Thread.cpp

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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.
 */
 
#include <yarp/os/Thread.h>
 
#include <yarp/os/impl/ThreadImpl.h>
 
using namespace yarp::os::impl;
using namespace yarp::os;
 
class yarp::os::Thread::Private : public ThreadImpl
{
private:
    Thread& owner;
 
public:
    explicit Private(Thread& owner) :
            owner(owner),
            stopping(false)
    {
    }
 
    ~Private() override = default;
 
    void beforeStart() override
    {
        owner.beforeStart();
    }
 
    void afterStart(bool success) override
    {
        owner.afterStart(success);
    }
 
    void run() override
    {
        owner.run();
    }
 
    void close() override
    {
        if (isRunning()) {
            owner.onStop();
        }
        ThreadImpl::close();
    }
 
    bool threadInit() override
    {
        return owner.threadInit();
    }
 
    void threadRelease() override
    {
        owner.threadRelease();
    }
 
    bool stopping;
};
 
 
Thread::Thread() :
        mPriv(new Private(*this))
{
}
 
Thread::~Thread()
{
    mPriv->close();
    delete mPriv;
}
 
bool Thread::join(double seconds)
{
    return mPriv->join(seconds) == 0;
}
 
bool Thread::stop()
{
    mPriv->stopping = true;
    mPriv->close();
    return true;
}
 
void Thread::onStop()
{
    // by default this does nothing
}
 
bool Thread::start()
{
    mPriv->stopping = false;
    return mPriv->start();
}
 
bool Thread::isStopping()
{
    //return mPriv->isClosing();
    return mPriv->stopping;
}
 
bool Thread::isRunning()
{
    return mPriv->isRunning();
}
 
void Thread::beforeStart()
{
}
 
void Thread::afterStart(bool success)
{
    YARP_UNUSED(success);
}
 
int Thread::getCount()
{
    return ThreadImpl::getCount();
}
 
// get a unique key
long int Thread::getKey()
{
    return mPriv->getKey();
}
 
long int Thread::getKeyOfCaller()
{
    return ThreadImpl::getKeyOfCaller();
}
 
int Thread::setPriority(int priority, int policy)
{
    return mPriv->setPriority(priority, policy);
}
 
int Thread::getPriority()
{
    return mPriv->getPriority();
}
 
int Thread::getPolicy()
{
    return mPriv->getPolicy();
}
 
void Thread::yield()
{
    ThreadImpl::yield();
}