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/****************************************************************************
* *
* OpenNI 1.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of OpenNI. *
* *
* OpenNI is free software: you can redistribute it and/or modify *
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* OpenNI is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with OpenNI. If not, see <http://www.gnu.org/licenses/>. *
* *
****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include <XnOS.h>
#include <errno.h>
#include <sys/time.h>
#include <sys/resource.h>
#include <XnLog.h>
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XN_C_API XnStatus xnOSCreateThread(XN_THREAD_PROC_PROTO pThreadProc, const XN_THREAD_PARAM pThreadParam, XN_THREAD_HANDLE* pThreadHandle)
{
XnStatus nRetVal = XN_STATUS_OK;
// Validate the input/output pointers (to make sure none of them is NULL)
XN_VALIDATE_INPUT_PTR(pThreadProc);
XN_VALIDATE_OUTPUT_PTR(pThreadHandle);
// allocate thread handle
XN_VALIDATE_ALLOC(*pThreadHandle, pthread_t);
// Create a thread via the OS
int rc = pthread_create(*pThreadHandle, NULL, pThreadProc, pThreadParam);
if (rc != 0)
{
XN_FREE_AND_NULL(*pThreadHandle);
return (XN_STATUS_OS_THREAD_CREATION_FAILED);
}
// All is good...
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnOSTerminateThread(XN_THREAD_HANDLE* pThreadHandle)
{
// Validate the input/output pointers (to make sure none of them is NULL)
XN_VALIDATE_INPUT_PTR(pThreadHandle);
// Make sure the actual thread handle isn't NULL
XN_RET_IF_NULL(*pThreadHandle, XN_STATUS_OS_INVALID_THREAD);
XN_THREAD_HANDLE handle = *pThreadHandle;
#ifndef XN_PLATFORM_LINUX_NO_PTHREAD_CANCEL
if (0 != pthread_cancel(*handle))
#else
// send the KILL signal to the thread
if (0 != pthread_kill(*handle, SIGUSR1))
#endif
{
return (XN_STATUS_OS_THREAD_TERMINATION_FAILED);
}
// Close the handle
XnStatus nRetVal = xnOSCloseThread(pThreadHandle);
XN_IS_STATUS_OK(nRetVal);
// All is good...
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnOSCloseThread(XN_THREAD_HANDLE* pThreadHandle)
{
// Validate the input/output pointers (to make sure none of them is NULL)
XN_VALIDATE_INPUT_PTR(pThreadHandle);
// Make sure the actual thread handle isn't NULL
XN_RET_IF_NULL(*pThreadHandle, XN_STATUS_OS_INVALID_THREAD);
// free handle
XN_FREE_AND_NULL(*pThreadHandle);
// All is good...
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnOSWaitForThreadExit(XN_THREAD_HANDLE ThreadHandle, XnUInt32 nMilliseconds)
{
int rc = 0;
// Make sure the actual thread handle isn't NULL
XN_RET_IF_NULL(ThreadHandle, XN_STATUS_OS_INVALID_THREAD);
if (nMilliseconds == XN_WAIT_INFINITE)
{
// join via the OS
void* pReturnValue;
rc = pthread_join(*ThreadHandle, &pReturnValue);
}
else
{
// calculate timeout absolute time. First we take current time
struct timespec time;
XnStatus nRetVal = xnOSGetAbsTimeout(&time, nMilliseconds);
if (nRetVal != XN_STATUS_OK)
{
return XN_STATUS_OS_THREAD_TERMINATION_FAILED;
}
// join via the OS
void* pReturnValue;
#ifndef XN_PLATFORM_HAS_NO_TIMED_OPS
rc = pthread_timedjoin_np(*ThreadHandle, &pReturnValue, &time);
#else
rc = pthread_join(*ThreadHandle, &pReturnValue);
#endif
}
// check for failures
if (rc == ETIMEDOUT)
{
return (XN_STATUS_OS_THREAD_TIMEOUT);
}
else if (rc != 0)
{
return (XN_STATUS_OS_THREAD_TERMINATION_FAILED);
}
// All is good...
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnOSSetThreadPriority(XN_THREAD_HANDLE ThreadHandle, XnThreadPriority nPriority)
{
// Make sure the actual thread handle isn't NULL
XN_RET_IF_NULL(ThreadHandle, XN_STATUS_OS_INVALID_THREAD);
int nPolicy = 0;
sched_param param;
int rc = 0;
if (nPriority == XN_PRIORITY_CRITICAL)
{
memset(¶m, 0, sizeof(param));
#ifndef XN_PLATFORM_HAS_NO_SCHED_PARAM
param.__sched_priority = 5;
#endif
nPolicy = SCHED_RR;
}
else
{
return (XN_STATUS_OS_THREAD_UNSUPPORTED_PRIORITY);
}
rc = pthread_setschedparam(*ThreadHandle, nPolicy, ¶m);
if (rc != 0)
{
xnLogWarning(XN_MASK_OS, "Failed to set thread priority (%d)", errno);
return (XN_STATUS_OS_THREAD_SET_PRIORITY_FAILED);
}
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnOSGetCurrentThreadID(XN_THREAD_ID* pThreadID)
{
// Validate the input/output pointers (to make sure none of them is NULL)
XN_VALIDATE_OUTPUT_PTR(pThreadID);
// Get the current thread id
*pThreadID = pthread_self();
// All is good...
return (XN_STATUS_OK);
}
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