Threads (in #include <mrpt/system/threads.h>)

Detailed Description

Collaboration diagram for Threads (in #include <mrpt/system/threads.h>):

Classes
struct	mrpt::system::TThreadHandle
	This structure contains the information needed to interface the threads API on each platform: More...

Namespaces
	mrpt::system::detail
	Auxiliary classes used internally to MRPT.

Enumerations
enum	mrpt::system::TProcessPriority { mrpt::system::ppIdle = 0, mrpt::system::ppNormal, mrpt::system::ppHigh, mrpt::system::ppVeryHigh }
	The type for cross-platform process (application) priorities. More...
enum	mrpt::system::TThreadPriority {   mrpt::system::tpLowests =-15, mrpt::system::tpLower = -2, mrpt::system::tpLow = -1, mrpt::system::tpNormal = 0,   mrpt::system::tpHigh = 1, mrpt::system::tpHigher = 2, mrpt::system::tpHighest = 15 }
	The type for cross-platform thread priorities. More...

Functions
template<typename T >
TThreadHandle	mrpt::system::createThread (void(*func)(T), T param)
	Creates a new thread from a function (or static method) with one generic parameter. More...
template<typename T >
TThreadHandle	mrpt::system::createThreadRef (void(*func)(T &), T &param)
TThreadHandle	mrpt::system::createThread (void(*func)(void))
template<typename CLASS , typename PARAM >
TThreadHandle	mrpt::system::createThreadFromObjectMethod (CLASS *obj, void(CLASS::*func)(PARAM), PARAM param)
	Creates a new thread running a non-static method (so it will have access to "this") from another method of the same class - with one generic parameter. More...
template<typename CLASS , typename PARAM >
TThreadHandle	mrpt::system::createThreadFromObjectMethodRef (CLASS *obj, void(CLASS::*func)(PARAM &), PARAM &param)
template<typename CLASS >
TThreadHandle	mrpt::system::createThreadFromObjectMethod (CLASS *obj, void(CLASS::*func)(void))
void BASE_IMPEXP	mrpt::system::joinThread (const TThreadHandle &threadHandle)
	Waits until the given thread ends. More...
unsigned long BASE_IMPEXP	mrpt::system::getCurrentThreadId () MRPT_NO_THROWS
	Returns the ID of the current thread. More...
TThreadHandle BASE_IMPEXP	mrpt::system::getCurrentThreadHandle () MRPT_NO_THROWS
	Returns a handle to the current thread. More...
void BASE_IMPEXP	mrpt::system::exitThread () MRPT_NO_THROWS
	Explicit close of the current (running) thread. More...
void BASE_IMPEXP	mrpt::system::getCurrentThreadTimes (time_t &creationTime, time_t &exitTime, double &cpuTime)
	Returns the creation and exit times of the current thread and its CPU time consumed. More...
void BASE_IMPEXP	mrpt::system::changeThreadPriority (const TThreadHandle &threadHandle, TThreadPriority priority)
	Change the priority of the given thread - for Windows, see also changeCurrentProcessPriority() More...
void BASE_IMPEXP	mrpt::system::terminateThread (TThreadHandle &threadHandle) MRPT_NO_THROWS
	Terminate a thread, giving it no choice to delete objects, etc (use only as a last resource) More...
void BASE_IMPEXP	mrpt::system::changeCurrentProcessPriority (TProcessPriority priority)
	Change the priority of the given process (it applies to all the threads, plus independent modifiers for each thread). More...
unsigned int BASE_IMPEXP	mrpt::system::getNumberOfProcessors ()
	Return the number of processors ("cores"), or 1 if it cannot be determined. More...
void BASE_IMPEXP	mrpt::system::sleep (int time_ms) MRPT_NO_THROWS
	An OS-independent method for sending the current thread to "sleep" for a given period of time. More...
bool BASE_IMPEXP	mrpt::system::launchProcess (const std::string &command)
	Executes the given command (which may contain a program + arguments), and waits until it finishes. More...

Enumeration Type Documentation

TProcessPriority

enum mrpt::system::TProcessPriority

The type for cross-platform process (application) priorities.

See also

changeCurrentProcessPriority

Enumerator
ppIdle
ppNormal
ppHigh
ppVeryHigh

Definition at line 70 of file threads.h.

TThreadPriority

enum mrpt::system::TThreadPriority

The type for cross-platform thread priorities.

