Asynchronous task (runs in its own thread) More...

#include <ArASyncTask.h>

Inherited by ArBatteryMTX, ArFunctorASyncTask, ArLCDMTX, ArRecurrentTask, ArRobotPacketReaderThread, ArSignalHandler, ArSonarMTX, ArSoundsQueue, ArSyncLoop, ExampleThread, and Joydrive.

Public Member Functions
	ArASyncTask ()
	Constructor.

virtual int	create (bool joinable=true, bool lowerPriority=true)
	Create the task and start it going.

virtual const char *	getThreadActivity (void)
	Gets a string that describes what the thread is doing, or NULL if it doesn't know. More...

virtual void	run (void)
	Run without creating a new thread. More...

virtual void	runAsync (void)
	Run in its own thread.

virtual void *	runInThisThread (void *arg=0)
	Internal function used with system threading system to run the new thread. More...

virtual void *	runThread (void *arg)=0
	The main run loop. More...

virtual void	stopRunning (void)
	Stop the thread.

virtual	~ArASyncTask ()
	Destructor.

Public Member Functions inherited from ArThread
	ArThread (bool blockAllSignals=true)
	Constructor.

	ArThread (ThreadType thread, bool joinable, bool blockAllSignals=true)
	Constructor - starts the thread.

	ArThread (ArFunctor *func, bool joinable=true, bool blockAllSignals=true)
	Constructor - starts the thread.

virtual void	cancel (void)
	Cancel the thread.

virtual int	detach (void)
	Detatch the thread so it cant be joined.

bool	getBlockAllSignals (void)
	Do we block all process signals at startup?

virtual ArFunctor *	getFunc (void) const
	Get the functor that the thread runs.

virtual bool	getJoinable (void) const
	Get the joinable status of the thread.

virtual ThreadType	getOSThread (void) const
	Get the underlying os thread type.

pid_t	getPID (void)

virtual bool	getRunning (void) const
	Get the running status of the thread.

virtual bool	getRunningWithLock (void)
	Get the running status of the thread, locking around the variable.

virtual const ThreadType *	getThread (void) const
	Get the underlying thread type.

virtual const char *	getThreadName (void)
	Gets the name of the thread.

pid_t	getTID (void)

virtual bool	isThreadFinished () const
	Returns whether the thread has been completed and can be deleted. More...

virtual bool	isThreadStarted () const
	Returns whether the thread has been started. More...

virtual int	join (void **ret=NULL)
	Join on the thread.

int	lock (void)
	Lock the thread instance. More...

virtual void	logThreadInfo (void)
	Logs the information about this thread.

virtual void	setRunning (bool running)
	Set the running value on the thread.

virtual void	setThreadName (const char *name)
	Sets the name of the thread.

virtual void	threadFinished (void)
	Marks the thread as finished and logs useful debugging information. More...

virtual void	threadStarted (void)
	Marks the thread as started and logs useful debugging information. More...

int	tryLock (void)
	Try to lock the thread instance without blocking. More...

int	unlock (void)
	Unlock the thread instance. More...

virtual	~ArThread ()
	Destructor.

Additional Inherited Members
Public Types inherited from ArThread
typedef std::map< ThreadType, ArThread * >	MapType

enum	Status { STATUS_FAILED =1, STATUS_NORESOURCE, STATUS_NO_SUCH_THREAD, STATUS_INVALID, STATUS_JOIN_SELF, STATUS_ALREADY_DETATCHED }

typedef pthread_t	ThreadType

Static Public Member Functions inherited from ArThread
static void	cancelAll (void)
	Cancel all threads.

static ArLog::LogLevel	getLogLevel (void)
	Gets the logging level for thread information.

static ThreadType	getThisOSThread (void)
	Get the underlying os thread type of this thread.

static const ThreadType *	getThisThread (void)
	Get the underlying thread type of this thread.

static const char *	getThisThreadName (void)
	Gets the name of the this thread.

static void	init (void)
	Initialize the internal book keeping structures. More...

static void	joinAll (void)
	Join on all threads.

static ThreadType	osSelf (void)
	Returns the os self of the current thread. More...

static ArThread *	self (void)
	Returns the instance of your own thread (the current one) More...

static void	setLogLevel (ArLog::LogLevel level)
	Sets the logging level for thread information.

static void	shutdown ()
	Shuts down and deletes the last remaining thread; call after joinAll.

static void	stopAll ()
	Stop all threads.

static void	yieldProcessor (void)
	Yield the processor to another thread.

Protected Member Functions inherited from ArThread
virtual int	doJoin (void **ret=NULL)

Static Protected Member Functions inherited from ArThread
static void	addThreadToMap (ThreadType pt, ArThread *at)

static ArThread *	findThreadInMap (ThreadType t)

static void	removeThreadFromMap (ThreadType t)

Protected Attributes inherited from ArThread
bool	myBlockAllSignals

bool	myFinished

ArFunctor *	myFunc

bool	myJoinable

ArMutex	myMutex

std::string	myName

pid_t	myPID

bool	myRunning
	State variable to denote when the thread should continue or exit.

bool	myStarted

ArStrMap	myStrMap

ThreadType	myThread

pid_t	myTID

Static Protected Attributes inherited from ArThread
static ArLog::LogLevel	ourLogLevel = ArLog::Verbose

static MapType	ourThreads

static ArMutex	ourThreadsMutex

static std::string	ourUnknownThreadName = "unknown"

Detailed Description

Asynchronous task (runs in its own thread)

The ArAsynTask is a task that runs in its own thread. This is a rather simple class. The user simply needs to derive their own class from ArAsyncTask and define the runThread() function. They then need to create an instance of their task and call run or runAsync. The standard way to stop a task is to call stopRunning() which sets ArThread::myRunning to false. In their run loop, they should pay attention to the getRunning() or the ArThread::myRunning variable. If this value goes to false, the task should clean up after itself and exit its runThread() function.

Examples:: threadExample.cpp.

Member Function Documentation

◆ getThreadActivity()

virtual const char* ArASyncTask::getThreadActivity ( void )

inlinevirtual

Gets a string that describes what the thread is doing, or NULL if it doesn't know.

Override this in your subclass to return a status string. This can be used for debugging or UI display.

Reimplemented from ArThread.

◆ run()

virtual void ArASyncTask::run ( void )

inlinevirtual

Run without creating a new thread.

This will run the the ArASyncTask without creating a new thread to run it in. It performs the needed setup then calls runThread() directly instead of letting the system threading system do it in a new thread.

Reimplemented in ArSoundsQueue.

◆ runInThisThread()

void * ArASyncTask::runInThisThread ( void * arg = 0 )

virtual

Internal function used with system threading system to run the new thread.

This will run the code of the ArASyncTask without creating a new thread to run it in.

In general, use run() or runAsync() instead.

It performs the needed setup then calls runThread(). This is good if you have a task which you wish to run multiple instances of and you want to use the main() thread instead of having it block, waiting for exit of the program.

Parameters

arg	the argument to pass to the runThread()

◆ runThread()

virtual void* ArASyncTask::runThread ( void * arg )

pure virtual

The main run loop.

Override this function and put your taskes run loop here. Check the value of getRunning() periodicly in your loop. If the value is false, the loop should exit and runThread() should return. The argument and return value are specific to the platform thread implementation, and can be ignored.

Java and Python Wrappers: In the wrapper libraries, this method takes no arguments and has no return value.

Implemented in ArSoundsQueue, and ArFunctorASyncTask.

Examples:: threadExample.cpp.

The documentation for this class was generated from the following files:

ArASyncTask.h
ArASyncTask.cpp