doc ru, printf() before assert in containers

libs/main/thread/pithread.cpp

@@ -54,54 +54,85 @@ __THREAD_FUNC_RET__ thread_function_once(void * t) {((PIThread*)t)->__thread_fun
 #  define UNREGISTER_THREAD(t)
 #endif
 
-/*! \class PIThread
- * \brief Thread class
- * \details This class allow you exec your code in separate thread.
- * 
- * \section PIThread_sec0 Synopsis
- * Multithreading allow you to write program which will be executed
- * in several threads simultaneously. This trend allow you to use all 
- * cores of modern processors, but there are many dangers.
- * 
- * This class provide virtual functions \a begin(), \a run() and \a end(),
- * which describes start, execution and finish work of some process.
- * These functions executes in \b separate thread. When you execute
- * \a start(), %PIThread create separate system thread and sequentially
- * executes function \a begin(), \a run() and \a end(). You can
- * reimplement each function and write your own code to execute.
- * Scheme of functions executing:
-\code{.cpp}
-begin();
-event started();
-while (isRunning()) {
-    run();
-    ThreadFunc();
-    piMSleep(timer_delay);
-}
-event stopped();
-end();
-\endcode
- * Unlike from directly using "pthread" or some similar you doesn`t need
- * to write your own main thread cycle and sleep at every cycle end.
- * %PIThread make it for you, and your job is to set sleep value from
- * contructor or when starting thread, and reimplement \a begin(), \a run()
- * and \a end() functions.
- * 
- * \section PIThread_sec1 Using without subclassing
- * You can use %PIThread without subclassing by using "ThreadFunc" pointer
- * that can be set from constructor or by overloaded function \a start(ThreadFunc func, int timer_delay).
- * If "func" if not null this function will be executed as \a run(). ThreadFunc is any static
- * function with format void func(void * data). "Data" is custom data set from constructor or
- * with function \a setData(). \n Also you can connect to event \a started(), but
- * in this case you should to white your thread main cycle, because this event raised only one time.
- * 
- * \section PIThread_sec2 Locking
- * %PIThread has inrternal mutex that can be locked and unlocked every \a run() if you set this flag
- * with function \a needLockRun(bool). Also you can access to this mutex by functions \a lock(), \a unlock()
- * and \a mutex(). Using this functions together with needLockRun(true) can guarantee one-thread access to
- * some data.
- * 
- */
+//! \addtogroup Thread
+//! \{
+//! \class PIThread pithread.h
+//! \~\brief
+//! \~english Thread class
+//! \~russian Класс потока
+//!
+//! \~\details
+//! \~english
+//! This class allow you exec your code in separate thread.
+//!
+//! \~russian
+//! Этот класс позволяет выполнять код из параллельного потока.
+//!
+//!
+//! \~english \section PIThread_sec0 Synopsis
+//! \~russian \section PIThread_sec0 Краткий обзор
+//! \~english
+//! Multithreading allow you to write program which will be executed
+//! in several threads simultaneously. This trend allow you to use all
+//! cores of modern processors, but there are many dangers.
+//!
+//! This class provide virtual functions \a begin(), \a run() and \a end(),
+//! which describes start, execution and finish work of some process.
+//! These functions executes in \b separate thread. When you execute
+//! \a start(), %PIThread create separate system thread and sequentially
+//! executes function \a begin(), \a run() and \a end(). You can
+//! reimplement each function and write your own code to execute.
+//! Scheme of functions executing:
+//!
+//! \~russian
+//!
+//! \~\code{.cpp}
+//! begin();
+//! event started();
+//! while (isRunning()) {
+//!     run();
+//!     ThreadFunc();
+//!     piMSleep(timer_delay);
+//! }
+//! event stopped();
+//! end();
+//! \endcode
+//!
+//! \~english
+//! Unlike from directly using "pthread" or some similar you doesn`t need
+//! to write your own main thread cycle and sleep at every cycle end.
+//! %PIThread make it for you, and your job is to set sleep value from
+//! contructor or when starting thread, and reimplement \a begin(), \a run()
+//! and \a end() functions.
+//!
+//! \~russian
+//!
+//!
+//! \~english \section PIThread_sec1 Using without subclassing
+//! \~russian \section PIThread_sec1 Использование без наследования
+//! \~english
+//! You can use %PIThread without subclassing by using "ThreadFunc" pointer
+//! that can be set from constructor or by overloaded function \a start(ThreadFunc func, int timer_delay).
+//! If "func" if not null this function will be executed as \a run(). ThreadFunc is any static
+//! function with format void func(void * data). "Data" is custom data set from constructor or
+//! with function \a setData(). \n Also you can connect to event \a started(), but
+//! in this case you should to white your thread main cycle, because this event raised only one time.
+//!
+//! \~russian
+//!
+//!
+//! \~english \section PIThread_sec2 Locking
+//! \~russian \section PIThread_sec2 Блокировки
+//! \~english
+//! %PIThread has inrternal mutex that can be locked and unlocked every \a run() if you set this flag
+//! with function \a needLockRun(bool). Also you can access to this mutex by functions \a lock(), \a unlock()
+//! and \a mutex(). Using this functions together with needLockRun(true) can guarantee one-thread access to
+//! some data.
+//!
+//! \~russian
+//!
+//! \}
+//!
 
 #ifndef MICRO_PIP