Visual Servoing Platform  version 3.2.0 under development (2018-10-24)
testThread.cpp

Test threading capabilities.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Test threading capabilities.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_PTHREAD) || (defined(_WIN32) && !defined(WINRT_8_0))
#include <iostream>
#include <visp3/core/vpThread.h>
#include <visp3/core/vpTime.h>
vpThread::Return myFooFunction(vpThread::Args args)
{
(void)(args); // Avoid warning: unused parameter args
// do stuff...
return 0;
}
vpThread::Return myBarFunction(vpThread::Args args)
{
(void)(args); // Avoid warning: unused parameter args
// do stuff...
return 0;
}
vpThread::Return myQuxFunction(vpThread::Args args)
{
unsigned int args_ = *((unsigned int *)args);
std::cout << "qux arg: " << args_ << std::endl;
// do stuff...
return 0;
}
int main()
{
unsigned int qux_arg = 12;
vpThread foo;
vpThread bar((vpThread::Fn)myBarFunction);
vpThread qux((vpThread::Fn)myQuxFunction,
(vpThread::Args)&qux_arg); // Pass qux_arg to myQuxFunction() function
vpTime::wait(1000); // Sleep 1s to ensure myQuxFunction() internal printings
std::cout << "Joinable after construction:" << std::endl;
std::cout << "foo: " << foo.joinable() << std::endl;
std::cout << "bar: " << bar.joinable() << std::endl;
std::cout << "qux: " << qux.joinable() << std::endl;
foo.create((vpThread::Fn)myFooFunction);
std::cout << "Joinable after creation:" << std::endl;
std::cout << "foo: " << foo.joinable() << std::endl;
std::cout << "bar: " << bar.joinable() << std::endl;
std::cout << "qux: " << qux.joinable() << std::endl;
if (foo.joinable())
foo.join();
if (bar.joinable())
bar.join();
if (qux.joinable())
qux.join();
std::cout << "Joinable after joining:" << std::endl;
std::cout << "foo: " << foo.joinable() << std::endl;
std::cout << "bar: " << bar.joinable() << std::endl;
std::cout << "qux: " << qux.joinable() << std::endl;
return 0;
}
#else
#include <iostream>
int main()
{
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
std::cout << "You should enable pthread usage and rebuild ViSP..." << std::endl;
#else
std::cout << "Multi-threading seems not supported on this platform" << std::endl;
#endif
}
#endif