Chief Delphi - Tasks in C++

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Re: Tasks in C++

Quote:

Originally Posted by jreneew2 (Post 1544175)

(which I think is really just a wrapper for a pthread).

Task is a VXWorks API wrapper around pthreads. Any reason not to use pthreads directly?

Take a look at ::std::thread. It works well, and is much more cross platform. We use it exclusively.

Re: Tasks in C++

Quote:

Originally Posted by AustinSchuh (Post 1550046)

Task is a VXWorks API wrapper around pthreads. Any reason not to use pthreads directly?

Take a look at ::std::thread. It works well, and is much more cross platform. We use it exclusively.

Can you provide a simple example of using ::std::thread that's compatible with the roborio?

TIA,

Mike

Re: Tasks in C++

Quote:

Originally Posted by taichichuan (Post 1566454)

Can you provide a simple example of using ::std::thread that's compatible with the roborio?

TIA,

Mike

From our code:

Code:

-- snip --

    ::frc971::wpilib::GyroSender gyro_sender;

    ::std::thread gyro_thread(::std::ref(gyro_sender));



    //  Main loop here



    // Now cleanup

    gyro_sender.Quit();

    gyro_thread.join();



-- snip --



// Handles reading the gyro over SPI and sending out angles on a queue.

//

// This is designed to be passed into ::std::thread's constructor so it will run

// as a separate thread.

class GyroSender {

 public:

  GyroSender();



  // For ::std::thread to call.

  //

  // Initializes the gyro and then loops until Quit() is called taking readings.

  void operator()();



  void Quit() { run_ = false; }



 private:



  // Readings per second.

  static const int kReadingRate = 200;



  GyroInterface gyro_;



  ::std::atomic<bool> run_{true};

};

There are a bunch of different variants for how to create the ::std::function that ::std::thread takes for a constructor. A simpler version would be to define a void foo(){} and pass that in. You can also use ::std::bind to call arbitrary functions with arbitrary arguments.

Re: Tasks in C++

Quote:

Originally Posted by AustinSchuh (Post 1566487)

From our code:

Code:

-- snip --

    ::frc971::wpilib::GyroSender gyro_sender;

    ::std::thread gyro_thread(::std::ref(gyro_sender));



    //  Main loop here



    // Now cleanup

    gyro_sender.Quit();

    gyro_thread.join();



-- snip --



// Handles reading the gyro over SPI and sending out angles on a queue.

//

// This is designed to be passed into ::std::thread's constructor so it will run

// as a separate thread.

class GyroSender {

 public:

  GyroSender();



  // For ::std::thread to call.

  //

  // Initializes the gyro and then loops until Quit() is called taking readings.

  void operator()();



  void Quit() { run_ = false; }



 private:



  // Readings per second.

  static const int kReadingRate = 200;



  GyroInterface gyro_;



  ::std::atomic<bool> run_{true};

};

Thanks!

Mike