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Fix thread termination

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Some boost::threads replaced by std::threads
This commit is contained in:
Carles Fernandez 2019-02-24 13:22:52 +01:00
parent a97aca58f2
commit 08b0a7cd82
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GPG Key ID: 4C583C52B0C3877D
3 changed files with 23 additions and 26 deletions
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1
src/core/receiver/CMakeLists.txt
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@ -143,7 +143,6 @@ target_link_libraries(core_receiver
core_libs core_libs
core_monitor core_monitor
PRIVATE PRIVATE
Boost::chrono
Gflags::gflags Gflags::gflags
Glog::glog Glog::glog
signal_source_adapters signal_source_adapters

38
src/core/receiver/control_thread.cc
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@ -54,7 +54,6 @@
#include "rtklib_conversions.h" #include "rtklib_conversions.h"
#include "rtklib_ephemeris.h" #include "rtklib_ephemeris.h"
#include "rtklib_rtkcmn.h" #include "rtklib_rtkcmn.h"
#include <boost/chrono.hpp>
#include <boost/lexical_cast.hpp> #include <boost/lexical_cast.hpp>
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/message.h> #include <gnuradio/message.h>
@ -197,6 +196,16 @@ ControlThread::~ControlThread() // NOLINT(modernize-use-equals-default)
{ {
msgctl(msqid, IPC_RMID, nullptr); msgctl(msqid, IPC_RMID, nullptr);
} }
if (sysv_queue_thread_.joinable())
{
sysv_queue_thread_.join();
}
if (cmd_interface_thread_.joinable())
{
cmd_interface_thread_.join();
}
} }
@ -256,12 +265,12 @@ int ControlThread::run()
// launch GNSS assistance process AFTER the flowgraph is running because the GNU Radio asynchronous queues must be already running to transport msgs // launch GNSS assistance process AFTER the flowgraph is running because the GNU Radio asynchronous queues must be already running to transport msgs
assist_GNSS(); assist_GNSS();
// start the keyboard_listener thread // start the keyboard_listener thread
keyboard_thread_ = boost::thread(&ControlThread::keyboard_listener, this); keyboard_thread_ = std::thread(&ControlThread::keyboard_listener, this);
sysv_queue_thread_ = boost::thread(&ControlThread::sysv_queue_listener, this); sysv_queue_thread_ = std::thread(&ControlThread::sysv_queue_listener, this);
// start the telecommand listener thread // start the telecommand listener thread
cmd_interface_.set_pvt(flowgraph_->get_pvt()); cmd_interface_.set_pvt(flowgraph_->get_pvt());
cmd_interface_thread_ = boost::thread(&ControlThread::telecommand_listener, this); cmd_interface_thread_ = std::thread(&ControlThread::telecommand_listener, this);
bool enable_FPGA = configuration_->property("Channel.enable_FPGA", false); bool enable_FPGA = configuration_->property("Channel.enable_FPGA", false);
if (enable_FPGA == true) if (enable_FPGA == true)
@ -284,21 +293,10 @@ int ControlThread::run()
stop_ = true; stop_ = true;
flowgraph_->disconnect(); flowgraph_->disconnect();
// Join keyboard thread // Terminate keyboard thread
try pthread_t id = keyboard_thread_.native_handle();
{ keyboard_thread_.detach();
keyboard_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); pthread_cancel(id);
sysv_queue_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000));
cmd_interface_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000));
}
catch (const boost::thread_interrupted &interrupt)
{
DLOG(WARNING) << "Thread interrupted";
}
catch (const boost::system::system_error &e)
{
LOG(WARNING) << "System error";
}
if (restart_) if (restart_)
{ {
@ -1105,6 +1103,6 @@ void ControlThread::keyboard_listener()
} }
read_keys = false; read_keys = false;
} }
usleep(500000); std::this_thread::sleep_for(std::chrono::milliseconds(100));
} }
} }

10
src/core/receiver/control_thread.h
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@ -44,9 +44,9 @@
#include "gnss_sdr_supl_client.h" #include "gnss_sdr_supl_client.h"
#include "tcp_cmd_interface.h" #include "tcp_cmd_interface.h"
#include <armadillo> #include <armadillo>
#include <boost/thread.hpp>
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <memory> #include <memory>
#include <thread>
#include <vector> #include <vector>
@ -120,7 +120,7 @@ private:
//Telecommand TCP interface //Telecommand TCP interface
TcpCmdInterface cmd_interface_; TcpCmdInterface cmd_interface_;
void telecommand_listener(); void telecommand_listener();
boost::thread cmd_interface_thread_; std::thread cmd_interface_thread_;
//SUPL assistance classes //SUPL assistance classes
Gnss_Sdr_Supl_Client supl_client_acquisition_; Gnss_Sdr_Supl_Client supl_client_acquisition_;
Gnss_Sdr_Supl_Client supl_client_ephemeris_; Gnss_Sdr_Supl_Client supl_client_ephemeris_;
@ -168,9 +168,9 @@ private:
bool delete_configuration_; bool delete_configuration_;
unsigned int processed_control_messages_; unsigned int processed_control_messages_;
unsigned int applied_actions_; unsigned int applied_actions_;
boost::thread keyboard_thread_; std::thread keyboard_thread_;
boost::thread sysv_queue_thread_; std::thread sysv_queue_thread_;
boost::thread gps_acq_assist_data_collector_thread_; std::thread gps_acq_assist_data_collector_thread_;
void keyboard_listener(); void keyboard_listener();
void sysv_queue_listener(); void sysv_queue_listener();