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107 <div class="headertitle">
108<div class="title">Thread.h</div> </div>
109</div><!--header-->
110<div class="contents">
111<a href="_thread_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">// %flair:license{</span></div>
112<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment">// This file is part of the Flair framework distributed under the</span></div>
113<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment">// CECILL-C License, Version 1.0.</span></div>
114<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment">// %flair:license}</span></div>
115<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="comment"></span><span class="preprocessor">#ifndef THREAD_H</span></div>
116<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="preprocessor">#define THREAD_H</span></div>
117<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;</div>
118<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="_object_8h.html">Object.h</a>&gt;</span></div>
119<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="preprocessor">#include &lt;stdint.h&gt;</span></div>
120<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;</div>
121<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="keyword">class </span>Thread_impl;</div>
122<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;</div>
123<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
124<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="keyword">namespace </span>core {</div>
125<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;</div>
126<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="keyword">class </span>IODevice;</div>
127<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;</div>
128<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classflair_1_1core_1_1_thread.html"> 38</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1core_1_1_thread.html">Thread</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_object.html">Object</a> {</div>
129<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160; <span class="keyword">friend</span> class ::Thread_impl;</div>
130<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160;</div>
131<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;<span class="keyword">public</span>:</div>
132<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160; <a class="code" href="classflair_1_1core_1_1_thread.html#adecd2fabe36298c43267557e7f016deb">Thread</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_object.html">Object</a> *parent, std::string name,</div>
133<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; uint8_t priority,uint32_t stackSize=1024*128);</div>
134<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160;</div>
135<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classflair_1_1core_1_1_thread.html#a39ede97ff3addeaf48ecec09c6625655">~Thread</a>();</div>
136<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160;</div>
137<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1core_1_1_thread.html#a5a4f0f27689ae4292f81bf45e22998a5">Start</a>(<span class="keywordtype">void</span>);</div>
138<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160;</div>
139<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1core_1_1_thread.html#afa1fb0f8d5b18273394502159dd5dcef">SafeStop</a>(<span class="keywordtype">void</span>);</div>
140<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160;</div>
141<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1core_1_1_thread.html#afcbb4a445fe287b8608b173bdc10f056">ToBeStopped</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
142<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160;</div>
143<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1core_1_1_thread.html#aba8b31e2e4c1beccb31333beb8bd41a4">Join</a>(<span class="keywordtype">void</span>);</div>
144<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160;</div>
145<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1core_1_1_thread.html#a581ae3bdecef47c916671a6aafec9509">SetPeriodUS</a>(uint32_t period_us);</div>
146<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160;</div>
147<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160; uint32_t GetPeriodUS() <span class="keyword">const</span>;</div>
148<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160;</div>
149<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1core_1_1_thread.html#a37d13f12283d69ebd092a7cc01a7d742">SetPeriodMS</a>(uint32_t period_ms);</div>
150<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>&#160;</div>
151<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>&#160; uint32_t GetPeriodMS() <span class="keyword">const</span>;</div>
152<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>&#160;</div>
153<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1core_1_1_thread.html#af892a1b3025cb842cad8e7f2a11a9526">IsPeriodSet</a>(<span class="keywordtype">void</span>);</div>
154<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>&#160;</div>
155<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1core_1_1_thread.html#a50cd2ea88d538e10a30c3e6a5286a944">WaitPeriod</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
156<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>&#160;</div>
157<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>&#160; <span class="keywordtype">int</span> <a class="code" href="classflair_1_1core_1_1_thread.html#a2b5b5f3cf400729419bd864b654af252">WaitUpdate</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_i_o_device.html">IODevice</a> *device);</div>
158<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>&#160;</div>
159<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1core_1_1_thread.html#a0e5fc8919ed6042e5736a5dca5ba546b">Suspend</a>(<span class="keywordtype">void</span>);</div>
