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54b53723563322050d3d5496e4a3f5eebb92dd96
pip/libs/main/thread/pithread.cpp
peri4 54b5372356 doxygen @ tags replaced to \
2022-03-14 21:19:31 +03:00

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/*
PIP - Platform Independent Primitives
Thread
Ivan Pelipenko peri4ko@yandex.ru, Andrey Bychkov work.a.b@yandex.ru
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "piincludes_p.h"
#include "pithread.h"
#include "piintrospection_threads.h"
#ifndef MICRO_PIP
# include "pisystemtests.h"
#endif
#include <signal.h>
#if defined(WINDOWS)
# define __THREAD_FUNC_RET__ uint __stdcall
#elif defined(FREERTOS)
# define __THREAD_FUNC_RET__ void
#else
# define __THREAD_FUNC_RET__ void*
#endif
#ifndef FREERTOS
# define __THREAD_FUNC_END__ 0
#else
# define __THREAD_FUNC_END__
#endif
#if defined(LINUX)
# include <sys/syscall.h>
# define gettid() syscall(SYS_gettid)
#endif
#if defined(MAC_OS) || defined(BLACKBERRY)
# include <pthread.h>
#endif
__THREAD_FUNC_RET__ thread_function(void * t) {((PIThread*)t)->__thread_func__(); return __THREAD_FUNC_END__;}
__THREAD_FUNC_RET__ thread_function_once(void * t) {((PIThread*)t)->__thread_func_once__(); return __THREAD_FUNC_END__;}
#ifndef MICRO_PIP
# define REGISTER_THREAD(t) __PIThreadCollection::instance()->registerThread(t)
# define UNREGISTER_THREAD(t) __PIThreadCollection::instance()->unregisterThread(t)
#else
# define REGISTER_THREAD(t)
# 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.
*
*/
#ifndef MICRO_PIP
__PIThreadCollection *__PIThreadCollection::instance() {
return __PIThreadCollection_Initializer__::__instance__;
}
void __PIThreadCollection::registerThread(PIThread * t) {
lock();
if (!threads_.contains(t))
threads_ << t;
unlock();
}
void __PIThreadCollection::unregisterThread(PIThread * t) {
lock();
threads_.removeAll(t);
unlock();
}
PIVector<PIThread * > __PIThreadCollection::threads() const {
return threads_;
}
void __PIThreadCollection::startedAuto(PIThread * t) {
PIMutexLocker _ml(auto_mutex);
auto_threads_ << t;
}
void __PIThreadCollection::stoppedAuto() {
PIThread * t = emitter()->cast<PIThread>();
if (!t) return;
auto_mutex.lock();
auto_threads_.removeAll(t);
auto_mutex.unlock();
delete t;
}
int __PIThreadCollection_Initializer__::count_(0);
__PIThreadCollection * __PIThreadCollection_Initializer__::__instance__(0);
__PIThreadCollection_Initializer__::__PIThreadCollection_Initializer__() {
count_++;
//PICout(PICoutManipulators::DefaultControls) << "try create Core" << count_;
if (count_ > 1) return;
//PICout(PICoutManipulators::DefaultControls) << "create Core";
__instance__ = new __PIThreadCollection();
}
__PIThreadCollection_Initializer__::~__PIThreadCollection_Initializer__() {
count_--;
//PICout(PICoutManipulators::DefaultControls) << "try delete Core" << count_;
if (count_ > 0) return;
//PICout(PICoutManipulators::DefaultControls) << "delete Core";
if (__instance__ != 0) {
delete __instance__;
__instance__ = 0;
}
}
#endif // MICRO_PIP
PRIVATE_DEFINITION_START(PIThread)
#if defined(WINDOWS)
void * thread;
#elif defined(FREERTOS)
TaskHandle_t thread;
#else
pthread_t thread;
sched_param sparam;
#endif
PRIVATE_DEFINITION_END(PIThread)
PIThread::PIThread(void * data, ThreadFunc func, bool startNow, int timer_delay): PIObject() {
PIINTROSPECTION_THREAD_NEW(this);
tid_ = -1;
PRIVATE->thread = 0;
data_ = data;
ret_func = func;
terminating = running_ = lockRun = false;
priority_ = piNormal;
delay_ = timer_delay;
if (startNow) start(timer_delay);
}
