Implements Thread for a three layer middleware setup ([ intervehicle [ interprocess [ interthread ] ] ]) based around InterVehicleForwarder. More...

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

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

Public Member Functions
	SimpleThread (const Config &cfg, double loop_freq_hertz=0, int index=-1)
	Construct a thread with a given configuration, optionally a loop frequency and/or index.

	SimpleThread (const Config &cfg, boost::units::quantity< boost::units::si::frequency > loop_freq, int index=-1)
	Construct a thread with a given configuration, a loop frequency (using boost::units) and optionally an index.

InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > &	intervehicle ()
	Access the transporter on the intervehicle layer (which wraps interprocess and interthread)

InterProcessForwarder< InterThreadTransporter > &	interprocess ()
	Access the transporter on the interprocess layer (which wraps interthread)

InterThreadTransporter &	interthread ()
	Access the transporter on the interthread layer (this is the innermost transporter)

Public Member Functions inherited from goby::middleware::Thread< Config, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > >
	Thread (const Config &cfg, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > *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, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > *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, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > *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)

Friends
class	coroner::Thread< SimpleThread< Config > >

Additional Inherited Members
Public Types inherited from goby::middleware::Thread< Config, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > >
using	Transporter = InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > >

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

static constexpr goby::middleware::Group	joinable_group_

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

void	set_transporter (InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > *transporter)

virtual void	loop ()

double	loop_frequency_hertz () const

decltype(loop_frequency_)	loop_frequency () const

double	loop_max_frequency () const

void	run_once ()

InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > &	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 ()

Protected Member Functions inherited from goby::middleware::coroner::Thread< SimpleThread< Config > >
void	subscribe_coroner ()

Detailed Description

template<typename Config>
class goby::middleware::SimpleThread< Config >

Implements Thread for a three layer middleware setup ([ intervehicle [ interprocess [ interthread ] ] ]) based around InterVehicleForwarder.

Template Parameters

Config Configuration type Derive from this class to create standalone threads that can be launched and joined by MultiThreadApplication's launch_thread and join_thread methods.

Definition at line 43 of file simple_thread.h.

Constructor & Destructor Documentation

◆ SimpleThread() [1/2]

template<typename Config >

goby::middleware::SimpleThread< Config >::SimpleThread	(	const Config &	cfg,
		double	loop_freq_hertz = `0`,
		int	index = `-1`
	)

inline

Construct a thread with a given configuration, optionally a loop frequency and/or index.

Parameters

cfg	Data to configure the code running in this thread
loop_freq_hertz	The frequency at which to attempt to call loop(), assuming the thread isn't blocked handling transporter callbacks (e.g. subscribe callbacks). Zero or negative indicates loop() will never be called.
index	Numeric index to identify this instantiation of the SimpleThread (only necessary if multiple Threads of the same type are created)

Definition at line 58 of file simple_thread.h.

◆ SimpleThread() [2/2]

template<typename Config >

goby::middleware::SimpleThread< Config >::SimpleThread	(	const Config &	cfg,
		boost::units::quantity< boost::units::si::frequency >	loop_freq,
		int	index = `-1`
	)

inline

Construct a thread with a given configuration, a loop frequency (using boost::units) and optionally an index.

Parameters

cfg	Data to configure the code running in this thread
loop_freq	The frequency at which to attempt to call loop(), assuming the thread isn't blocked handling transporter callbacks (e.g. subscribe callbacks). Zero or negative indicates loop() will never be called.
index	Numeric index to identify this instantiation of the SimpleThread (only necessary if multiple Threads of the same type are created)

Definition at line 68 of file simple_thread.h.

Member Function Documentation

◆ interprocess()

template<typename Config >

InterProcessForwarder< InterThreadTransporter > & goby::middleware::SimpleThread< Config >::interprocess ( )

inline

Access the transporter on the interprocess layer (which wraps interthread)

Definition at line 90 of file simple_thread.h.

◆ interthread()

template<typename Config >

InterThreadTransporter & goby::middleware::SimpleThread< Config >::interthread ( )

inline

Access the transporter on the interthread layer (this is the innermost transporter)

Definition at line 96 of file simple_thread.h.

◆ intervehicle()

template<typename Config >

InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > & goby::middleware::SimpleThread< Config >::intervehicle ( )

inline

Access the transporter on the intervehicle layer (which wraps interprocess and interthread)

Definition at line 84 of file simple_thread.h.

Friends And Related Symbol Documentation

◆ coroner::Thread< SimpleThread< Config > >

template<typename Config >

friend class coroner::Thread< SimpleThread< Config > >

friend

Definition at line 1 of file simple_thread.h.

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

goby/middleware/application/simple_thread.h

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SimpleThread() [1/2]

◆ SimpleThread() [2/2]

Member Function Documentation

◆ interprocess()

◆ interthread()

◆ intervehicle()

Friends And Related Symbol Documentation

◆ coroner::Thread< SimpleThread< Config > >