winthread.hpp
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1 /*
2  * RPLIDAR SDK
3  *
4  * Copyright (c) 2009 - 2014 RoboPeak Team
5  * http://www.robopeak.com
6  * Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
7  * http://www.slamtec.com
8  *
9  */
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12  * modification, are permitted provided that the following conditions are met:
13  *
14  * 1. Redistributions of source code must retain the above copyright notice,
15  * this list of conditions and the following disclaimer.
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21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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23  * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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34 
35 #include "sdkcommon.h"
36 #include <process.h>
37 
38 namespace rp{ namespace hal{
39 
40 Thread Thread::create(thread_proc_t proc, void * data)
41 {
42  Thread newborn(proc, data);
43 
44  newborn._handle = (_word_size_t)(
45  _beginthreadex(NULL, 0, (unsigned int (_stdcall * )( void * ))proc,
46  data, 0, NULL));
47  return newborn;
48 }
49 
51 {
52  if (!this->_handle) return RESULT_OK;
53  if (TerminateThread( reinterpret_cast<HANDLE>(this->_handle), -1))
54  {
55  CloseHandle(reinterpret_cast<HANDLE>(this->_handle));
56  this->_handle = NULL;
57  return RESULT_OK;
58  }else
59  {
60  return RESULT_OPERATION_FAIL;
61  }
62 }
63 
65 {
66  if (!this->_handle) return RESULT_OPERATION_FAIL;
67 
68  int win_priority = THREAD_PRIORITY_NORMAL;
69  switch(p)
70  {
71  case PRIORITY_REALTIME:
72  win_priority = THREAD_PRIORITY_TIME_CRITICAL;
73  break;
74  case PRIORITY_HIGH:
75  win_priority = THREAD_PRIORITY_HIGHEST;
76  break;
77  case PRIORITY_NORMAL:
78  win_priority = THREAD_PRIORITY_NORMAL;
79  break;
80  case PRIORITY_LOW:
81  win_priority = THREAD_PRIORITY_LOWEST;
82  break;
83  case PRIORITY_IDLE:
84  win_priority = THREAD_PRIORITY_IDLE;
85  break;
86  }
87 
88  if (SetThreadPriority(reinterpret_cast<HANDLE>(this->_handle), win_priority))
89  {
90  return RESULT_OK;
91  }
92  return RESULT_OPERATION_FAIL;
93 }
94 
96 {
97  if (!this->_handle) return PRIORITY_NORMAL;
98  int win_priority = ::GetThreadPriority(reinterpret_cast<HANDLE>(this->_handle));
99 
100  if (win_priority == THREAD_PRIORITY_ERROR_RETURN)
101  {
102  return PRIORITY_NORMAL;
103  }
104 
105  if (win_priority >= THREAD_PRIORITY_TIME_CRITICAL )
106  {
107  return PRIORITY_REALTIME;
108  }
109  else if (win_priority<THREAD_PRIORITY_TIME_CRITICAL && win_priority>=THREAD_PRIORITY_ABOVE_NORMAL)
110  {
111  return PRIORITY_HIGH;
112  }
113  else if (win_priority<THREAD_PRIORITY_ABOVE_NORMAL && win_priority>THREAD_PRIORITY_BELOW_NORMAL)
114  {
115  return PRIORITY_NORMAL;
116  }else if (win_priority<=THREAD_PRIORITY_BELOW_NORMAL && win_priority>THREAD_PRIORITY_IDLE)
117  {
118  return PRIORITY_LOW;
119  }else if (win_priority<=THREAD_PRIORITY_IDLE)
120  {
121  return PRIORITY_IDLE;
122  }
123  return PRIORITY_NORMAL;
124 }
125 
126 u_result Thread::join(unsigned long timeout)
127 {
128  if (!this->_handle) return RESULT_OK;
129  switch ( WaitForSingleObject(reinterpret_cast<HANDLE>(this->_handle), timeout))
130  {
131  case WAIT_OBJECT_0:
132  CloseHandle(reinterpret_cast<HANDLE>(this->_handle));
133  this->_handle = NULL;
134  return RESULT_OK;
135  case WAIT_ABANDONED:
136  return RESULT_OPERATION_FAIL;
137  case WAIT_TIMEOUT:
139  }
140 
141  return RESULT_OK;
142 }
143 
144 }}
#define RESULT_OK
Definition: rptypes.h:102
u_result terminate()
_word_size_t _handle
Definition: thread.h:83
#define RESULT_OPERATION_TIMEOUT
Definition: rptypes.h:107
u_result join(unsigned long timeout=-1)
typedef _word_size_t(THREAD_PROC *thread_proc_t)(void *)
static Thread create(thread_proc_t proc, void *data=NULL)
priority_val_t getPriority()
#define RESULT_OPERATION_FAIL
Definition: rptypes.h:106
_u8 data[0]
u_result setPriority(priority_val_t p)
uint32_t u_result
Definition: rptypes.h:100


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autogenerated on Wed Mar 20 2019 07:54:15