139 lines
4.6 KiB
C++
139 lines
4.6 KiB
C++
/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#include "Aria.h"
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//#include <time.h>
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class TestThread : public ArASyncTask
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{
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public:
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TestThread(int number, ArMutex &mutex);
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~TestThread(void) {}
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virtual void * runThread(void *arg);
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int myNum;
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ArMutex &myMutex;
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};
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TestThread::TestThread(int number, ArMutex &mutex) :
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myNum(number),
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myMutex(mutex)
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{
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}
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void *TestThread::runThread(void *arg)
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{
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unsigned int interval;
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puts("new thread running...");
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while (myRunning)
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{
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// Yield the processor here so that the other threads get a chance
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// to get the lock. calling ArThread::yield() will give sequential
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// running of the threads.
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//yield();
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// Sleeping of 1 microsecond randomizes the order of running of the
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// threads.
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ArUtil::sleep(1);
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myMutex.lock();
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interval=rand()%10000;
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printf("Thread %d: Locked. Going to sleep for %dms\n", myNum, interval);
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ArUtil::sleep(interval);
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printf("Thread %d: Unlocking...\n", myNum);
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myMutex.unlock();
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}
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return NULL;
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}
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int main(int argc, char **argv)
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{
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puts("Aria init...");
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fflush(stdout);
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Aria::init(Aria::SIGHANDLE_THREAD, false);
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ArMutex mutex;
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mutex.setLogName("mutex");
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ArMutex::setLockWarningTime(1);
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ArMutex::setUnlockWarningTime(5);
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TestThread thread1(1, mutex), thread2(2, mutex), thread3(3, mutex),
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thread4(4, mutex);
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thread1.setThreadName("thread1");
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thread2.setThreadName("thread2");
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thread3.setThreadName("thread3");
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thread4.setThreadName("thread4");
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puts("srand...");
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srand(time(0));
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puts("creating 3 threads...");
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thread1.create();
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thread2.create();
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thread3.create();
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printf("main thread name=\"%s\", OS handle=%lu, OS pointer=0x%x\n", ArThread::getThisThreadName(), ArThread::getThisOSThread(), (unsigned int) ArThread::getThisThread());
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printf("thread1 thread name=\"%s\", OS handle=%lu, OS pointer=0x%x\n", thread1.getThreadName(), thread1.getOSThread(), (unsigned int) thread1.getThread());
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printf("thread2 thread name=\"%s\", OS handle=%lu, OS pointer=0x%x\n", thread2.getThreadName(), thread2.getOSThread(), (unsigned int) thread2.getThread());
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printf("thread3 thread name=\"%s\", OS handle=%lu, OS pointer=0x%x\n", thread3.getThreadName(), thread3.getOSThread(), (unsigned int) thread3.getThread());
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printf("thread4 (not created yet) thread name=\"%s\", OS handle=%lu, OS pointer=0x%x\n", thread4.getThreadName(), thread4.getOSThread(), (unsigned int) thread4.getThread());
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#ifndef MINGW
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if(ArThread::getThisOSThread() == thread1.getOSThread() ||
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ArThread::getThisOSThread() == thread2.getOSThread() ||
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ArThread::getThisOSThread() == thread3.getOSThread() ||
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ArThread::getThisOSThread() == thread4.getOSThread() ||
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thread1.getOSThread() == thread2.getOSThread() ||
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thread1.getOSThread() == thread3.getOSThread() ||
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thread1.getOSThread() == thread4.getOSThread() ||
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thread2.getOSThread() == thread1.getOSThread() ||
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thread2.getOSThread() == thread3.getOSThread() ||
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thread2.getOSThread() == thread4.getOSThread() ||
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thread3.getOSThread() == thread1.getOSThread() ||
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thread3.getOSThread() == thread2.getOSThread() ||
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thread3.getOSThread() == thread4.getOSThread() ||
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thread4.getOSThread() == thread1.getOSThread() ||
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thread4.getOSThread() == thread2.getOSThread() ||
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thread4.getOSThread() == thread3.getOSThread() )
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{
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puts("error, some thread IDs are the same!");
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return 5;
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}
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#endif
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puts("run thread 4 in main thread");
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thread4.runInThisThread();
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puts("exit");
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Aria::exit(0);
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return(0);
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}
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