goby::middleware::MultiThreadTest< Config > Class Template Reference
Base class for building multithreaded Goby tests that do not have perform any interprocess (or outer) communications, but only communicate internally via the InterThreadTransporter. The only difference with this class and MultiThreadStandaloneApplication is that the interprocess() and intervehicle() methods are implemented here (as dummy calls to interthread()) to allow this to be a drop-in replacement for testing interthread comms on existing MultiThreadApplication subclasses. More...
#include <goby/middleware/application/multi_thread.h>
Inheritance diagram for goby::middleware::MultiThreadTest< Config >:
Public Member Functions | |
| MultiThreadTest (boost::units::quantity< boost::units::si::frequency > loop_freq=0 *boost::units::si::hertz) | |
| Construct the test running at the given frequency. More... | |
| virtual | ~MultiThreadTest () |
 Public Member Functions inherited from goby::middleware::MultiThreadStandaloneApplication< Config > | |
| MultiThreadStandaloneApplication (double loop_freq_hertz=0) | |
| Construct the application calling loop() at the given frequency (double overload) More... | |
| MultiThreadStandaloneApplication (boost::units::quantity< boost::units::si::frequency > loop_freq) | |
| Construct the application calling loop() at the given frequency (boost::units overload) More... | |
| virtual | ~MultiThreadStandaloneApplication () |
| Public Member Functions inherited from goby::middleware::MultiThreadApplicationBase< Config, InterThreadTransporter > | |
| void | launch_thread () |
| void | launch_thread (int index) |
| void | launch_thread (const ThreadConfig &cfg) |
| void | launch_thread (int index, const ThreadConfig &cfg) |
| void | launch_thread_without_cfg () |
| void | launch_thread_without_cfg (int index) |
| void | join_thread (int index=-1) |
| void | launch_timer (boost::units::quantity< boost::units::si::frequency > freq, std::function< void()> on_expire) |
| void | join_timer () |
| int | running_thread_count () |
| Public Member Functions inherited from goby::middleware::Application< Config > | |
| Application () | |
| virtual | ~Application () |
| Public Member Functions inherited from goby::middleware::Thread< Config, InterThreadTransporter > | |
| Thread (const Config &cfg, InterThreadTransporter *transporter, int index) | |
| Construct a thread with a given configuration, underlying transporter, and index (for multiple instantiations), but without any loop() frequency. More... | |
| Thread (const Config &cfg, InterThreadTransporter *transporter, double loop_freq_hertz=0, int index=-1) | |
| Construct a thread with all possible metadata (using double to specify frequency in Hertz) More... | |
| Thread (const Config &cfg, InterThreadTransporter *transporter, boost::units::quantity< boost::units::si::frequency > loop_freq, int index=-1) | |
| Construct a thread with all possible metadata (using boost::units to specify frequency) More... | |
| virtual | ~Thread () |
| void | run (std::atomic< bool > &alive) |
| Run the thread until the boolean reference passed is set false. This call blocks, and should be run in a std::thread by the caller. More... | |
| int | index () const |
| std::type_index | type_index () |
| void | set_type_index (std::type_index type_i) |
| std::string | name () |
| void | set_name (const std::string &name) |
| int | uid () |
| void | set_uid (int uid) |
Protected Member Functions | |
| InterThreadTransporter & | interprocess () |
| InterThreadTransporter & | intervehicle () |
| Protected Member Functions inherited from goby::middleware::MultiThreadApplicationBase< Config, InterThreadTransporter > | |
| MultiThreadApplicationBase (boost::units::quantity< boost::units::si::frequency > loop_freq, InterThreadTransporter *transporter) | |
| virtual | ~MultiThreadApplicationBase () |
| InterThreadTransporter & | interthread () |
| virtual void | post_finalize () override |
| Called just after finalize. More... | |
| std::map< std::type_index, std::map< int, ThreadManagement > > & | threads () |
| void | join_all_threads () |
| Protected Member Functions inherited from goby::middleware::Application< Config > | |
