thread.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#pragma once
 
#include <string>
 
namespace apollo {
namespace perception {
namespace lib {
 
class Thread {
 public:
  explicit Thread(bool joinable = false, const std::string &name = "Thread")
      : tid_(0), started_(false), joinable_(joinable), thread_name_(name) {}
 
  pthread_t tid() const { return tid_; }
 
  void set_joinable(bool joinable) {
    if (!started_) {
      joinable_ = joinable;
    }
  }
 
  void Start();
 
  void Join();
 
  bool IsAlive();
 
  std::string get_thread_name() const { return thread_name_; }
  void set_thread_name(const std::string &name) { thread_name_ = name; }
 
  Thread(const Thread &) = delete;
  Thread &operator=(const Thread &) = delete;
 
 protected:
  virtual void Run() = 0;
 
  static void *ThreadRunner(void *arg) {
    Thread *t = reinterpret_cast<Thread *>(arg);
    t->Run();
    return nullptr;
  }
 
  pthread_t tid_;
  bool started_;
  bool joinable_;
  std::string thread_name_;
 
 private:
};
 
}  // namespace lib
}  // namespace perception
}  // namespace apollo