Added printThreadId option in ULogger

utilite/include/rtabmap/utilite/ULogger.h

@@ -298,6 +298,13 @@ public:
     static void setPrintWhere(bool printWhere) {printWhere_ = printWhere;}
     static bool isPrintWhere() {return printWhere_;}
 
+    /**
+	 * Print thread ID: default false.
+	 * @param printThreadId true to print where, otherwise set to false.
+	 */
+	static void setPrintThreadId(bool printThreadId) {printThreadID_ = printThreadId;}
+	static bool isPrintThreadId() {return printThreadID_;}
+
     /**
      * Print the full path: default true. ULogger::setPrintWhere() must be true to have path printed.
 	 * @param printWhereFullPath true to print the full path, otherwise set to false.
@@ -507,6 +514,12 @@ private:
 	 */
     static bool printWhereFullPath_;
 
+    /*
+	 * If the logger prints the thread ID.
+	 * Default is false.
+	 */
+    static bool printThreadID_;
+
     /*
 	 * If the logger limit the size of the "where" path to
 	 * characters. If the path is over 8 characters, a "~"

utilite/include/rtabmap/utilite/UThread.h

@@ -91,6 +91,10 @@ public:
      */
     enum Priority{kPLow, kPBelowNormal, kPNormal, kPAboveNormal, kPRealTime};
 
+public:
+    //return caller thread id
+    static unsigned long currentThreadId() {return (unsigned long)UThreadC<void>::Self();}
+
 public:
     /**
      * The constructor.
@@ -165,7 +169,7 @@ public:
     bool isKilled() const;
 
     Handle getThreadHandle() const {return handle_;}
-
+    unsigned long getThreadId() const {return threadId_;}
 
 protected:
 
@@ -248,18 +252,14 @@ private:
 
 private:
 	void operator=(UThread & t) {}
-	UThread( const UThread & t ) {}
+	UThread( const UThread & t ) : state_(kSIdle) {}
 
 private:
     enum State{kSIdle, kSCreating, kSRunning, kSKilled}; /* Enum of states. */
     State state_; 			/* The thread state. */
     Priority priority_; 	/* The thread priority. */
     Handle handle_; 	/* The thread handle. */
-#ifdef _WIN32
-    int threadId_; 			/* The thread id. */
-#else
     unsigned long threadId_; /* The thread id. */
-#endif
     int cpuAffinity_; /* The cpu affinity. */
     UMutex killSafelyMutex_;	/* Mutex used to protect the kill() method. */
     UMutex runningMutex_;	    /* Mutex used to notify the join method when the thread has finished. */

utilite/include/rtabmap/utilite/Win32/UThreadC.h

@@ -321,7 +321,7 @@ class UTILITE_EXP UThreadC<void>
     }
 
     int Create(
-      int                 & ThreadId,
+      unsigned long       & ThreadId,
       Handle  * const     & H               = 0,
       const bool          & CreateDetached  = false,
       const unsigned int  & StackSize       = 0,
@@ -330,7 +330,9 @@ class UTILITE_EXP UThreadC<void>
     ) const
     {
     	*H = InvalidHandle;
-    	*H = CREATE_THREAD2(StackSize,ThreadMainHandler,this, (LPDWORD)&ThreadId);
+    	int id;
+    	*H = CREATE_THREAD2(StackSize,ThreadMainHandler,this, (LPDWORD)&id);
+    	ThreadId = (unsigned long)id;
 
       if ( *H == CREATE_THREAD_FAILED )
       {