this function to add a behavior before the main loop is started. It is called once (before entering mainLoop()).

Reimplemented in rtabmap::CameraMobile, rtabmap::CameraThread, rtabmap::RtabmapThread, rtabmap::IMUThread, and rtabmap::OdometryThread.

Definition at line 183 of file UThread.h.

virtual void UThread::mainLoopEnd ( )
inlineprivatevirtual

Virtual method mainLoopEnd(). User can implement this function to add a behavior after the thread is killed (after exiting the mainLoop(), work is still done in the thread before exiting).

Definition at line 211 of file UThread.h.

virtual void UThread::mainLoopKill ( )
inlineprivatevirtual

Virtual method mainLoopKill(). User can implement this function to add a behavior before the thread is killed. When this function is called, the state of the thread is set to kSKilled. It is useful to wake up a sleeping thread to finish his loop and to avoid a deadlock.

Reimplemented in UEventsManager, rtabmap::CameraThread, rtabmap::RtabmapThread, and rtabmap::OdometryThread.

Definition at line 203 of file UThread.h.

void UThread::operator= ( UThread )
inlineprivate

Definition at line 256 of file UThread.h.

void UThread::setAffinity ( int  cpu = 0)

Set the thread affinity. This is applied during start of the thread.

MAC OS X : http://developer.apple.com/library/mac/#releasenotes/Performance/RN-AffinityAPI/_index.html.

Parameters
cputhe cpu id (start at 1), 0 means no affinity (default).

Definition at line 198 of file UThread.cpp.

void UThread::setPriority ( Priority  priority)

Set the thread priority.

Parameters
prioritythe priority

Definition at line 156 of file UThread.cpp.

void UThread::start ( )

Start the thread. Once the thread is started, subsequent calls to start() are ignored until the thread is killed.

See also
kill()

Definition at line 122 of file UThread.cpp.

void UThread::ThreadMain ( )
privatevirtual

Implements UThreadC< void >.

Definition at line 264 of file UThread.cpp.

Member Data Documentation

int UThread::cpuAffinity_
private

Definition at line 265 of file UThread.h.

Handle UThread::handle_
private

Definition at line 263 of file UThread.h.

UMutex UThread::killSafelyMutex_
private

Definition at line 266 of file UThread.h.

Priority UThread::priority_
private

Definition at line 262 of file UThread.h.

UMutex UThread::runningMutex_
private

Definition at line 267 of file UThread.h.

State UThread::state_
private

Definition at line 261 of file UThread.h.

unsigned long UThread::threadId_
private

Definition at line 264 of file UThread.h.


The documentation for this class was generated from the following files:


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:08