Represents a thread of execution within the Goby middleware, interleaving periodic events (loop()) with asynchronous receipt of data. Most user code should inherit from SimpleThread, not from Thread directly. More...

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

Inheritance diagram for goby::middleware::Thread< Config, TransporterType >:

Public Types
using	Transporter = TransporterType

Public Member Functions
	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)

double	loop_frequency_hertz () const

decltype(loop_frequency_)	loop_frequency () const

void	set_loop_frequency_hertz (double loop_freq_hertz)

void	set_loop_frequency (boost::units::quantity< boost::units::si::frequency > loop_freq)

Static Public Attributes
static constexpr goby::middleware::Group	shutdown_group_ {"goby::middleware::Thread::shutdown"}

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

Protected Member Functions
	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_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<typename Config, typename TransporterType>
class goby::middleware::Thread< Config, TransporterType >

Represents a thread of execution within the Goby middleware, interleaving periodic events (loop()) with asynchronous receipt of data. Most user code should inherit from SimpleThread, not from Thread directly.

A Thread can represent the main thread of an application or a thread that was launched after startup.

Template Parameters

Config	Type of the configuration for thie code running in this Thread
TransporterType	Type of the underlying transporter used for publish/subscribe from this thread

Definition at line 60 of file thread.h.

Member Typedef Documentation

◆ Transporter

template<typename Config , typename TransporterType >

using goby::middleware::Thread< Config, TransporterType >::Transporter = TransporterType

Definition at line 88 of file thread.h.

Constructor & Destructor Documentation

◆ Thread() [1/4]

template<typename Config , typename TransporterType >

goby::middleware::Thread< Config, TransporterType >::Thread	(	const Config &	cfg,
		TransporterType *	transporter,
		int	index
	)

inline

Construct a thread with a given configuration, underlying transporter, and index (for multiple instantiations), but without any loop() frequency.

Parameters

cfg	Data to configure the code running in this thread
transporter	Underlying transporter
index	Numeric index to identify this instantiation of the Thread (only necessary if multiple Threads of the same type are created) Note: loop() will never be called when using this constructor

Definition at line 96 of file thread.h.

◆ Thread() [2/4]

template<typename Config , typename TransporterType >

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

inline

Construct a thread with all possible metadata (using double to specify frequency in Hertz)

Parameters

cfg	Data to configure the code running in this thread
transporter	Underlying transporter
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)
index	Numeric index to identify this instantiation of the Thread (only necessary if multiple Threads of the same type are created)

Definition at line 107 of file thread.h.

◆ Thread() [3/4]

template<typename Config , typename TransporterType >

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

inline

Construct a thread with all possible metadata (using boost::units to specify frequency)

Parameters

cfg	Data to configure the code running in this thread
transporter	Underlying transporter
loop_freq	The frequency at which to attempt to call loop(), assuming the thread isn't blocked handling transporter callbacks (i.e. subscribe callbacks)
index	Numeric index to identify this instantiation of the Thread (only necessary if multiple Threads of the same type are created)

Definition at line 119 of file thread.h.

◆ ~Thread()

template<typename Config , typename TransporterType >

virtual goby::middleware::Thread< Config, TransporterType >::~Thread ( )

inlinevirtual

Definition at line 126 of file thread.h.

◆ Thread() [4/4]

template<typename Config , typename TransporterType >

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

inlineprotected

Definition at line 189 of file thread.h.

Member Function Documentation

◆ alive()

template<typename Config , typename TransporterType >

bool goby::middleware::Thread< Config, TransporterType >::alive ( )

inlineprotected

Definition at line 254 of file thread.h.

◆ cfg()

template<typename Config , typename TransporterType >

const Config & goby::middleware::Thread< Config, TransporterType >::cfg ( ) const

inlineprotected

Definition at line 215 of file thread.h.

◆ finalize()

template<typename Config , typename TransporterType >

virtual void goby::middleware::Thread< Config, TransporterType >::finalize ( )

inlineprotectedvirtual

Definition at line 221 of file thread.h.

◆ health()

template<typename Config , typename TransporterType >

virtual void goby::middleware::Thread< Config, TransporterType >::health ( goby::middleware::protobuf::ThreadHealth & health )

inlineprotectedvirtual

Called when HealthRequest is made by goby_coroner.

Override to implement thread specific health response

Reimplemented in goby::middleware::MultiThreadApplication< Config, InterProcessPortal >, and goby::middleware::SingleThreadApplication< Config, InterProcessPortal >.

Definition at line 239 of file thread.h.

◆ index()

template<typename Config , typename TransporterType >

int goby::middleware::Thread< Config, TransporterType >::index ( ) const

inline

Returns: the Thread index (for multiple instantiations)

Definition at line 145 of file thread.h.

◆ initialize()

template<typename Config , typename TransporterType >

virtual void goby::middleware::Thread< Config, TransporterType >::initialize ( )

inlineprotectedvirtual

Definition at line 218 of file thread.h.

◆ loop()

template<typename Config , typename TransporterType >

virtual void goby::middleware::Thread< Config, TransporterType >::loop ( )

inlineprotectedvirtual

Reimplemented in goby::middleware::intervehicle::ModemDriverThread< ImplementationTag >, goby::middleware::intervehicle::ModemDriverThread< implementation_tag >, and goby::zeromq::LiaisonCommsThread< WtContainer >.

