Fawkes API  Fawkes Development Version
fawkes::FawkesMainThread Class Reference

Fawkes default main thread. More...

#include <>>

Inheritance diagram for fawkes::FawkesMainThread:

Classes

class  Runner
 Utility class to run the main thread. More...
 

Public Member Functions

 FawkesMainThread (Configuration *config, MultiLogger *multi_logger, ThreadManager *thread_manager, PluginManager *plugin_manager, const char *load_plugins, const char *default_plugin=0)
 Constructor. More...
 
virtual ~FawkesMainThread ()
 Destructor. More...
 
virtual void once ()
 Execute an action exactly once. More...
 
virtual void loop ()
 Code to execute in the thread. More...
 
virtual void set_mainloop_thread (Thread *mainloop_thread)
 Set a new main loop. More...
 
void full_start ()
 Start the thread and wait until once() completes. More...
 
MultiLoggerlogger () const
 Get logger. More...
 
- Public Member Functions inherited from fawkes::Thread
virtual ~Thread ()
 Virtual destructor. More...
 
virtual void init ()
 Initialize the thread. More...
 
bool prepare_finalize ()
 Prepare finalization. More...
 
virtual bool prepare_finalize_user ()
 Prepare finalization user implementation. More...
 
virtual void finalize ()
 Finalize the thread. More...
 
void cancel_finalize ()
 Cancel finalization. More...
 
void start (bool wait=true)
 Call this method to start the thread. More...
 
void cancel ()
 Cancel a thread. More...
 
void join ()
 Join the thread. More...
 
void detach ()
 Detach the thread. More...
 
void kill (int sig)
 Send signal to a thread. More...
 
bool operator== (const Thread &thread)
 Check if two threads are the same. More...
 
void wakeup ()
 Wake up thread. More...
 
void wakeup (Barrier *barrier)
 Wake up thread and wait for barrier afterwards. More...
 
void wait_loop_done ()
 Wait for the current loop iteration to finish. More...
 
OpMode opmode () const
 Get operation mode. More...
 
pthread_t thread_id () const
 Get ID of thread. More...
 
bool started () const
 Check if thread has been started. More...
 
bool cancelled () const
 Check if thread has been cancelled. More...
 
bool detached () const
 Check if thread has been detached. More...
 
bool running () const
 Check if the thread is running. More...
 
bool waiting () const
 Check if thread is currently waiting for wakeup. More...
 
const char * name () const
 Get name of thread. More...
 
void set_flags (uint32_t flags)
 Set all flags in one go. More...
 
void set_flag (uint32_t flag)
 Set flag for the thread. More...
 
void unset_flag (uint32_t flag)
 Unset flag. More...
 
bool flagged_bad () const
 Check if FLAG_BAD was set. More...
 
void set_delete_on_exit (bool del)
 Set whether the thread should be deleted on exit. More...
 
void set_prepfin_hold (bool hold)
 Hold prepare_finalize(). More...
 
void add_notification_listener (ThreadNotificationListener *notification_listener)
 Add notification listener. More...
 
void remove_notification_listener (ThreadNotificationListener *notification_listener)
 Remove notification listener. More...
 
void notify_of_failed_init ()
 Notify of failed init. More...
 
- Public Member Functions inherited from fawkes::MainLoopEmployer
virtual ~MainLoopEmployer ()
 Virtual empty destructor. More...
 

Protected Member Functions

virtual void run ()
 Stub to see name in backtrace for easier debugging. More...
 
- Protected Member Functions inherited from fawkes::Thread
 Thread (const char *name)
 Constructor. More...
 
 Thread (const char *name, OpMode op_mode)
 Constructor. More...
 
void exit ()
 Exit the thread. More...
 
void test_cancel ()
 Set cancellation point. More...
 
void yield ()
 Yield the processor to another thread or process. More...
 
void set_opmode (OpMode op_mode)
 Set operation mode. More...
 
void set_prepfin_conc_loop (bool concurrent=true)
 Set concurrent execution of prepare_finalize() and loop(). More...
 
void set_coalesce_wakeups (bool coalesce=true)
 Set wakeup coalescing. More...
 
void set_name (const char *format,...)
 Set name of thread. More...
 
bool wakeup_pending ()
 Check if wakeups are pending. More...
 

Additional Inherited Members

- Public Types inherited from fawkes::Thread
enum  OpMode { OPMODE_CONTINUOUS, OPMODE_WAITFORWAKEUP }
 Thread operation mode. More...
 
enum  CancelState { CANCEL_ENABLED, CANCEL_DISABLED }
 Cancel state. More...
 
