85 lines
2.1 KiB
C++
85 lines
2.1 KiB
C++
#ifndef __UT_RECURRENT_THREAD_HPP__
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#define __UT_RECURRENT_THREAD_HPP__
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#include <unitree/common/thread/thread.hpp>
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#define UT_THREAD_TIME_INTERVAL_MICROSEC 1000000
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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 RecurrentThread : public Thread
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{
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public:
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__UT_THREAD_DECL_TMPL_FUNC_ARG__
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explicit RecurrentThread(uint64_t intervalMicrosec, __UT_THREAD_TMPL_FUNC_ARG__)
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: mQuit(false), mIntervalMicrosec(intervalMicrosec)
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{
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//recurrent function
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mFunc = std::bind(__UT_THREAD_BIND_FUNC_ARG__);
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//Call Thread::Run for runing thread
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if (mIntervalMicrosec == 0)
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{
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Run(&RecurrentThread::ThreadFunc_0, this);
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}
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else
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{
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Run(&RecurrentThread::ThreadFunc, this);
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}
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}
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__UT_THREAD_DECL_TMPL_FUNC_ARG__
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explicit RecurrentThread(const std::string& name, int32_t cpuId, uint64_t intervalMicrosec,
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__UT_THREAD_TMPL_FUNC_ARG__)
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: Thread(name, cpuId), mQuit(false), mIntervalMicrosec(intervalMicrosec)
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{
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//recurrent function
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mFunc = std::bind(__UT_THREAD_BIND_FUNC_ARG__);
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//Call Thread::Run for runing thread
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if (mIntervalMicrosec == 0)
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{
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Run(&RecurrentThread::ThreadFunc_0, this);
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}
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else
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{
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Run(&RecurrentThread::ThreadFunc, this);
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}
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}
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virtual ~RecurrentThread();
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int32_t ThreadFunc();
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int32_t ThreadFunc_0();
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bool Wait(int64_t microsec = 0);
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private:
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volatile bool mQuit;
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uint64_t mIntervalMicrosec;
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std::function<void()> mFunc;
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};
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typedef std::shared_ptr<RecurrentThread> RecurrentThreadPtr;
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__UT_THREAD_DECL_TMPL_FUNC_ARG__
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ThreadPtr CreateRecurrentThread(uint64_t intervalMicrosec, __UT_THREAD_TMPL_FUNC_ARG__)
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{
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return ThreadPtr(new RecurrentThread(intervalMicrosec, __UT_THREAD_BIND_FUNC_ARG__));
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}
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__UT_THREAD_DECL_TMPL_FUNC_ARG__
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ThreadPtr CreateRecurrentThreadEx(const std::string& name, int32_t cpuId, uint64_t intervalMicrosec,
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__UT_THREAD_TMPL_FUNC_ARG__)
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{
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return ThreadPtr(new RecurrentThread(name, cpuId, intervalMicrosec,
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__UT_THREAD_BIND_FUNC_ARG__));
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}
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}
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}
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#endif//__UT_RECURRENT_THREAD_HPP__
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