See also

changeThreadPriority

Enumerator
tpLowests
tpLower
tpLow
tpNormal
tpHigh
tpHigher
tpHighest

Definition at line 80 of file threads.h.

Function Documentation

changeCurrentProcessPriority()

void BASE_IMPEXP mrpt::system::changeCurrentProcessPriority

(

TProcessPriority

priority

)

Change the priority of the given process (it applies to all the threads, plus independent modifiers for each thread).

• Windows: See SetPriorityClass
• Linux (pthreads): Requires root permissions to increase process priority! Internally it calls nice(), so it has no effect if changeThreadPriority() was called and a SCHED_RR is already active.

  See also

  createThread, changeThreadPriority

Definition at line 303 of file threads.cpp.

References mrpt::system::ppHigh, mrpt::system::ppIdle, mrpt::system::ppNormal, mrpt::system::ppVeryHigh, and THROW_EXCEPTION.

changeThreadPriority()

void BASE_IMPEXP mrpt::system::changeThreadPriority	(	const TThreadHandle &	threadHandle,
		TThreadPriority	priority
	)

Change the priority of the given thread - for Windows, see also changeCurrentProcessPriority()

• Windows: This is equivalent to SetThreadPriority() (read the docs there)
• Linux (pthreads): May require root permissions! This sets the Round Robin scheduler with the given priority level. Read sched_setscheduler.

  See also

  createThread, changeCurrentProcessPriority

Definition at line 250 of file threads.cpp.

References mrpt::system::tpHigh, mrpt::system::tpHigher, mrpt::system::tpHighest, mrpt::system::tpLow, mrpt::system::tpLower, mrpt::system::tpLowests, and mrpt::system::tpNormal.

createThread() [1/2]

template<typename T >

TThreadHandle mrpt::system::createThread ( void(*)(T)  func, T  param  )

inline

Creates a new thread from a function (or static method) with one generic parameter.

This function creates, and starts a new thread running some code given by a function. The thread function should end by returning as normal.

Parameters

func	The function with the code to run in the thread.
param	The parameter to be passed to the new thread function.

Returns

A structure that represents the thread (it contains its ID and, in Windows, its HANDLE).

Exceptions

std::exception

If the operation fails

See also

createThreadFromObjectMethod, joinThread, changeThreadPriority

Definition at line 181 of file threads.h.

References mrpt::system::detail::ThreadCreateFunctor< T >::createThread().

Referenced by mrpt::gui::WxSubsystem::createOneInstanceMainThread(), mrpt::detectors::CFaceDetection::init(), mrpt::hwdrivers::CImpinjRFID::initialize(), my_CriticalSections_Multi(), and my_CSemaphore().

createThread() [2/2]

TThreadHandle mrpt::system::createThread ( void(*)(void)  func )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 189 of file threads.h.

References mrpt::system::detail::ThreadCreateFunctorNoParams::createThread().

createThreadFromObjectMethod() [1/2]

template<typename CLASS , typename PARAM >

TThreadHandle mrpt::system::createThreadFromObjectMethod ( CLASS *  obj, void(CLASS::*)(PARAM)  func, PARAM  param  )

inline

Creates a new thread running a non-static method (so it will have access to "this") from another method of the same class - with one generic parameter.

This function creates, and starts a new thread running some code given by a function. The thread function should end by returning as normal. Example of usage:

class MyClass {
public:
  void myThread(int n);
  void someMethod() {
     createThreadFromObjectMethod(this, &MyClass::myThread, 123 );
     ....
  }
};

Parameters

func	The function with the code to run in the thread.
param	The parameter to be passed to the new thread function.

Returns

A structure that represents the thread (it contains its ID and, in Windows, its HANDLE).

Exceptions

std::exception

If the operation fails

See also

createThread, joinThread, changeThreadPriority

Definition at line 216 of file threads.h.

References mrpt::system::detail::ThreadCreateObjectFunctor< CLASS, PARAM >::createThread().

