icl_core_thread/Thread.cpp

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of FZIs ic_workspace.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany
//
// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------
#include "Thread.h"

#include <icl_core/os_lxrt.h>
#include <icl_core/os_string.h>
#include <icl_core/os_time.h>

#include "Common.h"
#include "Logging.h"

#if defined _SYSTEM_LXRT_
# include "ThreadImplLxrt.h"
#endif

#if defined _SYSTEM_POSIX_
# include "ThreadImplPosix.h"
#elif defined _SYSTEM_WIN32_
# include "ThreadImplWin32.h"
#else
# error "No implementation specified for System dependent components"
#endif

using icl_core::logging::endl;

namespace icl_core {
namespace thread {

Thread::Thread(const icl_core::String& description, ThreadPriority priority)
  : m_execute(false),
    m_finished(true),
    m_joined(true),
    m_starting(false),
    m_thread_info(description + ", 0"),
    m_priority(priority),
    m_impl(NULL)
{
#if defined _SYSTEM_LXRT_
  // Only create an LXRT implementation if the LXRT runtime system
  // is really available. Otherwise create an ACE or POSIX implementation,
  // depending on the system configuration.
  // Remark: This allows us to compile programs with LXRT support but run
  // them on systems on which no LXRT is installed and to disable LXRT support
  // at program startup on systems with installed LXRT!
  if (icl_core::os::isLxrtAvailable())
  {
    m_impl = new ThreadImplLxrt(this, description, priority);
  }
  else
  {
    m_impl = new ThreadImplPosix(this, description, priority);
  }

#elif defined _SYSTEM_POSIX_
  m_impl = new ThreadImplPosix(this, description, priority);

#elif defined _SYSTEM_WIN32_
  m_impl = new ThreadImplWin32(this, description, priority);

#endif
}

Thread::~Thread()
{
  if (!m_joined)
  {
    stop();
    join();
  }

  delete m_impl;
  m_impl = NULL;
}

void Thread::cancel()
{
  LOGGING_TRACE_CO(IclCoreThread, Thread, threadInfo(), "Begin." << endl);
  waitStarted();
  if (running())
  {
    LOGGING_DEBUG_CO(IclCoreThread, Thread,  threadInfo(), "Still running." << endl);
    m_execute = false;
    m_impl->cancel();
    m_finished = true;
  }
  LOGGING_DEBUG_CO(IclCoreThread, Thread, threadInfo(), "Done." << endl);
}

bool Thread::checkHardRealtime()
{
#ifdef _SYSTEM_LXRT_
  if (threadSelf() && os::isThisHRT() && !isHardRealtime() && m_priority < 0)
  {
    return setHardRealtime(true);
  }
  else
#endif
  {
    return false;
  }
}

icl_core::String Thread::getDescription() const
{
  return m_impl->getDescription();
}

bool Thread::isHardRealtime() const
{
  return m_impl->isHardRealtime();
}

bool Thread::executesHardRealtime() const
{
  return m_impl->executesHardRealtime();
}

void Thread::join()
{
  if (running())
  {
    m_impl->join();
  }

  m_joined = true;
}

icl_core::ThreadPriority Thread::priority() const
{
  return m_impl->priority();
}

void Thread::setDescription(const icl_core::String& description)
{
  m_impl->setDescription(description);
}

bool Thread::setHardRealtime(bool hard_realtime)
{
  return m_impl->setHardRealtime(hard_realtime);
}

bool Thread::setPriority(icl_core::ThreadPriority priority)
{
  if (m_impl->setPriority(priority))
  {
    m_priority = priority;
    return true;
  }
  else
  {
    return false;
  }
}

bool Thread::start()
{
  // Don't do anything if the thread is already starting or running.
  if (m_starting || running())
  {
    waitStarted();

    return running();
  }

  m_starting = true;
  m_finished = false;

  if (!m_joined)
  {
    join();
  }

  m_joined = false;

  if (!m_impl->start())
  {
    m_finished = true;
    m_starting = false;
    m_joined = true;

    return false;
  }
  else
  {
    waitStarted();

    return true;
  }
}

icl_core::ThreadId Thread::threadId() const
{
  return m_impl->threadId();
}

void Thread::runThread()
{
  char buffer[1024];
#if defined(_SYSTEM_WIN32_)
  icl_core::os::snprintf(buffer, 1023, "%s, %lu", getDescription().c_str(), threadId());
#elif defined(_SYSTEM_DARWIN_)
  icl_core::os::snprintf(buffer, 1023, "%s, %p", getDescription().c_str(), threadId().m_thread_id);
#else
  icl_core::os::snprintf(buffer, 1023, "%s, %lu", getDescription().c_str(), threadId().m_thread_id);
#endif
  m_thread_info = buffer;

