BasicThread.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// 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.

#ifndef SURGSIM_FRAMEWORK_BASICTHREAD_H
#define SURGSIM_FRAMEWORK_BASICTHREAD_H

#include <memory>
#include <string>

#include <boost/thread.hpp>
#include <boost/chrono.hpp>

#include "SurgSim/Framework/Barrier.h"
#include "SurgSim/Framework/Timer.h"

namespace SurgSim
{
namespace Framework
{

class Component;
class Runtime;

class BasicThread
{
public:
    explicit BasicThread(const std::string& name = "Unknown Thread");

    // As per https://docs.microsoft.com/en-us/cpp/cpp/exception-specifications-throw-cpp?view=vs-2019
    // noexcept(false) has implementation from Visual Studio 2017 15.5
#if defined(_MSC_VER) && _MSC_VER < 1912
    virtual ~BasicThread() throw(...);  
#else
    virtual ~BasicThread() noexcept(false);
#endif


    void start(std::shared_ptr<Barrier> startupBarrier = nullptr, bool isSynchronous = false);

    void stop();

    void setIdle(bool isIdle);

    bool isIdle();

    bool isInitialized();

    bool isRunning() const;

    void operator()();

    boost::thread& getThread();

    std::string getName() const;

    void setRate(double val)
    {
        m_period = boost::chrono::duration<double>(1.0 / val);
    }

    bool setSynchronous(bool val);

    bool isSynchronous();

    double getCpuTime() const;

    size_t getUpdateCount() const;

    void resetCpuTimeAndUpdateCount();

    bool ignoresExceptions() const;
    void setIgnoreExceptions(bool val);
protected:

    Timer m_timer;

    bool initialize();

    bool startUp();

    bool waitForBarrier(bool success);

    virtual bool executeInitialization();

    std::shared_ptr<SurgSim::Framework::Logger> m_logger;

private:
    std::string m_name;

    boost::thread m_thisThread;
    boost::chrono::duration<double> m_period;
    std::shared_ptr<Barrier> m_startupBarrier;

    // Protects the start and stop functions so on can only execute once the other is done
    boost::mutex m_mutexStartStop;

    bool m_isIdle;
    bool m_isInitialized;
    bool m_isRunning;
    bool m_stopExecution;
    bool m_isSynchronous;
    bool m_ignoreExceptions;

    virtual bool doInitialize() = 0;
    virtual bool doStartUp() = 0;

    virtual bool doUpdate(double dt);

    virtual void doBeforeStop();
};

}; // namespace Framework
}; // namespace SurgSim

#endif // SURGSIM_FRAMEWORK_BASICTHREAD_H