80 lines
1.6 KiB
C++
80 lines
1.6 KiB
C++
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#ifndef __UT_THREAD_HPP__
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#define __UT_THREAD_HPP__
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#include <unitree/common/thread/future.hpp>
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namespace unitree
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{
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namespace common
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{
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class Thread : public FutureWrapper
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{
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public:
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Thread()
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: mThreadId(0), mCpuId(UT_CPU_ID_NONE)
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{}
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Thread(const std::string& name, int32_t cpuId)
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: mThreadId(0), mName(name), mCpuId(cpuId)
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{}
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__UT_THREAD_DECL_TMPL_FUNC_ARG__
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explicit Thread(__UT_THREAD_TMPL_FUNC_ARG__)
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: Thread()
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{
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Run(__UT_THREAD_BIND_FUNC_ARG__);
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}
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__UT_THREAD_DECL_TMPL_FUNC_ARG__
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explicit Thread(const std::string& name, int32_t cpuId, __UT_THREAD_TMPL_FUNC_ARG__)
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: Thread(name, cpuId)
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{
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Run(__UT_THREAD_BIND_FUNC_ARG__);
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}
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virtual ~Thread();
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uint64_t GetThreadId() const;
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void SetCpu();
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void SetName();
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void SetPriority(int32_t priority);
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void Wrap();
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protected:
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__UT_THREAD_DECL_TMPL_FUNC_ARG__
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void Run(__UT_THREAD_TMPL_FUNC_ARG__)
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{
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mFunc = std::bind(__UT_THREAD_BIND_FUNC_ARG__);
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CreateThreadNative();
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}
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void CreateThreadNative();
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protected:
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pthread_t mThreadId;
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std::string mName;
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int32_t mCpuId;
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std::function<Any()> mFunc;
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};
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typedef std::shared_ptr<Thread> ThreadPtr;
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__UT_THREAD_DECL_TMPL_FUNC_ARG__
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static inline ThreadPtr CreateThread(__UT_THREAD_TMPL_FUNC_ARG__)
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{
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return ThreadPtr(new Thread(__UT_THREAD_BIND_FUNC_ARG__));
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}
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__UT_THREAD_DECL_TMPL_FUNC_ARG__
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static inline ThreadPtr CreateThreadEx(const std::string& name, int32_t cpuId, __UT_THREAD_TMPL_FUNC_ARG__)
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{
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return ThreadPtr(new Thread(name, cpuId, __UT_THREAD_BIND_FUNC_ARG__));
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}
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}
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}
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#endif//__UT_THREAD_HPP__
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