threadbase.h
Go to the documentation of this file.
00001 /****************************************************************
00002  *
00003  * Copyright (c) 2010
00004  *
00005  * Fraunhofer Institute for Manufacturing Engineering   
00006  * and Automation (IPA)
00007  *
00008  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00009  *
00010  * Project name: care-o-bot
00011  * ROS stack name: cob_driver
00012  * ROS package name: cob_light
00013  * Description: Switch robots led color by sending data to
00014  * the led-µC over serial connection.
00015  *                              
00016  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00017  *          
00018  * Author: Benjamin Maidel, email:benjamin.maidel@ipa.fraunhofer.de
00019  * Supervised by: Benjamin Maidel, email:benjamin.maidel@ipa.fraunhofer.de
00020  *
00021  * Date of creation: August 2012
00022  * ToDo:
00023  *
00024  * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
00025  *
00026  * Redistribution and use in source and binary forms, with or without
00027  * modification, are permitted provided that the following conditions are met:
00028  *
00029  *     * Redistributions of source code must retain the above copyright
00030  *       notice, this list of conditions and the following disclaimer.
00031  *     * Redistributions in binary form must reproduce the above copyright
00032  *       notice, this list of conditions and the following disclaimer in the
00033  *       documentation and/or other materials provided with the distribution.
00034  *     * Neither the name of the Fraunhofer Institute for Manufacturing 
00035  *       Engineering and Automation (IPA) nor the names of its
00036  *       contributors may be used to endorse or promote products derived from
00037  *       this software without specific prior written permission.
00038  *
00039  * This program is free software: you can redistribute it and/or modify
00040  * it under the terms of the GNU Lesser General Public License LGPL as 
00041  * published by the Free Software Foundation, either version 3 of the 
00042  * License, or (at your option) any later version.
00043  * 
00044  * This program is distributed in the hope that it will be useful,
00045  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00046  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00047  * GNU Lesser General Public License LGPL for more details.
00048  * 
00049  * You should have received a copy of the GNU Lesser General Public 
00050  * License LGPL along with this program. 
00051  * If not, see <http://www.gnu.org/licenses/>.
00052  *
00053  ****************************************************************/
00054 
00055 #include <boost/thread.hpp>
00056 #include <boost/lambda/bind.hpp>
00057 
00058 class ThreadBase
00059 {
00060 private:
00061     boost::shared_ptr<boost::thread> m_thread_ptr;
00062     
00063 public:
00064     ThreadBase() : m_thread_ptr() { }
00065     virtual ~ThreadBase() { }
00066         
00067     virtual void run() = 0;
00068         
00069     void start()
00070     {
00071         if (m_thread_ptr == NULL)
00072         {
00073             m_thread_ptr.reset(
00074                 new boost::thread(
00075                     boost::lambda::bind(&ThreadBase::run, this)));
00076         }
00077         else
00078         {
00079             throw std::runtime_error("multiple start");
00080         }
00081     }
00082     
00083     void join()
00084     {
00085         if (m_thread_ptr)
00086         {
00087             m_thread_ptr->join();
00088         }
00089     }
00090 };
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines


cob_lightmode
Author(s): Benjamin Maidel
autogenerated on Thu Jan 17 2013 13:39:37