mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-09 03:07:45 +08:00
Included UtiLite library directly in Rtabmap source (to simplify the installation)
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@857 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -0,0 +1,382 @@
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/////////////////////////////////////////////////////////////////////
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// Written by Phillip Sitbon
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// Copyright 2003
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//
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// Modified by Mathieu Labbe
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//
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// Win32/Thread.h
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// - Windows thread
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//
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// - From CreateThread Platform SDK Documentation:
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//
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// "A thread that uses functions from the static C run-time
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// libraries should use the beginthread and endthread C run-time
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// functions for thread management rather than CreateThread and
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// ExitThread. Failure to do so results in small memory leaks
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// when ExitThread is called. Note that this is not a problem
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// with the C run-time in a DLL."
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//
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// With regards to this, I have decided to use the CreateThread
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// API, unless you define _CRT_ in which case there are two
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// possibilities:
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//
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// 1. Define _USE_BEGINTHREAD: Uses _beginthread/_endthread
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// (said to be *unreliable* in the SDK docs)
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//
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// 2. Don't - Uses _beginthreaded/_endthreadex
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//
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// A note about _endthread:
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//
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// It will call CloseHandle() on exit, and if it was already
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// closed then you will get an exception. To prevent this, I
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// removed the CloseHandle() functionality - this means that
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// a Join() WILL wait on a Detach()'ed thread.
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//
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/////////////////////////////////////////////////////////////////////
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#ifndef _U_Thread_Win32_
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#define _U_Thread_Win32_
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#include "rtabmap/utilite/Win32/UWin32.h"
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#include "rtabmap/utilite/USemaphore.h"
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#include "rtabmap/utilite/UMutex.h"
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inline void uSleep(unsigned int ms)
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{
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Sleep(ms);
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}
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#ifdef _CRT_
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# include <process.h>
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# ifdef _USE_BEGINTHREAD
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# define THREAD_CALL __cdecl
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# define THREAD_HANDLE uintptr_t
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# define THREAD_RET_T void
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# define CREATE_THREAD_FAILED (-1L)
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# define CREATE_THREAD_ERROR (errno)
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# define CREATE_THREAD(_S,_F,_P) ((Handle)_beginthread((void (__cdecl *)(void *))_F,_S,(void *)_P))
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# define EXIT_THREAD _endthread()
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# define CLOSE_HANDLE(x) 1
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# define THREAD_RETURN(x) return
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# else
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# define THREAD_CALL WINAPI
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# define THREAD_HANDLE HANDLE
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# define THREAD_RET_T UINT
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# define CREATE_THREAD_FAILED (0L)
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# define CREATE_THREAD_ERROR (errno)
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# define CREATE_THREAD(_S,_F,_P) ((Handle)_beginthreadex(0,_S,(UINT (WINAPI *)(void *))_F,(void *)_P,0,0))
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# define EXIT_THREAD _endthreadex(0)
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# define CLOSE_HANDLE(x) CloseHandle(x)
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# define THREAD_RETURN(x) return(x)
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# endif
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#else
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# define THREAD_CALL WINAPI
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# define THREAD_HANDLE HANDLE
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# define THREAD_RET_T DWORD
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# define CREATE_THREAD_FAILED (0L)
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# define CREATE_THREAD_ERROR GetLastError()
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# define CREATE_THREAD(_S,_F,_P) ((Handle)CreateThread(0,_S,(DWORD (WINAPI *)(void *))_F,(void *)_P,0,0))
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# define CREATE_THREAD2(_S,_F,_P,_ID) ((Handle)CreateThread(0,_S,(DWORD (WINAPI *)(void *))_F,(void *)_P,0,_ID))
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# define EXIT_THREAD ExitThread(0)
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# define CLOSE_HANDLE(x) CloseHandle(x)
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# define THREAD_RETURN(x) return(x)
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#endif
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#define InvalidHandle 0
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template
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<
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typename Thread_T
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>
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class UTILITE_EXP UThreadC
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{
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private:
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struct Instance;
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public:
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typedef Thread_T & Thread_R;
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typedef const Thread_T & Thread_C_R;
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typedef THREAD_HANDLE Handle;
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typedef void (* Handler)( Thread_R );
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protected:
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UThreadC() {}
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virtual void ThreadMain( Thread_R ) = 0;
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static void Exit()
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{ EXIT_THREAD; }
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static void TestCancel()
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{ Sleep(0); }
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static int Self()
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{
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Handle Hnd = InvalidHandle;
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DuplicateHandle(GetCurrentProcess(),GetCurrentThread(),GetCurrentProcess(),(LPHANDLE)&Hnd,NULL,0,NULL);
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return Hnd;
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// only a pseudo-handle!