| virtual void | pre_initialize () |
| Called just before initialize. More... | |
| virtual void | initialize () |
| Perform any initialize tasks that couldn't be done in the constructor. More... | |
| virtual void | post_initialize () |
| Called just after initialize. More... | |
| virtual void | pre_finalize () |
| Called just before finalize. More... | |
| virtual void | finalize () |
| Perform any final cleanup actions just before the destructor is called. More... | |
| void | quit (int return_value=0) |
| Requests a clean exit. More... | |
| const Config & | app_cfg () |
| Accesses configuration object passed at launch. More... | |
| const util::UTMGeodesy & | geodesy () |
| Accesses the geodetic conversion tool if lat_origin and lon_origin were provided. More... | |
| bool | has_geodesy () |
| Returns if the geodesy tool is configured with a datum. More... | |
| std::string | app_name () |
| void | configure_geodesy (goby::util::UTMGeodesy::LatLonPoint datum) |
| Protected Member Functions inherited from goby::middleware::Thread< Config, InterThreadTransporter > | |
| Thread (const Config &cfg, boost::units::quantity< boost::units::si::frequency > loop_freq, int index=-1) | |
| void | set_transporter (InterThreadTransporter *transporter) |
| virtual void | loop () |
| double | loop_frequency_hertz () const |
| decltype(loop_frequency_) | loop_frequency () const |
| double | loop_max_frequency () const |
| void | run_once () |
| InterThreadTransporter & | transporter () const |
| const Config & | cfg () const |
| virtual void | initialize () |
| virtual void | finalize () |
| void | thread_health (goby::middleware::protobuf::ThreadHealth &health) |
| virtual void | health (goby::middleware::protobuf::ThreadHealth &health) |
| Called when HealthRequest is made by goby_coroner. More... | |
| void | thread_quit () |
| bool | alive () |
Additional Inherited Members | |
| Public Types inherited from goby::middleware::Application< Config > | |
| using | ConfigType = Config |
| Public Types inherited from goby::middleware::Thread< Config, InterThreadTransporter > | |
| using | Transporter = InterThreadTransporter |
| Static Public Attributes inherited from goby::middleware::Thread< Config, InterThreadTransporter > | |
| static constexpr goby::middleware::Group | shutdown_group_ |
| static constexpr goby::middleware::Group | joinable_group_ |
| Protected Types inherited from goby::middleware::MultiThreadApplicationBase< Config, InterThreadTransporter > | |
| using | MainThreadBase = Thread< Config, InterThreadTransporter > |
Detailed Description
template<class Config>
class goby::middleware::MultiThreadTest< Config >
Base class for building multithreaded Goby tests that do not have perform any interprocess (or outer) communications, but only communicate internally via the InterThreadTransporter. The only difference with this class and MultiThreadStandaloneApplication is that the interprocess() and intervehicle() methods are implemented here (as dummy calls to interthread()) to allow this to be a drop-in replacement for testing interthread comms on existing MultiThreadApplication subclasses.
- Template Parameters
-
Config Configuration type
Definition at line 381 of file multi_thread.h.
Constructor & Destructor Documentation
◆ MultiThreadTest()
template<class Config >
|
inline |
Construct the test running at the given frequency.
- Parameters
-
loop_freq The frequency at which to attempt to call loop(), assuming the main thread isn't blocked handling transporter callbacks (e.g. subscribe callbacks). Zero or negative indicates loop() will never be called.
Definition at line 390 of file multi_thread.h.
◆ ~MultiThreadTest()
template<class Config >
|
inlinevirtual |
Definition at line 395 of file multi_thread.h.
Member Function Documentation
◆ interprocess()
template<class Config >
|
inlineprotected |
Definition at line 399 of file multi_thread.h.
◆ intervehicle()
template<class Config >
|
inlineprotected |
Definition at line 400 of file multi_thread.h.
The documentation for this class was generated from the following file:
- goby/middleware/application/multi_thread.h
