Base class for creating multiple thread applications. More...

#include <goby/middleware/application/multi_thread.h>

Inheritance diagram for goby::middleware::MultiThreadApplicationBase< Config, Transporter >:

Public Member Functions
template<typename ThreadType>
void	launch_thread ()
template<typename ThreadType>
void	launch_thread (int index)
template<typename ThreadType, typename ThreadConfig>
void	launch_thread (const ThreadConfig &cfg)
template<typename ThreadType, typename ThreadConfig>
void	launch_thread (int index, const ThreadConfig &cfg)
template<typename ThreadType>
void	launch_thread_without_cfg ()
template<typename ThreadType>
void	launch_thread_without_cfg (int index)
template<typename ThreadType>
void	join_thread (int index=-1)
template<int i>
void	launch_timer (boost::units::quantity< boost::units::si::frequency > freq, std::function< void()> on_expire)
template<int i>
void	join_timer ()
int	running_thread_count ()
Public Member Functions inherited from goby::middleware::Application< Config >
	Application ()
virtual	~Application ()
Public Member Functions inherited from goby::middleware::Thread< Config, Transporter >
	Thread (const Config &cfg, Transporter *transporter, int index)
	Construct a thread with a given configuration, underlying transporter, and index (for multiple instantiations), but without any loop() frequency.
	Thread (const Config &cfg, Transporter *transporter, double loop_freq_hertz=0, int index=-1)
	Construct a thread with all possible metadata (using double to specify frequency in Hertz).
	Thread (const Config &cfg, Transporter *transporter, boost::units::quantity< boost::units::si::frequency > loop_freq, int index=-1)
	Construct a thread with all possible metadata (using boost::units to specify frequency).
virtual	~Thread ()
void	run (std::atomic< bool > &alive)
	Run the thread until the boolean reference passed is set false. This call blocks, and should be run in a std::thread by the caller.
int	index () const
std::type_index	type_index ()
void	set_type_index (std::type_index type_i)
std::string	name ()
void	set_name (const std::string &name)
int	uid ()
void	set_uid (int uid)
double	loop_frequency_hertz () const
decltype(loop_frequency_)	loop_frequency () const
void	set_loop_frequency_hertz (double loop_freq_hertz)
void	set_loop_frequency (boost::units::quantity< boost::units::si::frequency > loop_freq)

Protected Types
using	MainThreadBase = Thread<Config, Transporter>

Protected Member Functions
	MultiThreadApplicationBase (boost::units::quantity< boost::units::si::frequency > loop_freq, Transporter *transporter)
virtual	~MultiThreadApplicationBase ()
InterThreadTransporter &	interthread ()
virtual void	post_finalize () override
	Called just after finalize.
std::map< std::type_index, std::map< int, ThreadManagement > > &	threads ()
void	join_all_threads ()
Protected Member Functions inherited from goby::middleware::Application< Config >
virtual void	pre_initialize ()
	Called just before initialize.
virtual void	initialize ()
	Perform any initialize tasks that couldn't be done in the constructor.
virtual void	post_initialize ()
	Called just after initialize.
virtual void	pre_finalize ()
	Called just before finalize.
virtual void	finalize ()
	Perform any final cleanup actions just before the destructor is called.
void	quit (int return_value=0)
	Requests a clean exit.
const Config &	app_cfg ()
	Accesses configuration object passed at launch.
const util::UTMGeodesy &	geodesy ()
	Accesses the geodetic conversion tool if lat_origin and lon_origin were provided.
bool	has_geodesy ()
	Returns if the geodesy tool is configured with a datum.
std::string	app_name ()
bool	app_alive ()
boost::units::quantity< boost::units::si::frequency >	choose_loop_freq (boost::units::quantity< boost::units::si::frequency > compiled_loop_freq)
void	configure_geodesy (goby::util::UTMGeodesy::LatLonPoint datum)
Protected Member Functions inherited from goby::middleware::Thread< Config, Transporter >
	Thread (const Config &cfg, boost::units::quantity< boost::units::si::frequency > loop_freq, int index=-1)
void	set_transporter (Transporter *transporter)
virtual void	loop ()
double	loop_max_frequency () const
void	run_once ()
Transporter &	transporter () const
const Config &	cfg () const
virtual void	initialize ()
virtual void	finalize ()
void	thread_health (goby::middleware::protobuf::ThreadHealth &health)
virtual void	health (goby::middleware::protobuf::ThreadHealth &health)
	Called when HealthRequest is made by goby_coroner.
void	thread_quit ()
bool	alive ()

Additional Inherited Members
Public Types inherited from goby::middleware::Application< Config >
using	ConfigType = Config
Public Types inherited from goby::middleware::Thread< Config, Transporter >
using	Transporter
Static Public Attributes inherited from goby::middleware::Thread< Config, Transporter >
static constexpr goby::middleware::Group	shutdown_group_
static constexpr goby::middleware::Group	joinable_group_

Detailed Description

template<class Config, class Transporter>
class goby::middleware::MultiThreadApplicationBase< Config, Transporter >

Base class for creating multiple thread applications.