- Static Public Member Functions inherited from fawkes::Thread
static Threadcurrent_thread ()
 Get the Thread instance of the currently running thread. More...
 
static Threadcurrent_thread_noexc () throw ()
 Similar to current_thread, but does never throw an exception. More...
 
static pthread_t current_thread_id ()
 Get the ID of the currently running thread. More...
 
static void init_main ()
 Initialize Thread wrapper instance for main thread. More...
 
static void destroy_main ()
 Destroy main thread wrapper instance. More...
 
static void set_cancel_state (CancelState new_state, CancelState *old_state=0)
 Set the cancel state of the current thread. More...
 
- Static Public Attributes inherited from fawkes::Thread
static const unsigned int FLAG_BAD = 0x00000001
 Standard thread flag: "thread is bad". More...
 
- Protected Attributes inherited from fawkes::Thread
bool finalize_prepared
 True if prepare_finalize() has been called and was not stopped with a cancel_finalize(), false otherwise. More...
 
Mutexloop_mutex
 Mutex that is used to protect a call to loop(). More...
 
Mutexloopinterrupt_antistarve_mutex
 Mutex to avoid starvation when trying to lock loop_mutex. More...
 

Detailed Description

Fawkes default main thread.

This thread initializes all important stuff like the BlackBoard, handles plugins and wakes up threads at defined hooks.

Author
Tim Niemueller

Definition at line 58 of file main_thread.h.

Constructor & Destructor Documentation

◆ FawkesMainThread()

fawkes::FawkesMainThread::FawkesMainThread ( Configuration config,
MultiLogger multi_logger,
ThreadManager thread_manager,
PluginManager plugin_manager,
const char *  load_plugins,
const char *  default_plugin = 0 
)

Constructor.

Parameters
configconfiguration to use
multi_loggerbasic multi logger to use, a network logger will be added in the ctor.
thread_managerthread manager used to wakeup threads
plugin_managerplugin manager to load the desired plugins
load_pluginsstring with comma-separated list of names of plugins to load on startup.
default_pluginadditional default plugin name

Definition at line 73 of file main_thread.cpp.

References fawkes::Configuration::get_bool(), fawkes::Configuration::get_uint(), fawkes::Clock::instance(), fawkes::MultiLogger::log_debug(), fawkes::MultiLogger::log_info(), and fawkes::Thread::name().

◆ ~FawkesMainThread()

fawkes::FawkesMainThread::~FawkesMainThread ( )
virtual

Member Function Documentation

◆ full_start()

void fawkes::FawkesMainThread::full_start ( )

Start the thread and wait until once() completes.

This is useful to assure that all plugins are loaded before assuming that startup is complete.

Definition at line 197 of file main_thread.cpp.

References fawkes::Thread::start(), and fawkes::Barrier::wait().

Referenced by NaoFawkesModule::NaoFawkesModule().

◆ logger()

MultiLogger * fawkes::FawkesMainThread::logger ( ) const

Get logger.

Returns
logger

Definition at line 389 of file main_thread.cpp.

◆ loop()

void fawkes::FawkesMainThread::loop ( )
virtual

◆ once()

void fawkes::FawkesMainThread::once ( )
virtual

Execute an action exactly once.

This code is executed once and only once right after the thread is started before loop() is called. This is useful if you want to implement an one-shot background job. Just implement once() and leave loop() untouched. Start the thread and detach it and it will just do its job and then die automatically. If you use set_delete_on_exit(true) even the Thread instance will be automatically deleted.

Reimplemented from fawkes::Thread.

Definition at line 209 of file main_thread.cpp.

References fawkes::PluginManager::load(), fawkes::MultiLogger::log_error(), fawkes::PluginLoadException::plugin_name(), and fawkes::Barrier::wait().

◆ run()

virtual void fawkes::FawkesMainThread::run ( )
inlineprotectedvirtual

Stub to see name in backtrace for easier debugging.

See also
Thread::run()

Reimplemented from fawkes::Thread.

Definition at line 96 of file main_thread.h.

References fawkes::Thread::run().

◆ set_mainloop_thread()

void fawkes::FawkesMainThread::set_mainloop_thread ( Thread mainloop_thread)
virtual

Set a new main loop.

Set the main loop. An exception should be thrown if anything prevents this from happening successful.

Parameters
mainloop_threadnew main loop thread. The caller of this method must ensure that the thread operates in wait-for-wakeup mode and executes the main loop as its loop() method (i.e. the thread must have a properly initialized MainLoopAspect).

Implements fawkes::MainLoopEmployer.

Definition at line 260 of file main_thread.cpp.

References fawkes::InterruptibleBarrier::interrupt(), fawkes::Mutex::lock(), fawkes::Thread::loopinterrupt_antistarve_mutex, and fawkes::Mutex::unlock().


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