Visual Servoing Platform version 3.6.0
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testThread.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test threading capabilities.
33 *
34*****************************************************************************/
35
44#include <visp3/core/vpConfig.h>
45
46#if defined(VISP_HAVE_PTHREAD) || (defined(_WIN32) && !defined(WINRT_8_0))
47
49#include <iostream>
50
51#include <visp3/core/vpMutex.h>
52#include <visp3/core/vpThread.h>
53#include <visp3/core/vpTime.h>
54
55vpMutex g_mutex_cout;
56
57vpThread::Return myFooFunction(vpThread::Args args)
58{
59 (void)(args); // Avoid warning: unused parameter args
60 // do stuff...
61 return 0;
62}
63
64vpThread::Return myBarFunction(vpThread::Args args)
65{
66 (void)(args); // Avoid warning: unused parameter args
67 // do stuff...
68 return 0;
69}
70
71vpThread::Return myQuxFunction(vpThread::Args args)
72{
73 unsigned int args_ = *((unsigned int *)args);
74 g_mutex_cout.lock();
75 std::cout << "qux arg: " << args_ << std::endl;
76 g_mutex_cout.unlock();
77 // do stuff...
78 return 0;
79}
80
81int main()
82{
83 unsigned int qux_arg = 12;
84 vpThread foo;
85 vpThread bar((vpThread::Fn)myBarFunction);
86 vpThread qux((vpThread::Fn)myQuxFunction,
87 (vpThread::Args)&qux_arg); // Pass qux_arg to myQuxFunction() function
88
89 vpTime::wait(1000); // Sleep 1s to ensure myQuxFunction() internal printings
90 g_mutex_cout.lock();
91 std::cout << "Joinable after construction:" << std::endl;
92 std::cout << "foo: " << foo.joinable() << std::endl;
93 std::cout << "bar: " << bar.joinable() << std::endl;
94 std::cout << "qux: " << qux.joinable() << std::endl;
95 g_mutex_cout.unlock();
96
97 foo.create((vpThread::Fn)myFooFunction);
98
99 g_mutex_cout.lock();
100 std::cout << "Joinable after creation:" << std::endl;
101 std::cout << "foo: " << foo.joinable() << std::endl;
102 std::cout << "bar: " << bar.joinable() << std::endl;
103 std::cout << "qux: " << qux.joinable() << std::endl;
104 g_mutex_cout.unlock();
105
106 if (foo.joinable())
107 foo.join();
108 if (bar.joinable())
109 bar.join();
110 if (qux.joinable())
111 qux.join();
112
113 g_mutex_cout.lock();
114 std::cout << "Joinable after joining:" << std::endl;
115 std::cout << "foo: " << foo.joinable() << std::endl;
116 std::cout << "bar: " << bar.joinable() << std::endl;
117 std::cout << "qux: " << qux.joinable() << std::endl;
118 g_mutex_cout.unlock();
119
120 return EXIT_SUCCESS;
121}
123
124#else
125
126#include <iostream>
127
128int main()
129{
130#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
131 std::cout << "You should enable pthread usage and rebuild ViSP..." << std::endl;
132#else
133 std::cout << "Multi-threading seems not supported on this platform" << std::endl;
134#endif
135 return EXIT_SUCCESS;
136}
137#endif
void unlock()
Definition vpMutex.h:106
void lock()
Definition vpMutex.h:90
bool joinable()
Definition vpThread.h:180
void *(*) Fn(Args)
Definition vpThread.h:74
void * Args
Definition vpThread.h:72
void * Return
Definition vpThread.h:73
void create(vpThread::Fn fn, vpThread::Args args=NULL)
Definition vpThread.h:105
void join()
Definition vpThread.h:149
VISP_EXPORT int wait(double t0, double t)