  LOGGING_TRACE_CO(IclCoreThread, Thread, threadInfo(), "Begin." << endl);

  m_thread_mutex.lock();
  m_execute = true;
  m_starting = false;
  m_finished = false;

  // If this is actually a periodic thread, this call makes it periodic.
  // It this is a "normal" thread, this call does nothing.
  makePeriodic();

  // Call the run loop.
  run();

  m_execute = false;
  m_thread_mutex.unlock();
  m_finished = true;

  LOGGING_TRACE_CO(IclCoreThread, Thread, threadInfo(), "Done." << endl);
}

bool Thread::wait()
{
  return wait(icl_core::TimeStamp::maxTime());
}

bool Thread::wait(const icl_core::TimeStamp& until)
{
  bool success = false;

  if (m_joined)
  {
    return true;
  }

  waitStarted();

  if (m_finished)
  {
    success = true;
  }
  else if ((until == icl_core::TimeStamp::maxTime() && m_thread_mutex.lock())
           || m_thread_mutex.lock(until))
  {
    m_thread_mutex.unlock();
  }
  else if (icl_core::TimeStamp::now() < until)
  {
    LOGGING_ERROR_CO(IclCoreThread, Thread, threadInfo(),
                     "Thread is running and we should still wait, but LockMutex() returned unexpected."
                     "The wait function will now block further until the thread is really finished."
                     "But consider that your implementation could have a failure in locking ..." << endl);

    while (icl_core::TimeStamp::now() < until && !m_finished)
    {
      os::sleep(1);
    }
  }

  if (m_finished)
  {
    success = true;
  }

  if (success)
  {
    join();
    return true;
  }
  else
  {
    LOGGING_ERROR_CO(IclCoreThread, Thread, threadInfo(), "Wait not succesful." << endl);
    return false;
  }
}

bool Thread::wait(const icl_core::TimeSpan& timeout)
{
  return wait(impl::getAbsoluteTimeout(timeout));
}

#ifdef _IC_BUILDER_DEPRECATED_STYLE_

void Thread::Cancel()
{
  cancel();
}

bool Thread::CheckHardRealtime()
{
  return checkHardRealtime();
}

icl_core::String Thread::Description() const
{
  return getDescription();
}

bool Thread::Execute() const
{
  return execute();
}

bool Thread::IsHardRealtime() const
{
  return isHardRealtime();
}

bool Thread::ExecutesHardRealtime() const
{
  return executesHardRealtime();
}

void Thread::Join()
{
  join();
}

icl_core::ThreadPriority Thread::Priority() const
{
  return priority();
}

bool Thread::Running() const
{
  return running();
}

void Thread::SetDescription(const icl_core::String& description)
{
  setDescription(description);
}

bool Thread::SetHardRealtime(bool hard_realtime)
{
  return setHardRealtime(hard_realtime);
}

bool Thread::SetPriority(icl_core::ThreadPriority priority)
{
  return setPriority(priority);
}

bool Thread::Start()
{
  return start();
}

void Thread::Stop()
{
  stop();
}

icl_core::ThreadId Thread::ThreadId() const
{
  return threadId();
}

const char *Thread::ThreadInfo() const
{
  return threadInfo();
}

bool Thread::ThreadSelf() const
{
  return threadSelf();
}

bool Thread::Wait()
{
  return wait();
}

bool Thread::Wait(const icl_core::TimeStamp& timeout)
{
  return wait(timeout);
}

bool Thread::Wait(const icl_core::TimeSpan& timeout)
{
  return wait(timeout);
}

icl_core::ThreadId Thread::SelfId()
{
  return selfId();
}

#endif

void Thread::waitStarted() const
{
  while (m_starting)
  {
    // Sleep for 1 microsecond.
    icl_core::os::usleep(1);
  }
}

void Thread::makePeriodic()
{
}

#ifdef _IC_BUILDER_DEPRECATED_STYLE_

void Thread::RunThread()
{
  runThread();
}

void Thread::WaitStarted() const
{
  waitStarted();
}

#endif

}
}