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unitree_SDK/include/unitree/common/thread/thread.hpp

@@ -0,0 +1,79 @@
+#ifndef __UT_THREAD_HPP__
+#define __UT_THREAD_HPP__
+
+#include <unitree/common/thread/future.hpp>
+
+namespace unitree
+{
+namespace common
+{
+class Thread : public FutureWrapper
+{
+public:
+    Thread()
+        : mThreadId(0), mCpuId(UT_CPU_ID_NONE)
+    {}
+
+    Thread(const std::string& name, int32_t cpuId)
+        : mThreadId(0), mName(name), mCpuId(cpuId)
+    {}
+
+    __UT_THREAD_DECL_TMPL_FUNC_ARG__
+    explicit Thread(__UT_THREAD_TMPL_FUNC_ARG__)
+        : Thread()
+    {
+        Run(__UT_THREAD_BIND_FUNC_ARG__);
+    }
+
+    __UT_THREAD_DECL_TMPL_FUNC_ARG__
+    explicit Thread(const std::string& name, int32_t cpuId, __UT_THREAD_TMPL_FUNC_ARG__)
+        : Thread(name, cpuId)
+    {
+        Run(__UT_THREAD_BIND_FUNC_ARG__);
+    }
+
+    virtual ~Thread();
+
+    uint64_t GetThreadId() const;
+
+    void SetCpu();
+    void SetName();
+    void SetPriority(int32_t priority);
+
+    void Wrap();
+
+protected:
+    __UT_THREAD_DECL_TMPL_FUNC_ARG__
+    void Run(__UT_THREAD_TMPL_FUNC_ARG__)
+    {
+        mFunc = std::bind(__UT_THREAD_BIND_FUNC_ARG__);
+        CreateThreadNative();
+    }
+
+    void CreateThreadNative();
+
+protected:
+    pthread_t mThreadId;
+    std::string mName;
+    int32_t mCpuId;
+    std::function<Any()> mFunc;
+};
+
+typedef std::shared_ptr<Thread> ThreadPtr;
+
+__UT_THREAD_DECL_TMPL_FUNC_ARG__
+static inline ThreadPtr CreateThread(__UT_THREAD_TMPL_FUNC_ARG__)
+{
+    return ThreadPtr(new Thread(__UT_THREAD_BIND_FUNC_ARG__));
+}
+
+__UT_THREAD_DECL_TMPL_FUNC_ARG__
+static inline ThreadPtr CreateThreadEx(const std::string& name, int32_t cpuId, __UT_THREAD_TMPL_FUNC_ARG__)
+{
+    return ThreadPtr(new Thread(name, cpuId, __UT_THREAD_BIND_FUNC_ARG__));
+}
+
+}
+}
+
+#endif//__UT_THREAD_HPP__