openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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// Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors
// Licensed under the MIT License:
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
// THE SOFTWARE.
#ifndef KJ_THREAD_H_
#define KJ_THREAD_H_
#if defined(__GNUC__) && !KJ_HEADER_WARNINGS
#pragma GCC system_header
#endif
#include "common.h"
#include "function.h"
#include "exception.h"
namespace kj {
class Thread {
// A thread! Pass a lambda to the constructor, and it runs in the thread. The destructor joins
// the thread. If the function throws an exception, it is rethrown from the thread's destructor
// (if not unwinding from another exception).
public:
explicit Thread(Function<void()> func);
KJ_DISALLOW_COPY(Thread);
~Thread() noexcept(false);
#if !_WIN32
void sendSignal(int signo);
// Send a Unix signal to the given thread, using pthread_kill or an equivalent.
#endif
void detach();
// Don't join the thread in ~Thread().
private:
struct ThreadState {
Function<void()> func;
kj::Maybe<kj::Exception> exception;
unsigned int refcount;
// Owned by the parent thread and the child thread.
void unref();
};
ThreadState* state;
#if _WIN32
void* threadHandle;
#else
unsigned long long threadId; // actually pthread_t
#endif
bool detached = false;
#if _WIN32
static unsigned long __stdcall runThread(void* ptr);
#else
static void* runThread(void* ptr);
#endif
};
} // namespace kj
#endif // KJ_THREAD_H_