thread.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
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   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
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   +------------------------------------------------------------------------+ */
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#pragma once

#include "rptypes.h"
#define CLASS_THREAD(c, x) rp::hal::Thread::create_member<c, &c::x>(this)

namespace rp
{
namespace hal
{
class Thread
{
   public:
        enum priority_val_t
        {
                PRIORITY_REALTIME = 0,
                PRIORITY_HIGH = 1,
                PRIORITY_NORMAL = 2,
                PRIORITY_LOW = 3,
                PRIORITY_IDLE = 4,
        };

        template <class T, u_result (T::*PROC)(void)>
        static Thread create_member(T* pthis)
        {
                return create(_thread_thunk<T, PROC>, pthis);
        }

        template <class T, u_result (T::*PROC)(void)>
        static _word_size_t THREAD_PROC _thread_thunk(void* data)
        {
                return (static_cast<T*>(data)->*PROC)();
        }
        static Thread create(thread_proc_t proc, void* data = nullptr);

   public:
        ~Thread() {}
        Thread() : _data(nullptr), _func(nullptr), _handle(0) {}
        _word_size_t getHandle() { return _handle; }
        u_result terminate();
        void* getData() { return _data; }
        u_result join(unsigned long timeout = -1);
        u_result setPriority(priority_val_t p);
        priority_val_t getPriority();

        bool operator==(const Thread& right)
        {
                return this->_handle == right._handle;
        }

   protected:
        Thread(thread_proc_t proc, void* data)
                : _data(data), _func(proc), _handle(0)
        {
        }
        void* _data;
        thread_proc_t _func;
        _word_size_t _handle;
};
}
}