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/*****************************************************************************
* *
* PrimeSense PSCommon Library *
* Copyright (C) 2012 PrimeSense Ltd. *
* *
* This file is part of PSCommon. *
* *
* 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. *
* *
*****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include <XnOS.h>
#include <errno.h>
#include <sys/time.h>
#include <sys/resource.h>
#include <XnLog.h>
#include <signal.h>
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XN_C_API XnStatus xnOSCreateThread(XN_THREAD_PROC_PROTO pThreadProc, const XN_THREAD_PARAM pThreadParam, XN_THREAD_HANDLE* pThreadHandle)
{
// 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;
#if XN_PLATFORM == XN_PLATFORM_ANDROID_ARM
//Note: It's only going to work if it runs as root! (but if not it fails anyway...)
param.sched_priority = sched_get_priority_max(nPolicy) - 1;
#endif
}
else
{
return (XN_STATUS_OS_THREAD_UNSUPPORTED_PRIORITY);
}
rc = pthread_setschedparam(*ThreadHandle, nPolicy, ¶m);
if (rc != 0)
{
#if XN_PLATFORM == XN_PLATFORM_ANDROID_ARM
//This should also work as a non-root user...
xnLogWarning(XN_MASK_OS, "Failed to use pthread_setschedparam (%d). Trying setpriority instead...", errno);
rc = setpriority(PRIO_PROCESS, gettid(), -8); //-8 is defined as ANDROID_PRIORITY_URGENT_DISPLAY.
if (rc < 0)
{
xnLogWarning(XN_MASK_OS, "Failed to use setpriority (%d)", rc);
return (XN_STATUS_OS_THREAD_SET_PRIORITY_FAILED);
}
#else
xnLogWarning(XN_MASK_OS, "Failed to set thread priority (%d)", errno);
return (XN_STATUS_OS_THREAD_SET_PRIORITY_FAILED);
#endif
}
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);
}
XN_C_API XnBool xnOSDoesThreadExistByID(XN_THREAD_ID threadId)
{
return pthread_kill(threadId, 0) != ESRCH;
}
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