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 | /*!
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6 | * \file Thread.h
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7 | * \brief Abstract class for a thread
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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9 | * \date 2012/10/04
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10 | * \version 4.0
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11 | */
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12 |
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13 | #ifndef THREAD_H
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14 | #define THREAD_H
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15 |
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16 | #include <Object.h>
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17 | #include <stdint.h>
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18 |
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19 | class Thread_impl;
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20 |
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21 | namespace flair {
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22 | namespace core {
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23 |
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24 | class IODevice;
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25 |
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26 | /*! \class Thread
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27 | *
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28 | * \brief Abstract class for a thread
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29 | *
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30 | * To implement a thread, Run() method must be reimplemented. \n
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31 | * When Start() is called, it will automatically call Run() reimplemented method.
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32 | * A thread can be periodic, in this case WaitPeriod() will block untill period
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33 | *is met.
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34 | * Thread can also e synnchronized with an IODevice, using WaitUpdate() method.
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35 | *\n
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36 | * Thread period is by default 100ms.
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37 | */
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38 | class Thread : public Object {
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39 | friend class ::Thread_impl;
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40 |
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41 | public:
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42 | /*!
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43 | * \brief Constructor
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44 | *
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45 | * \param parent parent
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46 | * \param name name
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47 | * \param priority priority, should be >20 (<20 is reserved for internal use)
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48 | * \param stackSize stack size in bytes
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49 | */
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50 | Thread(const Object *parent, std::string name,
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51 | uint8_t priority,uint32_t stackSize=1024*128);
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52 |
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53 | /*!
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54 | * \brief Destructor
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55 | *
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56 | * If thread is started, SafeStop() and Join() will
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57 | * be automatically called.
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58 | *
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59 | */
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60 | virtual ~Thread();
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61 |
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62 | /*!
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63 | * \brief Start the thread
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64 | *
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65 | */
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66 | void Start(void);
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67 |
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68 | /*!
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69 | * \brief Set a stop flag
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70 | *
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71 | * ToBeStopped() will return true after calling this method.
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72 | */
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73 | void SafeStop(void);
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74 |
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75 | /*!
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76 | * \brief Set a stop flag
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77 | *
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78 | * Reimplemented Run() can poll this method to
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79 | * determine when to stop the thread.
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80 | *
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81 | * \return true if SafeStop() was called
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82 | */
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83 | bool ToBeStopped(void) const;
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84 |
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85 | /*!
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86 | * \brief Join the thread
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87 | *
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88 | * This method will block untill Run() returns.
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89 | *
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90 | */
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91 | void Join(void);
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92 |
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93 | /*!
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94 | * \brief Set the period in micro second
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95 | *
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96 | * After calling this method, IsPeriodSet will return true.
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97 | *
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98 | * \param period_us period in us
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99 | */
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100 | void SetPeriodUS(uint32_t period_us);
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101 |
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102 | uint32_t GetPeriodUS() const;
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103 |
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104 | /*!
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105 | * \brief Set the period in milli second
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106 | *
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107 | * After calling this method, IsPeriodSet will return true.
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108 | *
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109 | * \param period_ums period in ms
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110 | */
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111 | void SetPeriodMS(uint32_t period_ms);
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112 |
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113 | uint32_t GetPeriodMS() const;
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114 |
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115 | /*!
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116 | * \brief Returns if period was set
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117 | *
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118 | * \return true if a period was set using SetPeriodUS or SetPeriodMS
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119 | * false otherwise
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120 | */
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121 | bool IsPeriodSet(void);
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122 |
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123 | /*!
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124 | * \brief Wait the period
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125 | *
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126 | * This method will block untill period is met. \n
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127 | * If no period was set (see SetPeriodUS, SetPeriodMS and IsPeriodSet), this
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128 | *method
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129 | * returns immediately.
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130 | *
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131 | */
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132 | void WaitPeriod(void) const;
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133 |
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134 | /*!
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135 | * \brief Wait update of an IODevice
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136 | *
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137 | * This method will block untill IODevice::ProcessUpdate
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138 | * is called. \n
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139 | * This method is usefull to synchronize a thread with an IODevice.
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140 | *
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141 | * \param device IODevice to wait update from
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142 | * \return true if device was updated, false otherwise (timeout, etc)
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143 | */
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144 | bool WaitUpdate(const IODevice *device,Time timeout=TIME_INFINITE);
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145 |
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146 | /*!
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147 | * \brief Suspend the thread
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148 | *
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149 | * This method will block untill Resume() is called.
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150 | *
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151 | */
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152 | void Suspend(void);
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153 |
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154 | /*!
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155 | * \brief Suspend the thread with timeout
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156 | *
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157 | * This method will block until Resume() is called or the absolute date
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158 | *specified occurs
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159 | *
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160 | * \param date absolute date in ns
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161 | * \return true if thread is woken up by a call to Resume, false otherwise
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162 | */
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163 | bool SuspendUntil(Time date);
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164 |
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165 | /*!
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166 | * \brief Resume the thread
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167 | *
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168 | * This method will unblock the call to Suspend().
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169 | *
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170 | */
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171 | void Resume(void);
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172 |
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173 | /*!
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174 | * \brief Is the thread suspended?
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175 | *
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176 | * \return true if thread is suspended
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177 | *
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178 | */
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179 | bool IsSuspended(void) const;
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180 |
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181 | /*!
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182 | * \brief Is the thread running?
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183 | *
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184 | * \return true if thread is running (call to Start). A suspended thread is running.
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185 | *
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186 | */
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187 | bool IsRunning(void) const;
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188 |
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189 | /*!
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190 | * \brief Sleep until absolute time
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191 | *
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192 | * This method will block untill time is reached.
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193 | *
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194 | * \param time absolute time
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195 | */
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196 | void SleepUntil(Time time) const;
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197 |
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198 | /*!
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199 | * \brief Sleep for a certain time in micro second
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200 | *
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201 | * This method will block untill time is elapsed.
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202 | *
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203 | * \param time_us time to wait in micro second
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204 | */
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205 | void SleepUS(uint32_t time_us) const;
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206 |
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207 | /*!
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208 | * \brief Sleep for a cartain time in milli second
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209 | *
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210 | * This method will block untill time is elapsed.
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211 | *
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212 | * \param time_ms time to wait in milli second
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213 | */
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214 | void SleepMS(uint32_t time_ms) const;
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215 |
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216 | /*!
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217 | * \brief Warn if real time / non real time switches occur
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218 | *
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219 | * If enabled, a message with the call stack will be displayed
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220 | * in case of real time / non real time switches. \n
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221 | * This method can help to debug application and see if switches occur. \n
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222 | * Note that it as no effect if this method is called from the non real time
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223 | * Framework library.
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224 | *
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225 | * \param enable enable or disable warns
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226 | */
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227 | static void WarnUponSwitches(bool enable);
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228 |
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229 | private:
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230 | /*!
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231 | * \brief Run method
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232 | *
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233 | * This method is automatically called by Start(). \n
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234 | * This method must be reimplemented, in order to implement the thread.
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235 | *
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236 | */
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237 | virtual void Run(void) = 0;
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238 |
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239 | class Thread_impl *pimpl_;
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240 | };
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241 |
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242 | } // end namespace core
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243 | } // end namespace flair
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244 |
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245 | #endif // THREAD_H
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