Base class for creating multiple thread applications. More...

#include <goby/middleware/application/multi_thread.h>

Inheritance diagram for goby::middleware::MultiThreadApplicationBase< Config, Transporter >:

Public Member Functions
template<typename ThreadType >
void	launch_thread ()

template<typename ThreadType >
void	launch_thread (int index)

template<typename ThreadType , typename ThreadConfig >
void	launch_thread (const ThreadConfig &cfg)

template<typename ThreadType , typename ThreadConfig >
void	launch_thread (int index, const ThreadConfig &cfg)

template<typename ThreadType >
void	launch_thread_without_cfg ()

template<typename ThreadType >
void	launch_thread_without_cfg (int index)

template<typename ThreadType >
void	join_thread (int index=-1)

template<int i>
void	launch_timer (boost::units::quantity< boost::units::si::frequency > freq, std::function< void()> on_expire)

template<int i>
void	join_timer ()

int	running_thread_count ()

Public Member Functions inherited from goby::middleware::Application< Config >
	Application ()

virtual	~Application ()

Public Member Functions inherited from goby::middleware::Thread< Config, Transporter >
	Thread (const Config &cfg, Transporter *transporter, int index)
	Construct a thread with a given configuration, underlying transporter, and index (for multiple instantiations), but without any loop() frequency.

	Thread (const Config &cfg, Transporter *transporter, double loop_freq_hertz=0, int index=-1)
	Construct a thread with all possible metadata (using double to specify frequency in Hertz)

	Thread (const Config &cfg, Transporter *transporter, boost::units::quantity< boost::units::si::frequency > loop_freq, int index=-1)
	Construct a thread with all possible metadata (using boost::units to specify frequency)

virtual	~Thread ()

void	run (std::atomic< bool > &alive)
	Run the thread until the boolean reference passed is set false. This call blocks, and should be run in a std::thread by the caller.

int	index () const

std::type_index	type_index ()

void	set_type_index (std::type_index type_i)

std::string	name ()

void	set_name (const std::string &name)

int	uid ()

void	set_uid (int uid)

Protected Types
using	MainThreadBase = Thread< Config, Transporter >

Protected Member Functions
	MultiThreadApplicationBase (boost::units::quantity< boost::units::si::frequency > loop_freq, Transporter *transporter)

virtual	~MultiThreadApplicationBase ()

InterThreadTransporter &	interthread ()

virtual void	post_finalize () override
	Called just after finalize.

std::map< std::type_index, std::map< int, ThreadManagement > > &	threads ()

void	join_all_threads ()

Protected Member Functions inherited from goby::middleware::Application< Config >
virtual void	pre_initialize ()
	Called just before initialize.

virtual void	initialize ()
	Perform any initialize tasks that couldn't be done in the constructor.

virtual void	post_initialize ()
	Called just after initialize.

virtual void	pre_finalize ()
	Called just before finalize.

virtual void	finalize ()
	Perform any final cleanup actions just before the destructor is called.

void	quit (int return_value=0)
	Requests a clean exit.

const Config &	app_cfg ()
	Accesses configuration object passed at launch.

const util::UTMGeodesy &	geodesy ()
	Accesses the geodetic conversion tool if lat_origin and lon_origin were provided.

bool	has_geodesy ()
	Returns if the geodesy tool is configured with a datum.

std::string	app_name ()

bool	app_alive ()

boost::units::quantity< boost::units::si::frequency >	choose_loop_freq (boost::units::quantity< boost::units::si::frequency > compiled_loop_freq)

void	configure_geodesy (goby::util::UTMGeodesy::LatLonPoint datum)

Protected Member Functions inherited from goby::middleware::Thread< Config, Transporter >
	Thread (const Config &cfg, boost::units::quantity< boost::units::si::frequency > loop_freq, int index=-1)

void	set_transporter (Transporter *transporter)

virtual void	loop ()

double	loop_frequency_hertz () const

decltype(loop_frequency_)	loop_frequency () const

double	loop_max_frequency () const

void	run_once ()

Transporter &	transporter () const

const Config &	cfg () const

virtual void	initialize ()

virtual void	finalize ()

void	thread_health (goby::middleware::protobuf::ThreadHealth &health)

virtual void	health (goby::middleware::protobuf::ThreadHealth &health)
	Called when HealthRequest is made by goby_coroner.

void	thread_quit ()

bool	alive ()

Additional Inherited Members
Public Types inherited from goby::middleware::Application< Config >
using	ConfigType = Config

Public Types inherited from goby::middleware::Thread< Config, Transporter >
using	Transporter = Transporter

Static Public Attributes inherited from goby::middleware::Thread< Config, Transporter >
static constexpr goby::middleware::Group	shutdown_group_

static constexpr goby::middleware::Group	joinable_group_

Detailed Description

template<class Config, class Transporter>
class goby::middleware::MultiThreadApplicationBase< Config, Transporter >

Base class for creating multiple thread applications.

