thread.hpp

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#pragma once
 
#include <string>
#include <thread>
#include <mutex>
#include <time.h>
 
#include <rad/logger.hpp>
#include <rad/exceptions.hpp>
 
#include <ifw/ccf/mptk/messageBus.hpp>
 
namespace ifw::ccf::mptk {
 
  const std::string THREAD_REGISTRY = "ThreadRegistry";

  void SleepUntil(struct timespec* ts,
                  int delay);

  class Thread {
  public:
    static std::map<std::string, Thread*> s_thread_registry;

    typedef enum {
      THREAD_EXEC_STOPPED = 1,
      THREAD_EXEC_RUNNING,
      THREAD_EXEC_PAUSED
    } ThreadExecControl;

    Thread(const std::string& thread_name,
           MessageBus& message_bus,
           const double period = 0.1);
    // TODO: Add Thread name in signature.
 
    virtual ~Thread();

    void SetPriority(const int prio = -1);

    std::string GetName() const;

    void Run();

    virtual void UserLogic();

    void Start();

    void Stop();

    void Pause();

    void Continue();
 
    // Get current drift (in seconds).
    double GetDrift() const;

    bool GetExecFlag();

    ThreadExecControl GetExecFlag() const;

    bool Terminated();

    MessageBus& MsgBus();

    std::string ToString() const;
 
  private:
    std::string                  m_thread_name;
    double                       m_period;
    ThreadExecControl            m_exec_flag;
    double                       m_start_time;
    uint64_t                     m_iteration_count;
    double                       m_drift;
    double                       m_previous_start_time;
    double                       m_next_execution;
    bool                         m_thread_terminated;
    bool                         m_gen_statistics;
    struct sched_param           m_sched_par;
 
    std::unique_ptr<std::thread> m_sys_thread;
    MessageBus*                  m_message_bus;
    std::recursive_mutex         m_thr_mutex;
  };
 
}