Definition at line 204 of file thread.h.

◆ loop_frequency()

template<typename Config , typename TransporterType >

decltype(loop_frequency_) goby::middleware::Thread< Config, TransporterType >::loop_frequency ( ) const

inline

Definition at line 157 of file thread.h.

◆ loop_frequency_hertz()

template<typename Config , typename TransporterType >

double goby::middleware::Thread< Config, TransporterType >::loop_frequency_hertz ( ) const

inline

Definition at line 156 of file thread.h.

◆ loop_max_frequency()

template<typename Config , typename TransporterType >

double goby::middleware::Thread< Config, TransporterType >::loop_max_frequency ( ) const

inlineprotected

Definition at line 210 of file thread.h.

◆ name()

template<typename Config , typename TransporterType >

std::string goby::middleware::Thread< Config, TransporterType >::name ( )

inline

Definition at line 150 of file thread.h.

◆ run()

template<typename Config , typename TransporterType >

void goby::middleware::Thread< Config, TransporterType >::run ( std::atomic< bool > & alive )

inline

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.

Parameters

alive Reference to an atomic boolean. While alive is true, the thread will run; when alive is set false, the thread will complete (and become joinable), assuming nothing is blocking loop() or any transporter callback.

Definition at line 131 of file thread.h.

◆ run_once()

template<typename Config , typename TransporterType >

void goby::middleware::Thread< Config, TransporterType >::run_once ( )

protected

Definition at line 290 of file thread.h.

◆ set_loop_frequency()

template<typename Config , typename TransporterType >

void goby::middleware::Thread< Config, TransporterType >::set_loop_frequency ( boost::units::quantity< boost::units::si::frequency > loop_freq )

inline

Definition at line 164 of file thread.h.

◆ set_loop_frequency_hertz()

template<typename Config , typename TransporterType >

void goby::middleware::Thread< Config, TransporterType >::set_loop_frequency_hertz ( double loop_freq_hertz )

inline

Definition at line 159 of file thread.h.

◆ set_name()

template<typename Config , typename TransporterType >

void goby::middleware::Thread< Config, TransporterType >::set_name ( const std::string & name )

inline

Definition at line 151 of file thread.h.

◆ set_transporter()

template<typename Config , typename TransporterType >

void goby::middleware::Thread< Config, TransporterType >::set_transporter ( TransporterType * transporter )

inlineprotected

Definition at line 202 of file thread.h.

◆ set_type_index()

template<typename Config , typename TransporterType >

void goby::middleware::Thread< Config, TransporterType >::set_type_index ( std::type_index type_i )

inline

Definition at line 148 of file thread.h.

◆ set_uid()

template<typename Config , typename TransporterType >

void goby::middleware::Thread< Config, TransporterType >::set_uid ( int uid )

inline

Definition at line 154 of file thread.h.

◆ thread_health()

template<typename Config , typename TransporterType >

void goby::middleware::Thread< Config, TransporterType >::thread_health ( goby::middleware::protobuf::ThreadHealth & health )

inlineprotected

Definition at line 223 of file thread.h.

◆ thread_quit()

template<typename Config , typename TransporterType >

void goby::middleware::Thread< Config, TransporterType >::thread_quit ( )

inlineprotected

Definition at line 244 of file thread.h.

◆ transporter()

template<typename Config , typename TransporterType >

TransporterType & goby::middleware::Thread< Config, TransporterType >::transporter ( ) const

inlineprotected

Definition at line 213 of file thread.h.

◆ type_index()

template<typename Config , typename TransporterType >

std::type_index goby::middleware::Thread< Config, TransporterType >::type_index ( )

inline

Definition at line 147 of file thread.h.

◆ uid()

template<typename Config , typename TransporterType >

int goby::middleware::Thread< Config, TransporterType >::uid ( )

inline

Definition at line 153 of file thread.h.

Member Data Documentation

◆ joinable_group_

template<typename Config , typename TransporterType >

constexpr goby::middleware::Group goby::middleware::Thread< Config, TransporterType >::joinable_group_ {"goby::middleware::Thread::joinable"}

staticconstexpr

Definition at line 186 of file thread.h.

◆ shutdown_group_

template<typename Config , typename TransporterType >

constexpr goby::middleware::Group goby::middleware::Thread< Config, TransporterType >::shutdown_group_ {"goby::middleware::Thread::shutdown"}

staticconstexpr

Definition at line 185 of file thread.h.

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

goby/middleware/application/thread.h

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ Transporter

Constructor & Destructor Documentation

◆ Thread() [1/4]

◆ Thread() [2/4]

◆ Thread() [3/4]

◆ ~Thread()

◆ Thread() [4/4]

Member Function Documentation

◆ alive()

◆ cfg()

◆ finalize()

◆ health()

◆ index()

◆ initialize()

◆ loop()

◆ loop_frequency()

◆ loop_frequency_hertz()

◆ loop_max_frequency()

◆ name()

◆ run()

◆ run_once()

◆ set_loop_frequency()

◆ set_loop_frequency_hertz()

◆ set_name()

◆ set_transporter()

◆ set_type_index()

◆ set_uid()

◆ thread_health()

◆ thread_quit()

◆ transporter()

◆ type_index()

◆ uid()

Member Data Documentation

◆ joinable_group_

◆ shutdown_group_