Referenced by mrpt::system::CFileSystemWatcher::CFileSystemWatcher(), mrpt::hmtslam::CHMTSLAM::CHMTSLAM(), mrpt::hwdrivers::CNTRIPClient::CNTRIPClient(), mrpt::hwdrivers::CIbeoLuxETH::initialize(), mrpt::hwdrivers::CCameraSensor::initialize(), mrpt::pbmap::PbMapLocaliser::PbMapLocaliser(), mrpt::pbmap::PbMapMaker::PbMapMaker(), mrpt::hwdrivers::CRovio::retrieve_video(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateState().

createThreadFromObjectMethod() [2/2]

template<typename CLASS >

TThreadHandle mrpt::system::createThreadFromObjectMethod ( CLASS *  obj, void(CLASS::*)(void)  func  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 226 of file threads.h.

References mrpt::system::detail::ThreadCreateObjectFunctorNoParams< CLASS >::createThread().

createThreadFromObjectMethodRef()

template<typename CLASS , typename PARAM >

TThreadHandle mrpt::system::createThreadFromObjectMethodRef ( CLASS *  obj, void(CLASS::*)(PARAM &)  func, PARAM &  param  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 221 of file threads.h.

References mrpt::system::detail::ThreadCreateObjectFunctor< CLASS, PARAM >::createThread().

createThreadRef()

template<typename T >

TThreadHandle mrpt::system::createThreadRef ( void(*)(T &)  func, T &  param  )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 185 of file threads.h.

References mrpt::system::detail::ThreadCreateFunctor< T >::createThread().

Referenced by mrpt::utils::net::DNS_resolve_async().

exitThread()

void mrpt::system::exitThread

(

)

Explicit close of the current (running) thread.

Do not use normally, it's better just to return from the running thread function.

See also

createThread

Definition at line 526 of file threads.cpp.

Referenced by mrpt::hwdrivers::CImpinjRFID::startDriver().

getCurrentThreadHandle()

TThreadHandle mrpt::system::getCurrentThreadHandle

(

)

Returns a handle to the current thread.

Definition at line 231 of file threads.cpp.

getCurrentThreadId()

unsigned long mrpt::system::getCurrentThreadId

(

)

Returns the ID of the current thread.

See also

getCurrentThreadHandle

Definition at line 211 of file threads.cpp.

Referenced by mrpt::synch::CCriticalSection::enter(), mrpt::system::getCurrentThreadTimes(), mrpt::synch::CCriticalSection::leave(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::optimizeGraph(), sem_thread_example(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), and mrpt::hmtslam::CHMTSLAM::thread_TBI().

getCurrentThreadTimes()

void mrpt::system::getCurrentThreadTimes	(	time_t &	creationTime,
		time_t &	exitTime,
		double &	cpuTime
	)

Returns the creation and exit times of the current thread and its CPU time consumed.

Parameters

creationTime	The creation time of the thread.
exitTime	The exit time of the thread, or undefined if it is still running.
cpuTime	The CPU time consumed by the thread, in seconds.

Exceptions

std::exception

If the operation fails

See also

getCurrentThreadHandle, getCurrentThreadId, createThread

Definition at line 339 of file threads.cpp.

References FALSE, mrpt::format(), mrpt::system::getCurrentThreadId(), info, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, THROW_EXCEPTION, and mrpt::system::tokenize().

Referenced by mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), and mrpt::hmtslam::CHMTSLAM::thread_TBI().

getNumberOfProcessors()

unsigned int mrpt::system::getNumberOfProcessors

(

)

Return the number of processors ("cores"), or 1 if it cannot be determined.

Definition at line 486 of file threads.cpp.

joinThread()

void mrpt::system::joinThread

(

const TThreadHandle &

threadHandle

)

Waits until the given thread ends.

See also

createThread

Definition at line 190 of file threads.cpp.

References mrpt::system::TThreadHandle::isClear().

Referenced by mrpt::hwdrivers::CCameraSensor::close(), mrpt::utils::net::DNS_resolve_async(), mrpt::hwdrivers::CNationalInstrumentsDAQ::initialize(), my_CSemaphore(), mrpt::pbmap::PbMapLocaliser::stop_pbMapLocaliser(), mrpt::pbmap::PbMapMaker::stop_pbMapMaker(), mrpt::hwdrivers::CRovio::stop_video(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateState(), mrpt::detectors::CFaceDetection::~CFaceDetection(), mrpt::hmtslam::CHMTSLAM::~CHMTSLAM(), mrpt::hwdrivers::CIbeoLuxETH::~CIbeoLuxETH(), and mrpt::hwdrivers::CNTRIPClient::~CNTRIPClient().

launchProcess()

bool mrpt::system::launchProcess

(

const std::string &

command

)

Executes the given command (which may contain a program + arguments), and waits until it finishes.

