YARP Manual

• Main Page
• Installation
• Tutorials
• Namespaces
• Examples
• Reference
• Warning

Search:

YARP Online

• Home Page
• Downloads
• Wiki
• Mailing list

Related Links

• RobotCub
• ROS
• Player/Stage
• Orocos

os/threads.cpp

Demonstrate the basic use of threads. See also os/ratethreadcpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-

// Show thread basic functionalities, you may want to have a look at the
// ratethread example.

// added initThread/releaseThread example -nat

#include <stdio.h>

#include <yarp/os/Thread.h>
#include <yarp/os/Time.h>

using namespace yarp::os;

class Thread1 : public Thread {
public:
    virtual bool threadInit()
        {
                printf("Starting thread1\n");
                return true;
        }

    virtual void run() {
        while (!isStopping()) {
            printf("Hello, from thread1\n");
            Time::delay(1);
        }
    }

    virtual void threadRelease()
        {
                printf("Goodbye from thread1\n");
        }
};

class Thread2 : public Thread {
public:
        virtual bool threadInit()
        {
                printf("Starting thread2\n");
                return true;
        }

    virtual void run() {
        Time::delay(0.5);
        while (!isStopping()) {
            printf("Hello from thread2\n");
            Time::delay(1);
        }
    }

    virtual void threadRelease()
        {
                printf("Goodbye from thread2\n");
        }
};

int main() {
    Thread1 t1;
    Thread2 t2;
    printf("Starting threads...\n");
    t1.start();
    t2.start();
    printf("started\n");
    Time::delay(3);
    printf("stopping threads...\n");
    t1.stop();
    t2.stop();
    printf("stopped\n");
    return 0;
}

---