160<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>&#160;</div>
161<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1core_1_1_thread.html#af93c2461c31a6c16958bc44189ab4253">SuspendUntil</a>(<a class="code" href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">Time</a> date);</div>
162<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>&#160;</div>
163<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1core_1_1_thread.html#ae7c46910a801f1b16302570ad8ae9580">Resume</a>(<span class="keywordtype">void</span>);</div>
164<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>&#160;</div>
165<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1core_1_1_thread.html#adac9a6d336bdb50bcfa24c66943a355a">IsSuspended</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
166<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>&#160; </div>
167<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>&#160; <span class="keywordtype">bool</span> <a class="code" href="classflair_1_1core_1_1_thread.html#a2a82d0ade1418111c2a4e7d0e133696c">IsRunning</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
168<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>&#160;</div>
169<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1core_1_1_thread.html#ac09a2d745af3dbb42371949d4c622011">SleepUntil</a>(<a class="code" href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">Time</a> time) <span class="keyword">const</span>;</div>
170<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>&#160;</div>
171<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1core_1_1_thread.html#a3479727dfaf2213f7866fccadb43eeb6">SleepUS</a>(uint32_t time_us) <span class="keyword">const</span>;</div>
172<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>&#160;</div>
173<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1core_1_1_thread.html#a501e7802d7edd7e6167d111c803b8349">SleepMS</a>(uint32_t time_ms) <span class="keyword">const</span>;</div>
174<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>&#160;</div>
175<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>&#160; <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classflair_1_1core_1_1_thread.html#a7fbf5ad201e7e802f0fa127891849dc9">WarnUponSwitches</a>(<span class="keywordtype">bool</span> enable);</div>
176<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>&#160;</div>
177<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>&#160;<span class="keyword">private</span>:</div>
178<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> Run(<span class="keywordtype">void</span>) = 0;</div>
179<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>&#160;</div>
180<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>&#160; <span class="keyword">class </span>Thread_impl *pimpl_;</div>
181<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>&#160;};</div>
182<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>&#160;</div>
183<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>&#160;} <span class="comment">// end namespace core</span></div>
184<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>&#160;} <span class="comment">// end namespace flair</span></div>
185<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>&#160;</div>
186<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>&#160;<span class="preprocessor">#endif // THREAD_H</span></div>
187<div class="ttc" id="classflair_1_1core_1_1_thread_html_ac09a2d745af3dbb42371949d4c622011"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#ac09a2d745af3dbb42371949d4c622011">flair::core::Thread::SleepUntil</a></div><div class="ttdeci">void SleepUntil(Time time) const </div><div class="ttdoc">Sleep until absolute time. </div></div>
188<div class="ttc" id="classflair_1_1core_1_1_thread_html_adac9a6d336bdb50bcfa24c66943a355a"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#adac9a6d336bdb50bcfa24c66943a355a">flair::core::Thread::IsSuspended</a></div><div class="ttdeci">bool IsSuspended(void) const </div><div class="ttdoc">Is the thread suspended? </div></div>
189<div class="ttc" id="classflair_1_1core_1_1_object_html"><div class="ttname"><a href="classflair_1_1core_1_1_object.html">flair::core::Object</a></div><div class="ttdoc">Base class for all Framework&#39;s classes. </div><div class="ttdef"><b>Definition:</b> Object.h:83</div></div>
190<div class="ttc" id="classflair_1_1core_1_1_i_o_device_html"><div class="ttname"><a href="classflair_1_1core_1_1_i_o_device.html">flair::core::IODevice</a></div><div class="ttdoc">Abstract class for input/ouput system. </div><div class="ttdef"><b>Definition:</b> IODevice.h:45</div></div>
191<div class="ttc" id="classflair_1_1core_1_1_thread_html_a3479727dfaf2213f7866fccadb43eeb6"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#a3479727dfaf2213f7866fccadb43eeb6">flair::core::Thread::SleepUS</a></div><div class="ttdeci">void SleepUS(uint32_t time_us) const </div><div class="ttdoc">Sleep for a certain time in micro second. </div></div>
192<div class="ttc" id="namespaceflair_html"><div class="ttname"><a href="namespaceflair.html">flair</a></div><div class="ttdoc">namespace of the flair Framework </div><div class="ttdef"><b>Definition:</b> Ahrs.h:19</div></div>
193<div class="ttc" id="classflair_1_1core_1_1_thread_html_a2a82d0ade1418111c2a4e7d0e133696c"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#a2a82d0ade1418111c2a4e7d0e133696c">flair::core::Thread::IsRunning</a></div><div class="ttdeci">bool IsRunning(void) const </div><div class="ttdoc">Is the thread running? </div></div>
194<div class="ttc" id="classflair_1_1core_1_1_thread_html_af93c2461c31a6c16958bc44189ab4253"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#af93c2461c31a6c16958bc44189ab4253">flair::core::Thread::SuspendUntil</a></div><div class="ttdeci">bool SuspendUntil(Time date)</div><div class="ttdoc">Suspend the thread with timeout. </div></div>