Returns

false on any error, true otherwise

Definition at line 454 of file threads.cpp.

Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), and mrpt::vision::CFeatureExtraction::internal_computeSiftDescriptors().

sleep()

void mrpt::system::sleep

(

int

time_ms

)

An OS-independent method for sending the current thread to "sleep" for a given period of time.

Parameters

time_ms

The sleep period, in miliseconds.

Definition at line 57 of file threads.cpp.

References mrpt::utils::CTicTac::Tac(), and mrpt::utils::CTicTac::Tic().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::hwdrivers::CEnoseModular::checkConnectionAndConnect(), mrpt::hwdrivers::CBoardENoses::checkConnectionAndConnect(), mrpt::hwdrivers::CBoardSonars::checkConnectionAndConnect(), mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect(), mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected(), mrpt::hwdrivers::CImpinjRFID::connect(), mrpt::gui::CBaseGUIWindow::createWxWindow(), mrpt::gui::CBaseGUIWindow::destroyWxWindow(), mrpt::detectors::CCascadeClassifierDetection::detectObjects_Impl(), mrpt::hwdrivers::CGillAnemometer::doProcess(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::dumpVisibilityErrorMsg(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::dumpVisibilityErrorMsg(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::dumpVisibilityErrorMsg(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CImageGrabber_OpenCV::getObservation(), mrpt::gui::CBaseGUIWindow::getPushedKey(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::utils::net::http_request(), mrpt::hwdrivers::CIMUIntersense::initialize(), mrpt::hwdrivers::CVelodyneScanner::internal_read_PCAP_packet(), mrpt::hwdrivers::CGPSInterface::JAVAD_sendMessage(), launchTestWithTimeout(), mrpt::hwdrivers::CGPSInterface::legacy_topcon_setup_commands(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupSerialComms(), xsens::msleep(), my_CriticalSections_Multi(), my_CSemaphore(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::hwdrivers::COpenNI2Generic::open(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::pauseExec(), mrpt::hwdrivers::prepareVideoSourceFromUserSelection(), mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread(), mrpt::hwdrivers::CBoardSonars::programI2CAddress(), mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion(), mrpt::hwdrivers::CSerialPort::Read(), mrpt::hwdrivers::CSerialPort::ReadString(), mrpt::hwdrivers::CTuMicos::reset(), mrpt::hwdrivers::CRovio::retrieve_video(), mrpt::pbmap::PbMapLocaliser::run(), mrpt::pbmap::PbMapMaker::run(), mrpt::hwdrivers::CPtuDPerception::scan(), sem_thread_example(), mrpt::hwdrivers::CSickLaserSerial::SendCommandToSICK(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed(), mrpt::hwdrivers::CCANBusReader::setupSerialComms(), mrpt::hwdrivers::CImpinjRFID::startDriver(), mrpt::hwdrivers::CNationalInstrumentsDAQ::stop(), mrpt::pbmap::PbMapLocaliser::stop_pbMapLocaliser(), mrpt::pbmap::PbMapMaker::stop_pbMapMaker(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), thread_example(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hwdrivers::CCameraSensor::thread_save_images(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), mrpt::hwdrivers::CRovio::thread_video(), mrpt::hwdrivers::CLMS100Eth::turnOn(), mrpt::hwdrivers::CHokuyoURG::turnOn(), mrpt::hwdrivers::CGPSInterface::unsetJAVAD_AIM_mode(), mrpt::pbmap::PbMapMaker::viz_cb(), mrpt::hwdrivers::CCANBusReader::waitContinuousSampleFrame(), mrpt::hwdrivers::CSickLaserSerial::waitContinuousSampleFrame(), mrpt::gui::CBaseGUIWindow::waitForKey(), mrpt::gui::WxSubsystem::waitWxShutdownsIfNoWindows(), CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler(), and mrpt::hwdrivers::CIbeoLuxETH::~CIbeoLuxETH().

terminateThread()

void mrpt::system::terminateThread

(

TThreadHandle &

threadHandle

)

Terminate a thread, giving it no choice to delete objects, etc (use only as a last resource)

Definition at line 538 of file threads.cpp.

Referenced by mrpt::system::CFileSystemWatcher::~CFileSystemWatcher().