goby::middleware::SimpleThread< Config, ImplementationTag > Class Template Reference

Implements Thread for a three layer middleware setup ([ intervehicle [ interprocess [ interthread ] ] ]) based around InterVehicleForwarder. More...

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

Inheritance diagram for goby::middleware::SimpleThread< Config, ImplementationTag >:

Public Member Functions
	SimpleThread (const Config &cfg, double loop_freq_hertz=0, int index=-1)
	Construct a thread with a given configuration, optionally a loop frequency and/or index.
	SimpleThread (const Config &cfg, boost::units::quantity< boost::units::si::frequency > loop_freq, int index=-1)
	Construct a thread with a given configuration, a loop frequency (using boost::units) and optionally an index.
InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter, ImplementationTag > > &	intervehicle ()
	Access the transporter on the intervehicle layer (which wraps interprocess and interthread).
InterProcessForwarder< InterThreadTransporter, ImplementationTag > &	interprocess ()
	Access the transporter on the interprocess layer (which wraps interthread).
InterThreadTransporter &	interthread ()
	Access the transporter on the interthread layer (this is the innermost transporter).
Public Member Functions inherited from goby::middleware::Thread< Config, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter, void > > >
	Thread (const Config &cfg, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter, void > > *transporter, int index)
	Construct a thread with a given configuration, underlying transporter, and index (for multiple instantiations), but without any loop() 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)

Friends
class	coroner::Thread< SimpleThread< Config, ImplementationTag > >

Additional Inherited Members
Public Types inherited from goby::middleware::Thread< Config, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter, void > > >
using	Transporter
Static Public Attributes inherited from goby::middleware::Thread< Config, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter, void > > >
static constexpr goby::middleware::Group	shutdown_group_
static constexpr goby::middleware::Group	joinable_group_
Protected Member Functions inherited from goby::middleware::Thread< Config, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter, void > > >
void	set_transporter (InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter, void > > *transporter)
virtual void	loop ()
double	loop_max_frequency () const
void	run_once ()
InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter, void > > &	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 ()
Protected Member Functions inherited from goby::middleware::coroner::Thread< SimpleThread< Config, void > >
void	subscribe_coroner ()

Detailed Description

template<typename Config, typename ImplementationTag = void>
class goby::middleware::SimpleThread< Config, ImplementationTag >

Implements Thread for a three layer middleware setup ([ intervehicle [ interprocess [ interthread ] ] ]) based around InterVehicleForwarder.

Template Parameters

Config	Configuration type
ImplementationTag	Tag type selecting the interprocess implementation (e.g. zeromq::detail::InterProcessTag). Defaults to void (deprecated; use zeromq::SimpleThread or udpm::SimpleThread instead).

Derive from this class to create standalone threads that can be launched and joined by MultiThreadApplication's launch_thread and join_thread methods.

Definition at line 45 of file simple_thread.h.

Constructor & Destructor Documentation

SimpleThread() [1/2]

template<typename Config, typename ImplementationTag = void>

goby::middleware::SimpleThread< Config, ImplementationTag >::SimpleThread ( const Config & cfg, double loop_freq_hertz = 0, int index = -1 )

inline

Construct a thread with a given configuration, optionally a loop frequency and/or index.

Parameters

cfg	Data to configure the code running in this thread
loop_freq_hertz	The frequency at which to attempt to call loop(), assuming the thread isn't blocked handling transporter callbacks (e.g. subscribe callbacks). Zero or negative indicates loop() will never be called.
index	Numeric index to identify this instantiation of the SimpleThread (only necessary if multiple Threads of the same type are created)

Definition at line 62 of file simple_thread.h.

SimpleThread() [2/2]

template<typename Config, typename ImplementationTag = void>

goby::middleware::SimpleThread< Config, ImplementationTag >::SimpleThread ( const Config & cfg, boost::units::quantity< boost::units::si::frequency > loop_freq, int index = -1 )

inline

Construct a thread with a given configuration, a loop frequency (using boost::units) and optionally an index.

Parameters

cfg	Data to configure the code running in this thread
loop_freq	The frequency at which to attempt to call loop(), assuming the thread isn't blocked handling transporter callbacks (e.g. subscribe callbacks). Zero or negative indicates loop() will never be called.
index	Numeric index to identify this instantiation of the SimpleThread (only necessary if multiple Threads of the same type are created)

Definition at line 72 of file simple_thread.h.

Member Function Documentation

interprocess()

template<typename Config, typename ImplementationTag = void>

InterProcessForwarder< InterThreadTransporter, ImplementationTag > & goby::middleware::SimpleThread< Config, ImplementationTag >::interprocess ( )

inline

Access the transporter on the interprocess layer (which wraps interthread).

Definition at line 96 of file simple_thread.h.

interthread()

template<typename Config, typename ImplementationTag = void>

InterThreadTransporter & goby::middleware::SimpleThread< Config, ImplementationTag >::interthread ( )

inline

Access the transporter on the interthread layer (this is the innermost transporter).

Definition at line 102 of file simple_thread.h.

intervehicle()

template<typename Config, typename ImplementationTag = void>

InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter, ImplementationTag > > & goby::middleware::SimpleThread< Config, ImplementationTag >::intervehicle ( )

inline

Access the transporter on the intervehicle layer (which wraps interprocess and interthread).

Definition at line 90 of file simple_thread.h.

Friends And Related Symbol Documentation

coroner::Thread< SimpleThread< Config, ImplementationTag > >

template<typename Config, typename ImplementationTag = void>

friend class coroner::Thread< SimpleThread< Config, ImplementationTag > >

friend

Definition at line 1 of file simple_thread.h.

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

• goby/middleware/application/simple_thread.h