os/threads/threads.cpp

Demonstrate the basic use of threads. See also os/periodicthread/periodicthread.cpp

/*
 * 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.
 */
 
/*
 * Show thread basic functionalities, you may want to have a look at the
 * ratethread example.
 */
 
#include <yarp/os/Network.h>
#include <yarp/os/Thread.h>
#include <yarp/os/Time.h>
 
#include <cstdio>
 
using yarp::os::Network;
using yarp::os::Thread;
 
constexpr double thread1_delay = 1.0;
constexpr double thread2_delay = 0.5;
constexpr double main_delay = 3.0;
 
class Thread1 : public Thread
{
public:
    bool threadInit() override
    {
        printf("Starting thread1\n");
        return true;
    }
 
    void run() override
    {
        while (!isStopping()) {
            printf("Hello, from thread1\n");
            yarp::os::Time::delay(thread1_delay);
        }
    }
 
    void threadRelease() override
    {
        printf("Goodbye from thread1\n");
    }
};
 
class Thread2 : public Thread
{
public:
    bool threadInit() override
    {
        printf("Starting thread2\n");
        return true;
    }
 
    void run() override
    {
        yarp::os::Time::delay(thread2_delay);
        while (!isStopping()) {
            printf("Hello from thread2\n");
            yarp::os::Time::delay(thread2_delay);
        }
    }
 
    void threadRelease() override
    {
        printf("Goodbye from thread2\n");
    }
};
 
int main()
{
    Network yarp;
    Thread1 t1;
    Thread2 t2;
    printf("Starting threads...\n");
    t1.start();
    t2.start();
    printf("started\n");
    yarp::os::Time::delay(main_delay);
    printf("stopping threads...\n");
    t1.stop();
    t2.stop();
    printf("stopped\n");
    return 0;
}