Visual Servoing Platform version 3.5.0
testThread.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 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 http://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
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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 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
47#include <visp3/core/vpConfig.h>
48
49#if defined(VISP_HAVE_PTHREAD) || (defined(_WIN32) && !defined(WINRT_8_0))
50
52#include <iostream>
53
54#include <visp3/core/vpThread.h>
55#include <visp3/core/vpTime.h>
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 std::cout << "qux arg: " << args_ << std::endl;
75 // do stuff...
76 return 0;
77}
78
79int main()
80{
81 unsigned int qux_arg = 12;
82 vpThread foo;
83 vpThread bar((vpThread::Fn)myBarFunction);
84 vpThread qux((vpThread::Fn)myQuxFunction,
85 (vpThread::Args)&qux_arg); // Pass qux_arg to myQuxFunction() function
86
87 vpTime::wait(1000); // Sleep 1s to ensure myQuxFunction() internal printings
88 std::cout << "Joinable after construction:" << std::endl;
89 std::cout << "foo: " << foo.joinable() << std::endl;
90 std::cout << "bar: " << bar.joinable() << std::endl;
91 std::cout << "qux: " << qux.joinable() << std::endl;
92
93 foo.create((vpThread::Fn)myFooFunction);
94
95 std::cout << "Joinable after creation:" << std::endl;
96 std::cout << "foo: " << foo.joinable() << std::endl;
97 std::cout << "bar: " << bar.joinable() << std::endl;
98 std::cout << "qux: " << qux.joinable() << std::endl;
99
100 if (foo.joinable())
101 foo.join();
102 if (bar.joinable())
103 bar.join();
104 if (qux.joinable())
105 qux.join();
106
107 std::cout << "Joinable after joining:" << std::endl;
108 std::cout << "foo: " << foo.joinable() << std::endl;
109 std::cout << "bar: " << bar.joinable() << std::endl;
110 std::cout << "qux: " << qux.joinable() << std::endl;
111
112 return 0;
113}
115
116#else
117
118#include <iostream>
119
120int main()
121{
122#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
123 std::cout << "You should enable pthread usage and rebuild ViSP..." << std::endl;
124#else
125 std::cout << "Multi-threading seems not supported on this platform" << std::endl;
126#endif
127}
128#endif
void * Return
Definition: vpThread.h:78
void *(* Fn)(Args)
Definition: vpThread.h:79
bool joinable()
Definition: vpThread.h:185
void * Args
Definition: vpThread.h:77
void create(vpThread::Fn fn, vpThread::Args args=NULL)
Definition: vpThread.h:110
void join()
Definition: vpThread.h:154
VISP_EXPORT int wait(double t0, double t)