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//return (Handle)GetCurrentThread();
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}
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public:
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static int Create(
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const Handler & Function,
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Thread_C_R Param,
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Handle * const & H = 0,
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const bool & CreateDetached = false,
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const unsigned int & StackSize = 0,
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const bool & CancelEnable = false, // UNUSED
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const bool & CancelAsync = false // UNUSED
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)
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{
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M_Create().lock();
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Instance I(Param,0,Function);
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Handle Hnd(CREATE_THREAD(StackSize,ThreadMainHandler,&I));
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if ( Hnd == CREATE_THREAD_FAILED )
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{
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if ( H ) *H = InvalidHandle;
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M_Create().unlock();
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return CREATE_THREAD_ERROR;
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}
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if ( H ) *H = Hnd;
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S_Create().Wait();
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M_Create().unlock();
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if ( CreateDetached ) CLOSE_HANDLE(Hnd);
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return 0;
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}
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int Create(
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Thread_C_R Param,
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Handle * const & H = 0,
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const bool & CreateDetached = false,
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const unsigned int & StackSize = 0,
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const bool & CancelEnable = false, // UNUSED
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const bool & CancelAsync = false // UNUSED
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) const
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{
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M_Create().lock();
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Instance I(Param,const_cast<UThreadC *>(this));
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Handle Hnd(CREATE_THREAD(StackSize,ThreadMainHandler,&I));
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if ( Hnd == CREATE_THREAD_FAILED )
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{
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if ( H ) *H = InvalidHandle;
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M_Create().unlock();
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return CREATE_THREAD_ERROR;
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}
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if ( H ) *H = Hnd;
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S_Create().Wait();
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M_Create().unlock();
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if ( CreateDetached ) CLOSE_HANDLE(Hnd);
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return 0;
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}
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static int Join( const Handle &H )
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{
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DWORD R = WaitForSingleObject((HANDLE)H,INFINITE);
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if ( (R == WAIT_OBJECT_0) || (R == WAIT_ABANDONED) )
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{
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CLOSE_HANDLE(H);
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return 0;
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}
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if ( R == WAIT_TIMEOUT ) return EAGAIN;
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return EINVAL;
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}
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static int Kill( const Handle &H )
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{ return TerminateThread((HANDLE)H,0) ? 0 : EINVAL; }
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static int Detach( const Handle &H )
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{ return (CLOSE_HANDLE(H)?0:EINVAL); }
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private:
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static const UMutex &M_Create() { static UMutex M; return M; }
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static const USemaphore &S_Create() { static USemaphore S; return S; }
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static THREAD_RET_T THREAD_CALL ThreadMainHandler( Instance *Param )
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{
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Instance I(*Param);
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Thread_T Data(I.Data);
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S_Create().Post();
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if ( I.Owner )
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I.Owner->ThreadMain(Data);
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else
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I.pFN(Data);
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Exit();
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THREAD_RETURN(0);
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}
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struct Instance
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{
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Instance( Thread_C_R P, UThreadC<Thread_T> *const &O, const typename UThreadC<Thread_T>::Handler &pH = 0 )
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: pFN(pH), Data(P), Owner(O) {}
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typename UThreadC<Thread_T>::Handler pFN;
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typename UThreadC<Thread_T>::Thread_C_R Data;
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UThreadC<Thread_T> * Owner;
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};
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};
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/////////////////////////////////////////////////////////////////////
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// Explicit Specialization of void
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//
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template<>
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class UTILITE_EXP UThreadC<void>
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{
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private:
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struct Instance;
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public:
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typedef THREAD_HANDLE Handle;
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typedef void ( *Handler)();
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virtual ~UThreadC<void>() {}
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protected:
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UThreadC<void>() {}
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virtual void ThreadMain() = 0;
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static void Exit()
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{ EXIT_THREAD; }
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static void TestCancel()
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{ Sleep(0); }
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static int Self()
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{
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return (int)GetCurrentThreadId();
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//Handle Hnd = InvalidHandle;
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//DuplicateHandle(GetCurrentProcess(),GetCurrentThread(),GetCurrentProcess(),(LPHANDLE)&Hnd,NULL,0,NULL);
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//return Hnd;
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// only a pseudo-handle!