PIThread::PIThread(std::function<void ()> func, bool startNow, int timer_delay) {
PIINTROSPECTION_THREAD_NEW(this);
tid_ = -1;
PRIVATE->thread = 0;
data_ = 0;
ret_func = [func](void*){func();};
terminating = running_ = lockRun = false;
priority_ = piNormal;
delay_ = timer_delay;
if (startNow) start(timer_delay);
}
PIThread::PIThread(bool startNow, int timer_delay): PIObject() {
PIINTROSPECTION_THREAD_NEW(this);
tid_ = -1;
PRIVATE->thread = 0;
ret_func = 0;
terminating = running_ = lockRun = false;
priority_ = piNormal;
delay_ = timer_delay;
if (startNow) start(timer_delay);
}
PIThread::~PIThread() {
PIINTROSPECTION_THREAD_DELETE(this);
if (!running_ || PRIVATE->thread == 0) return;
#ifdef FREERTOS
//void * ret(0);
//PICout(PICoutManipulators::DefaultControls) << "~PIThread" << PRIVATE->thread;
//PICout(PICoutManipulators::DefaultControls) << pthread_join(PRIVATE->thread, 0);
PICout(PICoutManipulators::DefaultControls) << "FreeRTOS can't terminate pthreads! waiting for stop";
stop(true);
//PICout(PICoutManipulators::DefaultControls) << "stopped!";
#else
#ifndef WINDOWS
# ifdef ANDROID
pthread_kill(PRIVATE->thread, SIGTERM);
# else
pthread_cancel(PRIVATE->thread);
# endif
# else
TerminateThread(PRIVATE->thread, 0);
CloseHandle(PRIVATE->thread);
# endif
#endif
terminating = running_ = false;
}
void PIThread::stop(bool wait) {
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "stop ..." << running_ << wait;
terminating = true;
if (wait) waitForFinish();
}
bool PIThread::start(int timer_delay) {
if (running_) return false;
delay_ = timer_delay;
return _startThread((void*)thread_function);
}
bool PIThread::startOnce() {
if (running_) return false;
return _startThread((void*)thread_function_once);
}
void PIThread::terminate() {
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "terminate ..." << running_;
#ifdef FREERTOS
PICout(PICoutManipulators::DefaultControls) << "FreeRTOS can't terminate pthreads! waiting for stop";
stop(true);
//PICout(PICoutManipulators::DefaultControls) << "stopped!";
#else
if (PRIVATE->thread == 0) return;
UNREGISTER_THREAD(this);
terminating = running_ = false;
tid_ = -1;
//PICout(PICoutManipulators::DefaultControls) << "terminate" << PRIVATE->thread;
# ifndef WINDOWS
# ifdef ANDROID
pthread_kill(PRIVATE->thread, SIGTERM);
# else
//pthread_kill(PRIVATE->thread, SIGKILL);
//void * ret(0);
pthread_cancel(PRIVATE->thread);
//pthread_join(PRIVATE->thread, &ret);
# endif
# else
TerminateThread(PRIVATE->thread, 0);
CloseHandle(PRIVATE->thread);
# endif
PRIVATE->thread = 0;
end();
#endif //FREERTOS
PIINTROSPECTION_THREAD_STOP(this);
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "terminate ok" << running_;
}
int PIThread::priority2System(PIThread::Priority p) {
switch (p) {
#if defined(QNX)
case piLowerst: return 8;
case piLow: return 9;
case piNormal: return 10;
case piHigh: return 11;
case piHighest: return 12;
#elif defined(WINDOWS)
case piLowerst: return -2;
case piLow: return -1;
case piNormal: return 0;
case piHigh: return 1;
case piHighest: return 2;
#elif defined(FREERTOS)
case piLowerst: return 2;
case piLow: return 3;
case piNormal: return 4;
case piHigh: return 5;
case piHighest: return 6;
#else
case piLowerst: return 2;
case piLow: return 1;
case piNormal: return 0;
case piHigh: return -1;
case piHighest: return -2;
#endif
default: return 0;
}
return 0;
}
bool PIThread::_startThread(void * func) {
terminating = false;
running_ = true;
#if !defined(WINDOWS) && !defined(FREERTOS)
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