195<div class="ttc" id="classflair_1_1core_1_1_thread_html_a581ae3bdecef47c916671a6aafec9509"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#a581ae3bdecef47c916671a6aafec9509">flair::core::Thread::SetPeriodUS</a></div><div class="ttdeci">void SetPeriodUS(uint32_t period_us)</div><div class="ttdoc">Set the period in micro second. </div></div>
196<div class="ttc" id="classflair_1_1core_1_1_thread_html_ae7c46910a801f1b16302570ad8ae9580"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#ae7c46910a801f1b16302570ad8ae9580">flair::core::Thread::Resume</a></div><div class="ttdeci">void Resume(void)</div><div class="ttdoc">Resume the thread. </div></div>
197<div class="ttc" id="namespaceflair_1_1core_html_acc0fa041e08ecf73b2d1d723c339a736"><div class="ttname"><a href="namespaceflair_1_1core.html#acc0fa041e08ecf73b2d1d723c339a736">flair::core::Time</a></div><div class="ttdeci">unsigned long long Time</div><div class="ttdoc">Time definition, in ns. </div><div class="ttdef"><b>Definition:</b> Object.h:55</div></div>
198<div class="ttc" id="classflair_1_1core_1_1_thread_html_a5a4f0f27689ae4292f81bf45e22998a5"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#a5a4f0f27689ae4292f81bf45e22998a5">flair::core::Thread::Start</a></div><div class="ttdeci">void Start(void)</div><div class="ttdoc">Start the thread. </div></div>
199<div class="ttc" id="classflair_1_1core_1_1_thread_html_afcbb4a445fe287b8608b173bdc10f056"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#afcbb4a445fe287b8608b173bdc10f056">flair::core::Thread::ToBeStopped</a></div><div class="ttdeci">bool ToBeStopped(void) const </div><div class="ttdoc">Set a stop flag. </div></div>
200<div class="ttc" id="classflair_1_1core_1_1_thread_html_adecd2fabe36298c43267557e7f016deb"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#adecd2fabe36298c43267557e7f016deb">flair::core::Thread::Thread</a></div><div class="ttdeci">Thread(const Object *parent, std::string name, uint8_t priority, uint32_t stackSize=1024 *128)</div><div class="ttdoc">Constructor. </div></div>
201<div class="ttc" id="classflair_1_1core_1_1_thread_html_a2b5b5f3cf400729419bd864b654af252"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#a2b5b5f3cf400729419bd864b654af252">flair::core::Thread::WaitUpdate</a></div><div class="ttdeci">int WaitUpdate(const IODevice *device)</div><div class="ttdoc">Wait update of an IODevice. </div></div>
202<div class="ttc" id="classflair_1_1core_1_1_thread_html_a7fbf5ad201e7e802f0fa127891849dc9"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#a7fbf5ad201e7e802f0fa127891849dc9">flair::core::Thread::WarnUponSwitches</a></div><div class="ttdeci">static void WarnUponSwitches(bool enable)</div><div class="ttdoc">Warn if real time / non real time switches occur. </div></div>
203<div class="ttc" id="classflair_1_1core_1_1_thread_html_aba8b31e2e4c1beccb31333beb8bd41a4"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#aba8b31e2e4c1beccb31333beb8bd41a4">flair::core::Thread::Join</a></div><div class="ttdeci">void Join(void)</div><div class="ttdoc">Join the thread. </div></div>
204<div class="ttc" id="classflair_1_1core_1_1_thread_html_afa1fb0f8d5b18273394502159dd5dcef"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#afa1fb0f8d5b18273394502159dd5dcef">flair::core::Thread::SafeStop</a></div><div class="ttdeci">void SafeStop(void)</div><div class="ttdoc">Set a stop flag. </div></div>
205<div class="ttc" id="classflair_1_1core_1_1_thread_html_a37d13f12283d69ebd092a7cc01a7d742"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#a37d13f12283d69ebd092a7cc01a7d742">flair::core::Thread::SetPeriodMS</a></div><div class="ttdeci">void SetPeriodMS(uint32_t period_ms)</div><div class="ttdoc">Set the period in milli second. </div></div>
206<div class="ttc" id="_object_8h_html"><div class="ttname"><a href="_object_8h.html">Object.h</a></div><div class="ttdoc">Base class for all Framework&#39;s classes. </div></div>
207<div class="ttc" id="classflair_1_1core_1_1_thread_html"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html">flair::core::Thread</a></div><div class="ttdoc">Abstract class for a thread. </div><div class="ttdef"><b>Definition:</b> Thread.h:38</div></div>
208<div class="ttc" id="classflair_1_1core_1_1_thread_html_af892a1b3025cb842cad8e7f2a11a9526"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#af892a1b3025cb842cad8e7f2a11a9526">flair::core::Thread::IsPeriodSet</a></div><div class="ttdeci">bool IsPeriodSet(void)</div><div class="ttdoc">Returns if period was set. </div></div>
209<div class="ttc" id="classflair_1_1core_1_1_thread_html_a501e7802d7edd7e6167d111c803b8349"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#a501e7802d7edd7e6167d111c803b8349">flair::core::Thread::SleepMS</a></div><div class="ttdeci">void SleepMS(uint32_t time_ms) const </div><div class="ttdoc">Sleep for a cartain time in milli second. </div></div>
210<div class="ttc" id="classflair_1_1core_1_1_thread_html_a50cd2ea88d538e10a30c3e6a5286a944"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#a50cd2ea88d538e10a30c3e6a5286a944">flair::core::Thread::WaitPeriod</a></div><div class="ttdeci">void WaitPeriod(void) const </div><div class="ttdoc">Wait the period. </div></div>
211<div class="ttc" id="classflair_1_1core_1_1_thread_html_a39ede97ff3addeaf48ecec09c6625655"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#a39ede97ff3addeaf48ecec09c6625655">flair::core::Thread::~Thread</a></div><div class="ttdeci">virtual ~Thread()</div><div class="ttdoc">Destructor. </div></div>
212<div class="ttc" id="classflair_1_1core_1_1_thread_html_a0e5fc8919ed6042e5736a5dca5ba546b"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html#a0e5fc8919ed6042e5736a5dca5ba546b">flair::core::Thread::Suspend</a></div><div class="ttdeci">void Suspend(void)</div><div class="ttdoc">Suspend the thread. </div></div>
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