ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / VP_SDK / VP_Api / vp_api_thread_helper.c

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Api/vp_api_thread_helper.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Api/vp_api_thread_helper.c
new file mode 100644 (file)
index 0000000..5cdf5f1
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Api/vp_api_thread_helper.c
@@ -0,0 +1,143 @@
+/**
+ *  \brief    VP Api. Thread utility.
+ *  \author   Sylvain Gaeremynck <sylvain.gaeremynck@parrot.fr>
+ *  \version  1.0
+ *  \date     first release 19/12/2006
+ *  \date     modification  26/03/2007
+ */
+
+#include <VP_Api/vp_api_thread_helper.h>
+#include <VP_Api/vp_api_error.h>
+#include <VP_Os/vp_os_print.h>
+#include <string.h>
+
+int32_t vp_api_get_thread_idx_tab_by_name(thread_table_entry_t* tab, const char* name)
+{
+  int32_t i = 0;
+  while(tab[i].name)
+  {
+    if(strcmp(name,tab[i].name) == 0)
+      return i;
+    i++;
+  }
+  PRINT("Thread %s is not in thread_table_entry_t \n", name);
+  return -1;
+}
+
+int32_t vp_api_get_thread_idx_tab_by_handle(thread_table_entry_t* tab, THREAD_HANDLE handle, int32_t ret_on_failure)
+{
+  int32_t i = 0;
+
+  while(tab[i].name && tab[i].handle != handle) i++;
+
+  return tab[i].name ? i : ret_on_failure;
+}
+
+C_RESULT vp_api_start_thread_tab(thread_table_entry_t* tab,int32_t idx,THREAD_PARAMS parameters)
+{
+  if(idx < 0)
+    return C_FAIL;
+
+  PRINT("Starting thread %s\n", tab[idx].name);
+
+  if( parameters == NO_PARAM )
+    parameters = tab[idx].parameters;
+
+  vp_os_thread_create(tab[idx].routine,
+                      parameters,
+                      &tab[idx].handle,
+                      tab[idx].priority,
+                      tab[idx].name,
+                      (void*)tab[idx].stack,
+                      tab[idx].stackSize,
+                      &tab[idx].thread );
+
+  return C_OK;
+}
+
+C_RESULT vp_api_join_thread_tab(thread_table_entry_t* tab,int32_t idx)
+{
+  if(idx < 0)
+    return C_FAIL;
+
+  if( tab[idx].handle != 0 )
+  {
+    vp_os_thread_join(tab[idx].handle);
+  }
+
+  return C_OK;
+}
+
+C_RESULT vp_api_start_all_threads_tab(thread_table_entry_t* tab)
+{
+  int32_t i = 0;
+  while(tab[i].name)
+  {
+    if(VP_FAILED(vp_api_start_thread_tab(tab,i,0)))
+      PRINT("Thread %d refused to start\n",(int)i);
+    i++;
+  }
+
+  return C_OK;
+}
+
+C_RESULT  vp_api_change_thread_prio_tab(thread_table_entry_t* tab, int32_t idx, int32_t priority)
+{
+  if(idx < 0)
+    return C_FAIL;
+
+  if( tab[idx].handle != 0 )
+  {
+    vp_os_thread_priority( tab[idx].handle, priority );
+  }
+
+  return C_OK;
+}
+
+C_RESULT  vp_api_resume_thread(thread_table_entry_t* tab, int32_t idx)
+{
+  if( idx < 0 )
+    return C_FAIL;
+
+  if( tab[idx].handle != 0 )
+  {
+    vp_os_thread_resume( tab[idx].handle );
+  }
+
+  return C_OK;
+}
+
+C_RESULT  vp_api_suspend_thread(thread_table_entry_t* tab, int32_t idx)
+{
+  if( idx < 0 )
+    return C_FAIL;
+
+  if( tab[idx].handle != 0 )
+  {
+    vp_os_thread_suspend( tab[idx].handle );
+  }
+
+  return C_OK;
+}
+
+THREAD_HANDLE vp_api_get_thread_handle(thread_table_entry_t* tab, int32_t idx)
+{
+  if( idx < 0 )
+    return 0;
+
+  return tab[idx].handle;
+}
+
+C_RESULT  vp_api_suspend_all_threads_tab(thread_table_entry_t* tab, THREAD_HANDLE handle)
+{
+  int32_t i = 0;
+  while(tab[i].name)
+  {
+    if( handle != tab[i].handle && tab[i].handle != 0 )
+      vp_os_thread_suspend(tab[i].handle);
+
+    i++;
+  }
+
+  return C_OK;
+}