int ret = pthread_create(&PRIVATE->thread, &attr, (__THREAD_FUNC_RET__(*)(void*))func, this);
//PICout(PICoutManipulators::DefaultControls) << "pthread_create" << PRIVATE->thread;
pthread_attr_destroy(&attr);
if (ret == 0) {
# ifdef MAC_OS
pthread_setname_np(((PIString&)name().elided(15, 0.4f).resize(15, PIChar('\0'))).dataAscii());
pthread_threadid_np(PRIVATE->thread, (__uint64_t*)&tid_);
# else
pthread_setname_np(PRIVATE->thread, ((PIString&)name().elided(15, 0.4f).resize(15, PIChar('\0'))).dataAscii());
# endif
#endif
#ifdef WINDOWS
if (PRIVATE->thread) CloseHandle(PRIVATE->thread);
# ifdef CC_GCC
PRIVATE->thread = (void *)_beginthreadex(0, 0, (__THREAD_FUNC_RET__(*)(void*))func, this, 0, 0);
# else
PRIVATE->thread = CreateThread(0, 0, (LPTHREAD_START_ROUTINE)func, this, 0, 0);
# endif
if (PRIVATE->thread != 0) {
#endif
#ifdef FREERTOS
if (xTaskCreate(
(__THREAD_FUNC_RET__(*)(void*))func,
((PIString&)name().elided(15, 0.4f).resize(15, PIChar('\0'))).dataAscii(), // A name just for humans
128, // This stack size can be checked & adjusted by reading the Stack Highwater
this,
priority_,
&PRIVATE->thread
) == pdPASS) {
tid_ = (llong)PRIVATE->thread;
#endif
#ifndef FREERTOS
setPriority(priority_);
#endif
return true;
} else {
running_ = false;
PRIVATE->thread = 0;
piCoutObj << "Error: Can`t start new thread:" << errorString();
}
running_ = false;
return false;
}
void PIThread::setPriority(PIThread::Priority prior) {
priority_ = prior;
if (!running_ || (PRIVATE->thread == 0)) return;
#ifdef FREERTOS
vTaskPrioritySet(PRIVATE->thread, priority2System(priority_));
#else
# ifndef WINDOWS
//PICout(PICoutManipulators::DefaultControls) << "setPriority" << PRIVATE->thread;
policy_ = 0;
memset(&(PRIVATE->sparam), 0, sizeof(PRIVATE->sparam));
pthread_getschedparam(PRIVATE->thread, &policy_, &(PRIVATE->sparam));
PRIVATE->sparam.
# ifndef LINUX
sched_priority
# else
__sched_priority
# endif
= priority2System(priority_);
pthread_setschedparam(PRIVATE->thread, policy_, &(PRIVATE->sparam));
# else
if (!running_ || (PRIVATE->thread == 0)) return;
SetThreadPriority(PRIVATE->thread, priority2System(priority_));
# endif
#endif //FREERTOS
}
#ifdef WINDOWS
bool isExists(HANDLE hThread) {
//errorClear();
//piCout << "isExists" << hThread;
DWORD dw = 0;
GetExitCodeThread(hThread, &dw);
//piCout << ret << dw << errorString();
if (dw == STILL_ACTIVE) return true;
//piCout << errorString();
return false;
}
#endif
bool PIThread::waitForFinish(int timeout_msecs) {
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "PIThread::waitForFinish" << running_ << terminating << timeout_msecs;
if (!running_) return true;
if (timeout_msecs < 0) {
while (running_) {
piMinSleep();
#ifdef WINDOWS
if (!isExists(PRIVATE->thread)) {
unlock();
return true;
}
#endif
}
return true;
}
tmf_.reset();
while (running_ && tmf_.elapsed_m() < timeout_msecs) {
piMinSleep();
#ifdef WINDOWS
if (!isExists(PRIVATE->thread)) {
unlock();
return true;
}
#endif
}
return tmf_.elapsed_m() < timeout_msecs;
}
bool PIThread::waitForStart(int timeout_msecs) {
if (running_) return true;
if (timeout_msecs < 0) {
while (!running_)
piMinSleep();
return true;
}
tms_.reset();
while (!running_ && tms_.elapsed_m() < timeout_msecs)
piMinSleep();
return tms_.elapsed_m() < timeout_msecs;
}
void PIThread::_beginThread() {
#ifndef WINDOWS
# if !defined(ANDROID) && !defined(FREERTOS)
pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, 0);
pthread_setcanceltype(PTHREAD_CANCEL_DEFERRED, 0);
# endif
#endif
#ifdef WINDOWS
tid_ = GetCurrentThreadId();
#endif
#ifdef LINUX
tid_ = gettid();
#endif
