vpThread.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Threading capabilities
 */
#ifndef _vpPthread_h_
#define _vpPthread_h_
 
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpException.h>
 
#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS) && (defined(VISP_HAVE_PTHREAD) || (defined(_WIN32) && !defined(WINRT_8_0)))
 
#if defined(VISP_HAVE_PTHREAD)
#include <pthread.h>
#include <string.h>
#elif defined(_WIN32)
// Mute warning with clang-cl
// warning : non-portable path to file '<WinSock2.h>'; specified path differs in case from file name on disk [-Wnonportable-system-include-path]
// warning : non-portable path to file '<Windows.h>'; specified path differs in case from file name on disk [-Wnonportable-system-include-path]
#if defined(__clang__)
#  pragma clang diagnostic push
#  pragma clang diagnostic ignored "-Wnonportable-system-include-path"
#endif
 
// Include WinSock2.h before windows.h to ensure that winsock.h is not
// included by windows.h since winsock.h and winsock2.h are incompatible
#include <WinSock2.h>
#include <windows.h>
 
#if defined(__clang__)
#  pragma clang diagnostic pop
#endif
 
#endif
 
#ifdef ENABLE_VISP_NAMESPACE
namespace VISP_NAMESPACE_NAME
{
#endif
class VP_DEPRECATED vpThread
{
public:
#if defined(VISP_HAVE_PTHREAD)
  typedef void *Args;
  typedef void *Return;
  typedef void *(*Fn)(Args);
  typedef pthread_t Handle;
#elif defined(_WIN32)
  typedef LPVOID Args;
  typedef DWORD Return;
  typedef LPTHREAD_START_ROUTINE Fn;
  // typedef DWORD (*Fn)(Args);
  typedef HANDLE Handle;
#endif
  vpThread() : m_handle(), m_isCreated(false), m_isJoinable(false) { }

  vpThread(vpThread::Fn fn, vpThread::Args args = nullptr) : m_handle(), m_isCreated(false), m_isJoinable(false)
  {
    create(fn, args);
  }

  void create(vpThread::Fn fn, vpThread::Args args = nullptr)
  {
    if (m_isCreated)
      throw vpException(vpException::fatalError, "The thread is already created");
#if defined(VISP_HAVE_PTHREAD)
    int err = pthread_create(&m_handle, nullptr, fn, args);
    if (err != 0) {
      throw vpException(vpException::cannotUseConstructorError, "Can't create thread : %s", strerror(err));
    }
#elif defined(_WIN32)
    DWORD dwThreadIdArray;
    m_handle = CreateThread(nullptr,              // default security attributes
                            0,                 // use default stack size
                            fn,                // thread function name
                            args,              // argument to thread function
                            0,                 // use default creation flags
                            &dwThreadIdArray); // returns the thread identifier
#endif
 
    m_isJoinable = true;
  }

  virtual ~vpThread()
  {
    join();
#if defined(VISP_HAVE_PTHREAD)
#elif defined(_WIN32)
    CloseHandle(m_handle);
#endif
  }

  void join()
  {
    if (m_isJoinable) {
#if defined(VISP_HAVE_PTHREAD)
      pthread_join(m_handle, nullptr);
#elif defined(_WIN32)
#if defined(WINRT_8_1)
      WaitForSingleObjectEx(m_handle, INFINITE, FALSE);
#else
      WaitForSingleObject(m_handle, INFINITE);
#endif
#endif
      m_isJoinable = false;
    }
  }

  Handle getHandle() { return m_handle; }

  bool joinable() { return m_isJoinable; }
 
protected:
  Handle m_handle;   
  bool m_isCreated;  
  bool m_isJoinable; 
};
#ifdef ENABLE_VISP_NAMESPACE
}
#endif
#endif
#endif