Template Parameters

Config	Configuration type
Transporter	Transporter type

Definition at line 99 of file multi_thread.h.

Member Typedef Documentation

◆ MainThreadBase

template<class Config, class Transporter>

using goby::middleware::MultiThreadApplicationBase< Config, Transporter >::MainThreadBase = Thread<Config, Transporter>

protected

Definition at line 189 of file multi_thread.h.

Constructor & Destructor Documentation

◆ MultiThreadApplicationBase()

template<class Config, class Transporter>

goby::middleware::MultiThreadApplicationBase< Config, Transporter >::MultiThreadApplicationBase	(	boost::units::quantity< boost::units::si::frequency >	loop_freq,
		Transporter *	transporter )

inlineprotected

Definition at line 191 of file multi_thread.h.

◆ ~MultiThreadApplicationBase()

template<class Config, class Transporter>

virtual goby::middleware::MultiThreadApplicationBase< Config, Transporter >::~MultiThreadApplicationBase ( )

inlineprotectedvirtual

Definition at line 203 of file multi_thread.h.

Member Function Documentation

◆ interthread()

template<class Config, class Transporter>

InterThreadTransporter & goby::middleware::MultiThreadApplicationBase< Config, Transporter >::interthread ( )

inlineprotected

Definition at line 205 of file multi_thread.h.

◆ join_all_threads()

template<class Config, class Transporter>

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::join_all_threads ( )

inlineprotected

Definition at line 210 of file multi_thread.h.

◆ join_thread()

template<class Config, class Transporter>

template<typename ThreadType>

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::join_thread ( int index = -1 )

inline

Definition at line 160 of file multi_thread.h.

◆ join_timer()

template<class Config, class Transporter>

template<int i>

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::join_timer ( )

inline

Definition at line 184 of file multi_thread.h.

◆ launch_thread() [1/4]

template<class Config, class Transporter>

template<typename ThreadType>

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::launch_thread ( )

inline

Definition at line 131 of file multi_thread.h.

◆ launch_thread() [2/4]

template<class Config, class Transporter>

template<typename ThreadType, typename ThreadConfig>

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::launch_thread ( const ThreadConfig & cfg )

inline

Definition at line 141 of file multi_thread.h.

◆ launch_thread() [3/4]

template<class Config, class Transporter>

template<typename ThreadType>

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::launch_thread ( int index )

inline

Definition at line 135 of file multi_thread.h.

◆ launch_thread() [4/4]

template<class Config, class Transporter>

template<typename ThreadType, typename ThreadConfig>

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::launch_thread	(	int	index,
		const ThreadConfig &	cfg )

inline

Definition at line 146 of file multi_thread.h.

◆ launch_thread_without_cfg() [1/2]

template<class Config, class Transporter>

template<typename ThreadType>

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::launch_thread_without_cfg ( )

inline

Definition at line 151 of file multi_thread.h.

◆ launch_thread_without_cfg() [2/2]

template<class Config, class Transporter>

template<typename ThreadType>

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::launch_thread_without_cfg ( int index )

inline

Definition at line 155 of file multi_thread.h.

◆ launch_timer()

template<class Config, class Transporter>

template<int i>

void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::launch_timer	(	boost::units::quantity< boost::units::si::frequency >	freq,
		std::function< void()>	on_expire )

inline

Definition at line 176 of file multi_thread.h.

◆ post_finalize()

template<class Config, class Transporter>

virtual void goby::middleware::MultiThreadApplicationBase< Config, Transporter >::post_finalize ( )

inlineoverrideprotectedvirtual

Called just after finalize.

Reimplemented from goby::middleware::Application< Config >.

Definition at line 206 of file multi_thread.h.

◆ running_thread_count()

template<class Config, class Transporter>

int goby::middleware::MultiThreadApplicationBase< Config, Transporter >::running_thread_count ( )

inline

Definition at line 186 of file multi_thread.h.

◆ threads()

template<class Config, class Transporter>

std::map< std::type_index, std::map< int, ThreadManagement > > & goby::middleware::MultiThreadApplicationBase< Config, Transporter >::threads ( )

inlineprotected

Definition at line 208 of file multi_thread.h.

The documentation for this class was generated from the following file:

goby/middleware/application/multi_thread.h

Public Member Functions

Protected Types

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ MainThreadBase

Constructor & Destructor Documentation

◆ MultiThreadApplicationBase()

◆ ~MultiThreadApplicationBase()

Member Function Documentation

◆ interthread()

◆ join_all_threads()

◆ join_thread()

◆ join_timer()

◆ launch_thread() [1/4]

◆ launch_thread() [2/4]

◆ launch_thread() [3/4]

◆ launch_thread() [4/4]

◆ launch_thread_without_cfg() [1/2]

◆ launch_thread_without_cfg() [2/2]

◆ launch_timer()

◆ post_finalize()

◆ running_thread_count()

◆ threads()