Base class for building multithreaded Goby applications that do not have perform any interprocess (or outer) communications, but only communicate internally via the InterThreadTransporter. More...

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

Inheritance diagram for goby::middleware::MultiThreadStandaloneApplication< Config >:

Public Member Functions
	MultiThreadStandaloneApplication (double loop_freq_hertz=0)
	Construct the application calling loop() at the given frequency (double overload)

	MultiThreadStandaloneApplication (boost::units::quantity< boost::units::si::frequency > loop_freq)
	Construct the application calling loop() at the given frequency (boost::units overload)

virtual	~MultiThreadStandaloneApplication ()

Public Member Functions inherited from goby::middleware::MultiThreadApplicationBase< Config, InterThreadTransporter >
void	launch_thread ()

void	launch_thread (int index)

void	launch_thread (const ThreadConfig &cfg)

void	launch_thread (int index, const ThreadConfig &cfg)

void	launch_thread_without_cfg ()

void	launch_thread_without_cfg (int index)

void	join_thread (int index=-1)

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

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, TransporterType >
	Thread (const Config &cfg, TransporterType *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, TransporterType *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, TransporterType *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)

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

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

Static Public Attributes inherited from goby::middleware::Thread< Config, TransporterType >
static constexpr goby::middleware::Group	shutdown_group_ {"goby::middleware::Thread::shutdown"}

static constexpr goby::middleware::Group	joinable_group_ {"goby::middleware::Thread::joinable"}

Protected Types inherited from goby::middleware::MultiThreadApplicationBase< Config, InterThreadTransporter >
using	MainThreadBase = Thread< Config, InterThreadTransporter >

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

void	set_transporter (TransporterType *transporter)

virtual void	loop ()

double	loop_frequency_hertz () const

decltype(loop_frequency_)	loop_frequency () const

double	loop_max_frequency () const

void	run_once ()

TransporterType &	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 ()

Detailed Description

template<class Config>
class goby::middleware::MultiThreadStandaloneApplication< Config >

Base class for building multithreaded Goby applications that do not have perform any interprocess (or outer) communications, but only communicate internally via the InterThreadTransporter.

Template Parameters

Config Configuration type

Definition at line 352 of file multi_thread.h.

Constructor & Destructor Documentation

◆ MultiThreadStandaloneApplication() [1/2]

template<class Config >

goby::middleware::MultiThreadStandaloneApplication< Config >::MultiThreadStandaloneApplication ( double loop_freq_hertz = 0 )

inline

Construct the application calling loop() at the given frequency (double overload)

Parameters

loop_freq_hertz The frequency at which to attempt to call loop(), assuming the main thread isn't blocked handling transporter callbacks (e.g. subscribe callbacks). Zero or negative indicates loop() will never be called.

Definition at line 362 of file multi_thread.h.

◆ MultiThreadStandaloneApplication() [2/2]

template<class Config >

goby::middleware::MultiThreadStandaloneApplication< Config >::MultiThreadStandaloneApplication ( boost::units::quantity< boost::units::si::frequency > loop_freq )

inline

Construct the application calling loop() at the given frequency (boost::units overload)

Parameters

loop_freq The frequency at which to attempt to call loop(), assuming the main thread isn't blocked handling transporter callbacks (e.g. subscribe callbacks). Zero or negative indicates loop() will never be called.

Definition at line 370 of file multi_thread.h.

◆ ~MultiThreadStandaloneApplication()

template<class Config >

virtual goby::middleware::MultiThreadStandaloneApplication< Config >::~MultiThreadStandaloneApplication ( )

inlinevirtual

Definition at line 374 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

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MultiThreadStandaloneApplication() [1/2]

◆ MultiThreadStandaloneApplication() [2/2]

◆ ~MultiThreadStandaloneApplication()