osaThreadBuddy.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */

/*

  Author(s): Ankur Kapoor, Min Yang Jung
  Created on: 2004-04-30

  (C) Copyright 2004-2010 Johns Hopkins University (JHU), All Rights
  Reserved.

--- begin cisst license - do not edit ---

This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.

--- end cisst license ---
*/


#ifndef _osaThreadBuddy_h
#define _osaThreadBuddy_h

#include <cisstCommon/cmnPortability.h>
#include <cisstOSAbstraction/osaTimeServer.h>
#include <cisstOSAbstraction/osaThread.h>

// Always include last
#include <cisstOSAbstraction/osaExport.h>

CISST_EXPORT void __os_init(void);

CISST_EXPORT void __os_exit(void);


struct osaThreadBuddyInternals;

class CISST_EXPORT osaThreadBuddy {

    osaThreadBuddyInternals* Data;

    double Period;

public:
    osaThreadBuddy();

    ~osaThreadBuddy();

    void Create(const char *name, double period, int stack_size = 1024*256);
    void Create(const char *name, const osaAbsoluteTime& tv, int stack_size = 1024*256 );

    void Delete();

    bool IsPeriodic() const { return Period > 0; }

    void WaitForPeriod(void);

    void WaitForRemainingPeriod(void);
    
    void MakeHardRealTime(void);

    void MakeSoftRealTime(void);

    void Resume(void);

    void Suspend(void);

    void LockStack();

    void UnlockStack();
};


#endif // _osaThreadBuddy_h