Revision: 7209
http://playerstage.svn.sourceforge.net/playerstage/?rev=7209&view=rev
Author: gbiggs
Date: 2008-12-19 02:36:48 +0000 (Fri, 19 Dec 2008)
Log Message:
-----------
Added missing file
Added Paths:
-----------
code/player/trunk/libplayercore/threaded_driver.cc
Added: code/player/trunk/libplayercore/threaded_driver.cc
===================================================================
--- code/player/trunk/libplayercore/threaded_driver.cc
(rev 0)
+++ code/player/trunk/libplayercore/threaded_driver.cc 2008-12-19 02:36:48 UTC
(rev 7209)
@@ -0,0 +1,237 @@
+/*
+ * Player - One Hell of a Robot Server
+ * Copyright (C) 2000
+ * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
+ *
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/********************************************************************
+ *
+ * This library 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 2.1 of the License, or (at your option) any later version.
+ *
+ * This library 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 library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ ********************************************************************/
+
+/*
+ * $Id: driver.cc 6501 2008-06-10 05:16:08Z thjc $
+ *
+ * the base class from which all device classes inherit. here
+ * we implement some generic methods that most devices will not need
+ * to override
+ */
+#if HAVE_CONFIG_H
+ #include <config.h>
+#endif
+
+#include <stdlib.h>
+#include <libplayercore/device.h>
+#include <string.h>
+#include <errno.h>
+#include <unistd.h>
+#include <signal.h>
+#include <netinet/in.h>
+#include <assert.h>
+
+#include <libplayercore/playertime.h>
+#include <libplayercore/driver.h>
+#include <libplayercore/error.h>
+#include <libplayercore/devicetable.h>
+#include <libplayercore/configfile.h>
+#include <libplayercore/globals.h>
+#include <libplayercore/filewatcher.h>
+#include <libplayercore/property.h>
+#include <libplayercore/interface_util.h>
+
+// Default constructor for single-interface drivers. Specify the
+// interface code and buffer sizes.
+ThreadedDriver::ThreadedDriver(ConfigFile *cf, int section, bool
overwrite_cmds, size_t queue_maxlen, int interf) :
+ Driver(cf, section, overwrite_cmds, queue_maxlen, interf),
+ driverthread(0),
+ ThreadState(PLAYER_THREAD_STATE_STOPPED)
+{
+ pthread_barrier_init(&threadSetupBarrier, NULL,2);
+}
+
+// this is the other constructor, used by multi-interface drivers.
+ThreadedDriver::ThreadedDriver(ConfigFile *cf, int section, bool
overwrite_cmds, size_t queue_maxlen) :
+ Driver(cf, section, overwrite_cmds, queue_maxlen),
+ driverthread(0),
+ ThreadState(PLAYER_THREAD_STATE_STOPPED)
+{
+ pthread_barrier_init(&threadSetupBarrier, NULL,2);
+}
+
+// destructor, to free up allocated queue.
