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

@@ -0,0 +1,98 @@
+#ifndef __UT_THREAD_POOL_HPP__
+#define __UT_THREAD_POOL_HPP__
+
+#include <unitree/common/log/log.hpp>
+#include <unitree/common/thread/thread.hpp>
+#include <unitree/common/thread/thread_task.hpp>
+#include <unitree/common/block_queue.hpp>
+
+namespace unitree
+{
+namespace common
+{
+class ThreadPool
+{
+public:
+    enum
+    {
+        /*
+         * minimum threads can be created.
+         */
+        MIN_THREAD_NUMBER = 1,
+        /*
+         * maximum threads can be created.
+         */
+        MAX_THREAD_NUMBER = 1000,
+        /*
+         * default timeout get task from blockqueue.
+         * 1 second
+         */
+        QUEUE_GET_TIMEOUT_MICROSEC = 1000000,
+        /*
+         * default max queue size.
+         * as UT_QUEUE_MAX_LEN
+         */
+        MAX_QUEUE_SIZE = UT_QUEUE_MAX_LEN,
+        /*
+         * default in queue time in microsecond.
+         * 7 days
+         */
+        MAX_QUEUE_MICROSEC = 25200000000
+    };
+
+    explicit ThreadPool(uint32_t threadNumber = MIN_THREAD_NUMBER,
+        uint32_t queueMaxSize = UT_QUEUE_MAX_LEN,
+        uint64_t taskMaxQueueMicrosec = MAX_QUEUE_MICROSEC);
+
+    __UT_THREAD_DECL_TMPL_FUNC_ARG__
+    bool AddTask(__UT_THREAD_TMPL_FUNC_ARG__)
+    {
+        return AddTaskInner(ThreadTaskPtr(new ThreadTask(__UT_THREAD_BIND_FUNC_ARG__)));
+    }
+
+    __UT_THREAD_DECL_TMPL_FUNC_ARG__
+    FuturePtr AddTaskFuture(__UT_THREAD_TMPL_FUNC_ARG__)
+    {
+        ThreadTaskFuturePtr taskPtr = ThreadTaskFuturePtr(
+            new ThreadTaskFuture(__UT_THREAD_BIND_FUNC_ARG__));
+
+        if (AddTaskInner(std::dynamic_pointer_cast<ThreadTask>(taskPtr)))
+        {
+            return taskPtr->GetFuture();
+        }
+
+        return FuturePtr();
+    }
+
+    int32_t DoTask();
+    uint64_t GetTaskSize();
+
+    bool IsQuit();
+    void Quit(bool waitThreadExit = true);
+
+    bool IsTaskOverdue(uint64_t enqueueTime);
+
+private:
+    bool AddTaskInner(ThreadTaskPtr taskptr);
+
+    void InitCreateThread();
+    void WaitThreadExit();
+
+private:
+    volatile bool mQuit;
+
+    uint32_t mThreadNumber;
+    uint32_t mTaskQueueMaxSize;
+    uint64_t mTaskMaxQueueTime;
+
+    BlockQueue<ThreadTaskPtr> mTaskQueue;
+    std::vector<ThreadPtr> mThreadList;
+
+    Logger* mLogger;
+};
+
+typedef std::shared_ptr<ThreadPool> ThreadPoolPtr;
+
+}
+}
+#endif//__UT_THREAD_POOL_HPP__