text: /* +------------------------------------------------------------------------+
     |                     Mobile Robot Programming Toolkit (MRPT)            |
     |                          http://www.mrpt.org/                          |
     |                                                                        |
     | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
     | See: http://www.mrpt.org/Authors - All rights reserved.                |
     | Released under BSD License. See details in http://www.mrpt.org/License |
     +------------------------------------------------------------------------+ */
  /*
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   * 1. Redistributions of source code must retain the above copyright notice,
   *    this list of conditions and the following disclaimer.
   *
   * 2. Redistributions in binary form must reproduce the above copyright notice,
   *    this list of conditions and the following disclaimer in the documentation
   *    and/or other materials provided with the distribution.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
   * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
   * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
   * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
   * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
   * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
   * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
   * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
   * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
   * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   *
   */
  
  #pragma once
  
  #include "rptypes.h"
  #define CLASS_THREAD(c, x) rp::hal::Thread::create_member<c, &c::x>(this)
  
  namespace rp
  {
  namespace hal
  {
  class Thread
  {
     public:
  	enum priority_val_t
  	{
  		PRIORITY_REALTIME = 0,
  		PRIORITY_HIGH = 1,
  		PRIORITY_NORMAL = 2,
  		PRIORITY_LOW = 3,
  		PRIORITY_IDLE = 4,
  	};
  
  	template <class T, u_result (T::*PROC)(void)>
  	static Thread create_member(T* pthis)
  	{
  		return create(_thread_thunk<T, PROC>, pthis);
  	}
  
  	template <class T, u_result (T::*PROC)(void)>
  	static _word_size_t THREAD_PROC _thread_thunk(void* data)
  	{
  		return (static_cast<T*>(data)->*PROC)();
  	}
  	static Thread create(thread_proc_t proc, void* data = nullptr);
  
     public:
  	~Thread() {}
  	Thread() : _data(nullptr), _func(nullptr), _handle(0) {}
  	_word_size_t getHandle() { return _handle; }
  	u_result terminate();
  	void* getData() { return _data; }
  	u_result join(unsigned long timeout = -1);
  	u_result setPriority(priority_val_t p);
  	priority_val_t getPriority();
  
  	bool operator==(const Thread& right)
  	{
  		return this->_handle == right._handle;
  	}
  
     protected:
  	Thread(thread_proc_t proc, void* data)
  		: _data(data), _func(proc), _handle(0)
  	{
  	}
  	void* _data;
  	thread_proc_t _func;
  	_word_size_t _handle;
  };
  }
  }
  