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//return (Handle)GetCurrentThread();
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}
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public:
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static int Create(
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const Handler & Function,
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Handle * const & H = 0,
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const bool & CreateDetached = false,
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const unsigned int & StackSize = 0,
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const bool & CancelEnable = false, // UNUSED
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const bool & CancelAsync = false // UNUSED
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)
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{
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Handle Hnd(CREATE_THREAD(StackSize,ThreadMainHandler_S,Function));
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if ( Hnd == CREATE_THREAD_FAILED )
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{
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if ( H ) *H = InvalidHandle;
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return (int)CREATE_THREAD_ERROR;
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}
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if ( H ) *H = Hnd;
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if ( CreateDetached ) CLOSE_HANDLE(Hnd);
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return 0;
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}
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int Create(
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Handle * const & H = 0,
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const bool & CreateDetached = false,
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const unsigned int & StackSize = 0,
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const bool & CancelEnable = false, // UNUSED
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const bool & CancelAsync = false // UNUSED
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) const
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{
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Handle Hnd(CREATE_THREAD(StackSize,ThreadMainHandler,this));
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if ( Hnd == CREATE_THREAD_FAILED )
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{
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if ( H ) *H = InvalidHandle;
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return (int)CREATE_THREAD_ERROR;
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}
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if ( H ) *H = Hnd;
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if ( CreateDetached ) CLOSE_HANDLE(Hnd);
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Self();
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return 0;
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}
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int Create(
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int & ThreadId,
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Handle * const & H = 0,
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const bool & CreateDetached = false,
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const unsigned int & StackSize = 0,
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const bool & CancelEnable = false, // UNUSED
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const bool & CancelAsync = false // UNUSED
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) const
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{
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*H = InvalidHandle;
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*H = CREATE_THREAD2(StackSize,ThreadMainHandler,this, (LPDWORD)&ThreadId);
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if ( *H == CREATE_THREAD_FAILED )
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{
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*H = InvalidHandle;
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return (int)CREATE_THREAD_ERROR;
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}
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if ( CreateDetached ) CLOSE_HANDLE(*H);
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return 0;
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}
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static int Join( const Handle &H )
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{
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DWORD R = WaitForSingleObject((HANDLE)H,INFINITE);
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if ( (R == WAIT_OBJECT_0) || (R == WAIT_ABANDONED) )
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{
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CLOSE_HANDLE(H);
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return 0;
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}
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if ( R == WAIT_TIMEOUT ) return EAGAIN;
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return EINVAL;
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}
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static int Kill( const Handle &H )
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{ return TerminateThread((HANDLE)H,0) ? 0 : EINVAL; }
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static int Detach( const Handle &H )
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{ return (CLOSE_HANDLE(H)?0:EINVAL); }
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private:
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static THREAD_RET_T THREAD_CALL ThreadMainHandler( UThreadC<void> *Param )
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{
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Param->ThreadMain();
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Exit();
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THREAD_RETURN(0);
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}
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static THREAD_RET_T THREAD_CALL ThreadMainHandler_S( Handler Param )
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{
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Param();
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Exit();
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THREAD_RETURN(0);
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}
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};
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#endif // !_U_Thread_Win32_
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@@ -0,0 +1,64 @@
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/////////////////////////////////////////////////////////////////////
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// Written by Phillip Sitbon
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// Copyright 2003
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//
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// Win32.h
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// - Windows includes
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//
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/////////////////////////////////////////////////////////////////////
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#ifndef _U_Win32_
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#define _U_Win32_
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#include "rtabmap/utilite/UtiLiteExp.h"
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#if !defined(_WINDOWS_)
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// WIN32 Excludes
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#ifdef WIN32_LEAN_AND_MEAN
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# define VC_EXTRALEAN
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# define WIN32_LEAN_AND_MEAN
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# define _PRSHT_H_
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# define NOGDICAPMASKS // CC_*, LC_*, PC_*, CP_*, TC_*, RC_
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# define NOVIRTUALKEYCODES // VK_*
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# define NOWINMESSAGES // WM_*, EM_*, LB_*, CB_*
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# define NOWINSTYLES // WS_*, CS_*, ES_*, LBS_*, SBS_*, CBS_*
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# define NOSYSMETRICS // SM_*
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# define NOMENUS // MF_*
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# define NOICONS // IDI_*
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# define NOKEYSTATES // MK_*
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# define NOSYSCOMMANDS // SC_*
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# define NORASTEROPS // Binary and Tertiary raster ops
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# define NOSHOWWINDOW // SW_*
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# define OEMRESOURCE // OEM Resource values
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# define NOATOM // Atom Manager routines
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# define NOCLIPBOARD // Clipboard routines
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# define NOCOLOR // Screen colors
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# define NOCTLMGR // Control and Dialog routines
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# define NODRAWTEXT // DrawText() and DT_*
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# define NOGDI // All GDI defines and routines
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# define NOKERNEL // All KERNEL defines and routines
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# define NOUSER // All USER defines and routines
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# define NONLS // All NLS defines and routines
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# define NOMB // MB_* and MessageBox()
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# define NOMEMMGR // GMEM_*, LMEM_*, GHND, LHND, associated routines
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# define NOMETAFILE // typedef METAFILEPICT
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# define NOMINMAX // Macros min(a,b) and max(a,b)
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# define NOMSG // typedef MSG and associated routines
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# define NOOPENFILE // OpenFile(), OemToAnsi, AnsiToOem, and OF_*
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# define NOSCROLL // SB_* and scrolling routines
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# define NOSERVICE // All Service Controller routines, SERVICE_ equates, etc.
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# define NOSOUND // Sound driver routines
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# define NOTEXTMETRIC // typedef TEXTMETRIC and associated routines
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# define NOWH // SetWindowsHook and WH_*
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# define NOWINOFFSETS // GWL_*, GCL_*, associated routines
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# define NOCOMM // COMM driver routines
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# define NOKANJI // Kanji support stuff.
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# define NOHELP // Help engine interface.
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# define NOPROFILER // Profiler interface.
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# define NODEFERWINDOWPOS // DeferWindowPos routines
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# define NOMCX // Modem Configuration Extensions
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#endif // WIN32_LEAN_AND_MEAN
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//
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# include <windows.h>
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#endif
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#endif // !_U_Win32_
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Reference in New Issue
Block a user