[2] | 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2012/10/04
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| 6 | // filename: Thread.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Abstract class for a thread
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "Thread.h"
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| 19 | #include "Thread_impl.h"
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| 20 | #ifdef __XENO__
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| 21 | #include <native/timer.h>
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| 22 | #else
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| 23 | #include <sys/time.h>
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| 24 | #include <unistd.h>
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| 25 | #endif
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| 26 |
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| 27 | using std::string;
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| 28 |
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| 29 | namespace flair
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| 30 | {
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| 31 | namespace core
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| 32 | {
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| 33 |
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| 34 | Thread::Thread(const Object* parent,string name,uint8_t priority): Object(parent,name,"Thread")
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| 35 | {
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| 36 | pimpl_=new Thread_impl(this,priority);
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| 37 | }
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| 38 |
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| 39 | Thread::~Thread()
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| 40 | {
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| 41 | delete pimpl_;
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| 42 | }
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| 43 |
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| 44 | void Thread::Start(void)
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| 45 | {
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| 46 | pimpl_->Start();
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| 47 | }
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| 48 |
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| 49 | void Thread::SafeStop(void)
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| 50 | {
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| 51 | pimpl_->SafeStop();
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| 52 | }
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| 53 |
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| 54 | bool Thread::ToBeStopped(void) const
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| 55 | {
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| 56 | return pimpl_->ToBeStopped();
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| 57 | }
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| 58 |
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| 59 | #ifdef __XENO__
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| 60 | void Thread::WarnUponSwitches(bool value)
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| 61 | {
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| 62 | // Ask Xenomai to warn us upon switches to secondary mode.
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| 63 | if(value==true)
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| 64 | {
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| 65 | rt_task_set_mode(0, T_WARNSW, NULL);
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| 66 | }
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| 67 | else
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| 68 | {
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| 69 | rt_task_set_mode(T_WARNSW, 0, NULL);
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| 70 | }
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| 71 | }
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| 72 | #else
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| 73 | void Thread::WarnUponSwitches(bool value)
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| 74 | {
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| 75 | //Warn("Not applicable in non real time\n");
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| 76 | }
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| 77 | #endif
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| 78 |
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| 79 | void Thread::Join(void)
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| 80 | {
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| 81 | pimpl_->Join();
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| 82 | }
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| 83 |
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| 84 | void Thread::SetPeriodUS(uint32_t period) {
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| 85 | pimpl_->SetPeriodUS(period);
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| 86 | }
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| 87 |
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| 88 | uint32_t Thread::GetPeriodUS(void) const {
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| 89 | return pimpl_->GetPeriodUS();
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| 90 | }
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| 91 |
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| 92 | void Thread::SetPeriodMS(uint32_t period) {
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| 93 | pimpl_->SetPeriodMS(period);
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| 94 | }
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| 95 |
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| 96 | uint32_t Thread::GetPeriodMS(void) const {
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| 97 | return pimpl_->GetPeriodMS();
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| 98 | }
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| 99 |
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| 100 |
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| 101 | bool Thread::IsPeriodSet(void)
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| 102 | {
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| 103 | return pimpl_->period_set;
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| 104 | }
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| 105 |
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| 106 | void Thread::WaitPeriod(void) const
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| 107 | {
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| 108 | pimpl_->WaitPeriod();
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| 109 | }
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| 110 |
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| 111 | void Thread::Suspend(void)
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| 112 | {
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| 113 | pimpl_->Suspend();
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| 114 | }
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| 115 |
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| 116 | bool Thread::SuspendUntil(Time date){
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| 117 | return pimpl_->SuspendUntil(date);
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| 118 | }
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| 119 |
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| 120 | bool Thread::IsSuspended(void) const
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| 121 | {
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| 122 | return pimpl_->IsSuspended();
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| 123 | }
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| 124 |
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| 125 | void Thread::Resume(void)
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| 126 | {
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| 127 | pimpl_->Resume();
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| 128 | }
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| 129 |
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| 130 | int Thread::WaitUpdate(const IODevice* device)
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| 131 | {
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| 132 | return pimpl_->WaitUpdate(device);
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| 133 | }
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| 134 |
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| 135 | void Thread::SleepUntil(Time time) const
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| 136 | {
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| 137 | #ifdef __XENO__
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| 138 | int status=rt_task_sleep_until(time);
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| 139 | if(status!=0) Err("%s, error rt_task_sleep_until (%s), resume time: %lld, actual time: %lld\n",
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| 140 | ObjectName().c_str(),
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| 141 | strerror(-status),
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| 142 | time,
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| 143 | GetTime());
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| 144 | //Printf("rt_task_sleep_until, resume time: %lld, actual time: %lld\n",time,GetTime());
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| 145 | #else
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| 146 | Time current=GetTime();
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| 147 | if(current<time)
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| 148 | {
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| 149 | usleep((time-current)/1000);
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| 150 | }
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| 151 | #endif
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| 152 | }
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| 153 |
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| 154 | void Thread::SleepMS(uint32_t time) const
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| 155 | {
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| 156 | #ifdef __XENO__
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| 157 | int status=rt_task_sleep(time*1000*1000);
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| 158 | if(status!=0) Err("erreur rt_task_sleep (%s)\n",strerror(-status));
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| 159 | #else
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| 160 | usleep(time*1000);
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| 161 | #endif
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| 162 | }
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| 163 |
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| 164 | void Thread::SleepUS(uint32_t time) const
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| 165 | {
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| 166 | #ifdef __XENO__
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| 167 | int status=rt_task_sleep(time*1000);
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| 168 | if(status!=0) Err("erreur rt_task_sleep (%s)\n",strerror(-status));
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| 169 | #else
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| 170 | usleep(time);
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| 171 | #endif
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| 172 | }
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| 173 |
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| 174 | } // end namespace core
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| 175 | } // end namespace flair
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