+ThreadedDriver::~ThreadedDriver()
+{
+ pthread_barrier_destroy(&threadSetupBarrier);
+}
+
+void ThreadedDriver::TestCancel()
+{
+ int oldstate;
+ pthread_setcancelstate(PTHREAD_CANCEL_ENABLE,&oldstate);
+ pthread_testcancel();
+ pthread_setcancelstate(oldstate,NULL);
+}
+
+/* start a thread that will invoke Main() */
+void
+ThreadedDriver::StartThread(void)
+{
+ if (ThreadState == PLAYER_THREAD_STATE_STOPPED)
+ {
+ pthread_create(&driverthread, NULL, &DummyMain, this);
+
+ // sync with dummy main
+ pthread_barrier_wait(&threadSetupBarrier);
+ ThreadState = PLAYER_THREAD_STATE_RUNNING;
+ }
+ else if (ThreadState == PLAYER_THREAD_STATE_STOPPING)
+ {
+ ThreadState = PLAYER_THREAD_STATE_RESTARTING;
+ }
+ else
+ {
+ PLAYER_ERROR1("StartThread called when state != stopped or stopping (%d)",
ThreadState);
+
+ }
+}
+
+/* cancel (and wait for termination) of the thread */
+void
+ThreadedDriver::StopThread(void)
+{
+ if (ThreadState == PLAYER_THREAD_STATE_RUNNING)
+ {
+ pthread_cancel(driverthread);
+ if(pthread_detach(driverthread))
+ perror("ThreadedDriver::StopThread:pthread_detach()");
+ ThreadState = PLAYER_THREAD_STATE_STOPPING;
+ }
+ else if (ThreadState == PLAYER_THREAD_STATE_RESTARTING)
+ {
+ ThreadState = PLAYER_THREAD_STATE_STOPPING;
+ }
+ else
+ {
+ PLAYER_ERROR1("StopThread called when state != running or restarting
(%d)", ThreadState);
+
+ }
+}
+
+/* Dummy main (just calls real main) */
+void*
+ThreadedDriver::DummyMain(void *devicep)
+{
+ // should never be called without a driver pointer
+ assert(devicep);
+
+ // Defer initalisation
+ pthread_setcancelstate(PTHREAD_CANCEL_DISABLE,NULL);
+ ((ThreadedDriver*)devicep)->SetupSuccessful = false;
+ // sync with start thread
+ pthread_barrier_wait(&((ThreadedDriver*)devicep)->threadSetupBarrier);
+
+ pthread_cleanup_push(&DummyMainQuit, devicep);
+ int ret = ((ThreadedDriver*)devicep)->MainSetup();
+ // Run the overloaded Main() in the subclassed device.
+ if (ret == 0)
+ {
+ ((ThreadedDriver*)devicep)->SetupSuccessful = true;
+ ((ThreadedDriver*)devicep)->Main();
+ }
+ else
+ {
+ // TODO: publish an exception message here, have to create exception
message type and system first
+ PLAYER_ERROR1("Driver failed to Setup (%d)", ret);
+ }
+ pthread_cleanup_pop(1);
+
+ return NULL;
+}
+
+/* Dummy main cleanup (just calls real main cleanup) */
+void
+ThreadedDriver::DummyMainQuit(void *devicep)
+{
+ // should never be called without a driver pointer
+ assert(devicep);
+
+ // Run the overloaded MainCleanup() in the subclassed device.
+ ThreadedDriver* driver = reinterpret_cast<ThreadedDriver*> (devicep);
+ if (driver->SetupSuccessful)
+ driver->MainQuit();
+ driver->Lock();
+ driver->driverthread = 0;
+ if (driver->ThreadState == PLAYER_THREAD_STATE_RESTARTING)
+ {
+ driver->ThreadState = PLAYER_THREAD_STATE_STOPPED;
+ driver->StartThread();
+ }
+ else
+ {
+ driver->ThreadState = PLAYER_THREAD_STATE_STOPPED;
+ }
+ driver->Unlock();
+}
+
+int
+ThreadedDriver::Shutdown()
+{
+ Lock();
+ StopThread();
+ Unlock();
+ // Release the driver thread, in case it's waiting on the message queue
+ // or the driver mutex.
+ this->InQueue->DataAvailable();
+
+ return 0;
+}
+
+int
+ThreadedDriver::Setup()
+{
+ Lock();
+ StartThread();
+ Unlock();
+
+ return 0;
+}
+
+
+bool ThreadedDriver::Wait(double TimeOut)
+{
+ int oldstate, ret;
+ pthread_setcancelstate(PTHREAD_CANCEL_ENABLE,&oldstate);
+ pthread_testcancel();
+ ret = this->InQueue->Wait(TimeOut);
+ pthread_testcancel();
+ pthread_setcancelstate(oldstate,NULL);
+ return ret;
+}
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