thread.h

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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, 
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 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
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#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;
};
 
}}