Template Parameters

Config	Configuration type
Transporter	Transporter type

Definition at line 97 of file multi_thread.h.

Member Typedef Documentation

◆ MainThreadBase

template<class Config , class Transporter >

using goby::middleware::MultiThreadApplicationBase< Config, Transporter >::MainThreadBase = Thread<Config, Transporter>

protected

Definition at line 180 of file multi_thread.h.

Constructor & Destructor Documentation

◆ MultiThreadApplicationBase()

template<class Config , class Transporter >

goby::middleware::MultiThreadApplicationBase< Config, Transporter >::MultiThreadApplicationBase	(	boost::units::quantity< boost::units::si::frequency >	loop_freq,
		Transporter *	transporter
	)

inlineprotected

Definition at line 182 of file multi_thread.h.

◆ ~MultiThreadApplicationBase()

template<class Config , class Transporter >

virtual goby::middleware::MultiThreadApplicationBase< Config, Transporter >::~MultiThreadApplicationBase ( )

inlineprotectedvirtual

Definition at line 194 of file multi_thread.h.

Member Function Documentation

◆ interthread()

template<class Config , class Transporter >

InterThreadTransporter & goby::middleware::MultiThreadApplicationBase< Config, Transporter >::interthread ( )

inlineprotected

Definition at line 196 of file multi_thread.h.

◆ join_all_threads()

template<class Config , class Transporter >

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::join_all_threads ( )

inlineprotected

Definition at line 201 of file multi_thread.h.

◆ join_thread()

template<class Config , class Transporter >

template<typename ThreadType >

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::join_thread ( int index = -1 )

inline

Definition at line 158 of file multi_thread.h.

◆ join_timer()

template<class Config , class Transporter >

template<int i>

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::join_timer ( )

inline

Definition at line 175 of file multi_thread.h.

◆ launch_thread() [1/4]

template<class Config , class Transporter >

template<typename ThreadType >

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::launch_thread ( )

inline

Definition at line 129 of file multi_thread.h.

◆ launch_thread() [2/4]

template<class Config , class Transporter >

template<typename ThreadType , typename ThreadConfig >

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::launch_thread ( const ThreadConfig & cfg )

inline

Definition at line 139 of file multi_thread.h.

◆ launch_thread() [3/4]

template<class Config , class Transporter >

template<typename ThreadType >

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::launch_thread ( int index )

inline

Definition at line 133 of file multi_thread.h.

◆ launch_thread() [4/4]

template<class Config , class Transporter >

template<typename ThreadType , typename ThreadConfig >

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::launch_thread	(	int	index,
		const ThreadConfig &	cfg
	)

inline

Definition at line 144 of file multi_thread.h.

◆ launch_thread_without_cfg() [1/2]

template<class Config , class Transporter >

template<typename ThreadType >

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::launch_thread_without_cfg ( )

inline

Definition at line 149 of file multi_thread.h.

◆ launch_thread_without_cfg() [2/2]

template<class Config , class Transporter >

template<typename ThreadType >

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::launch_thread_without_cfg ( int index )

inline

Definition at line 153 of file multi_thread.h.

◆ launch_timer()

template<class Config , class Transporter >

template<int i>

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::launch_timer	(	boost::units::quantity< boost::units::si::frequency >	freq,
		std::function< void()>	on_expire
	)

inline

Definition at line 167 of file multi_thread.h.

◆ post_finalize()

template<class Config , class Transporter >

virtual void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::post_finalize ( )

inlineoverrideprotectedvirtual

Called just after finalize.

Reimplemented from goby::middleware::Application< Config >.

Definition at line 197 of file multi_thread.h.

◆ running_thread_count()

template<class Config , class Transporter >

int goby::middleware::MultiThreadApplicationBase< Config, Transporter >::running_thread_count ( )

inline

Definition at line 177 of file multi_thread.h.

◆ threads()

template<class Config , class Transporter >

std::map< std::type_index, std::map< int, ThreadManagement > > & goby::middleware::MultiThreadApplicationBase< Config, Transporter >::threads ( )

inlineprotected

Definition at line 199 of file multi_thread.h.

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

goby/middleware/application/multi_thread.h

Public Member Functions

Protected Types

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ MainThreadBase

Constructor & Destructor Documentation

◆ MultiThreadApplicationBase()

◆ ~MultiThreadApplicationBase()

Member Function Documentation

◆ interthread()

◆ join_all_threads()

◆ join_thread()

◆ join_timer()

◆ launch_thread() [1/4]

◆ launch_thread() [2/4]

◆ launch_thread() [3/4]

◆ launch_thread() [4/4]

◆ launch_thread_without_cfg() [1/2]

◆ launch_thread_without_cfg() [2/2]

◆ launch_timer()

◆ post_finalize()

◆ running_thread_count()

◆ threads()