ThreadImpl.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_OS_IMPL_THREADIMPL_H
#define YARP_OS_IMPL_THREADIMPL_H
 
#include <yarp/os/Semaphore.h>
 
#include <atomic>
#include <thread>
 
namespace yarp {
namespace os {
namespace impl {
 
class YARP_os_impl_API ThreadImpl
{
public:
    virtual ~ThreadImpl();
 
    int join(double seconds = -1);
    virtual void run();
    virtual void close();
 
    // similar to close, but it does not call join (does not wait for thread termination)
    void askToClose();
 
    // should throw if no success
    virtual bool start();
 
    bool isClosing();
    bool isRunning();
 
    virtual void beforeStart();
    virtual void afterStart(bool success);
 
    virtual bool threadInit();
    virtual void threadRelease();
 
    static int getCount();
 
    // get a unique key
    long int getKey();
    static long int getKeyOfCaller();
 
    //should become private, when the thread is friend
    void notify(bool s);
    void notifyOpened(bool s)
    {
        opened = s;
    }
    void synchroWait();
    void synchroPost();
 
    int setPriority(int priority = -1, int policy = -1);
    int getPriority();
    int getPolicy();
    long getTid();
 
    long tid{-1};
    YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(std::thread::id) id;
 
    static void yield();
 
private:
    int defaultPriority{-1};
    int defaultPolicy{-1};
    YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(std::thread) thread;
    YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(std::atomic<bool>) active{false};
    bool opened{false};
    bool closing{false};
    bool needJoin{false};
 
    yarp::os::Semaphore synchro{0};
 
    bool initWasSuccessful{false};
};
 
} // namespace impl
} // namespace os
} // namespace yarp
 
#endif // YARP_OS_IMPL_THREADIMPL_H