PIINTROSPECTION_THREAD_START(this);
REGISTER_THREAD(this);
running_ = true;
if (lockRun) thread_mutex.lock();
begin();
if (lockRun) thread_mutex.unlock();
started();
}
void PIThread::_runThread() {
PIINTROSPECTION_THREAD_RUN(this);
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "lock" << "...";
if (lockRun) thread_mutex.lock();
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "lock" << "ok";
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "run" << "...";
#ifdef PIP_INTROSPECTION
PITimeMeasurer _tm;
#endif
run();
#ifdef PIP_INTROSPECTION
PIINTROSPECTION_THREAD_RUN_DONE(this, ullong(_tm.elapsed_u()));
#endif
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "run" << "ok";
//printf("thread %p tick\n", this);
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "ret_func" << "...";
if (ret_func != 0) ret_func(data_);
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "ret_func" << "ok";
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "unlock" << "...";
if (lockRun) thread_mutex.unlock();
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "unlock" << "ok";
}
void PIThread::_endThread() {
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "stop" << "...";
stopped();
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "stop" << "ok";
if (lockRun) thread_mutex.lock();
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "end" << "...";
end();
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "stop" << "ok";
if (lockRun) thread_mutex.unlock();
terminating = running_ = false;
tid_ = -1;
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "exit";
//cout << "thread " << t << " exiting ... " << endl;
//PICout(PICoutManipulators::DefaultControls) << "pthread_exit" << (__privateinitializer__.p)->thread;
UNREGISTER_THREAD(this);
PIINTROSPECTION_THREAD_STOP(this);
#if defined(WINDOWS)
# ifdef CC_GCC
_endthreadex(0);
# else
ExitThread(0);
# endif
#elif defined(FREERTOS)
PRIVATE->thread = 0;
#else
pthread_detach(PRIVATE->thread);
PRIVATE->thread = 0;
pthread_exit(0);
#endif
}
void PIThread::__thread_func__() {
_beginThread();
while (!terminating) {
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "queued" << "...";
maybeCallQueuedEvents();
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "queued" << "ok";
_runThread();
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "wait" << "...";
PIINTROSPECTION_THREAD_WAIT(this);
if (delay_ > 0) {
tmr_.reset();
double sl(0.);
while (1) {
sl = piMind(delay_ - tmr_.elapsed_m(), PIP_MIN_MSLEEP);
if (terminating) break;
if (sl <= 0.) break;
piMSleep(sl);
}
}
//PICout(PICoutManipulators::DefaultControls) << "thread" << this << "wait" << "ok";
}
_endThread();
}
void PIThread::__thread_func_once__() {
_beginThread();
_runThread();
_endThread();
}
void PIThread::runOnce(PIObject * object, const char * handler, const PIString & name) {
PIThread * t = new PIThread();
t->setName(name);
if (!PIObject::piConnectU(t, PIStringAscii("started"), object, object, PIStringAscii(handler), "PIThread::runOnce").isValid()) {
delete t;
return;
}
#ifndef MICRO_PIP
__PIThreadCollection::instance()->startedAuto(t);
CONNECTU(t, stopped, __PIThreadCollection::instance(), stoppedAuto);
#endif
t->startOnce();
}
void PIThread::runOnce(std::function<void ()> func, const PIString & name) {
PIThread * t = new PIThread();
t->setName(name);
t->setSlot(func);
#ifndef MICRO_PIP
__PIThreadCollection::instance()->startedAuto(t);
CONNECTU(t, stopped, __PIThreadCollection::instance(), stoppedAuto);
#endif
t->startOnce();
}
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