DriverPlatform-V3.1/CcosThread/CcosThread.cpp

#include "CcosThread.h"
#include "MsgQueue.h"
#include <iostream>
#include <sys/time.h>
#include <errno.h>
#include <ctime>
#include <thread>
#include <stdexcept>
#include <sstream>
// 线程安全日志锁
static std::mutex g_logMutex;
// #define LOG(...) { std::lock_guard<std::mutex> lock(g_logMutex); std::cout << __VA_ARGS__ << std::endl; }
#define ERR_LOG(...) { std::lock_guard<std::mutex> lock(g_logMutex); std::cerr << __VA_ARGS__ << std::endl; }

// Thread_Base 实现
Thread_Base::Thread_Base(void)
    : m_Base_Thread(0),
    m_ThreadID(0),
    m_ThreadRunning(false),
    m_ExitRequested(false),
    m_strName(""),
    m_pThreadLogger(nullptr)
{
    //LOG("Creating exit/work/run events");
    m_ExitFlag = LinuxEvent::CreateEvent(LinuxEvent::MANUAL_RESET, false);
    m_WorkFlag = LinuxEvent::CreateEvent(LinuxEvent::AUTO_RESET, false);
    m_RunFlag = LinuxEvent::CreateEvent(LinuxEvent::MANUAL_RESET, false);
    if (!m_ExitFlag || !m_WorkFlag || !m_RunFlag) {
        throw std::runtime_error("Failed to create event objects");
    }

    // 初始化条件变量
    if (pthread_cond_init(&m_StateCond, nullptr) != 0) {
        throw std::runtime_error("Failed to initialize condition variable");
    }
}

Thread_Base::~Thread_Base(void)
{
    try{
        // Stop thread before destroying, increase timeout to avoid crash
        if (m_ThreadRunning) {
            bool stopped = StopThread(10000); // 10 seconds timeout

            // Force wait if thread still running to prevent accessing freed memory
            if (!stopped && m_Base_Thread != 0) {
                ERR_LOG("[Thread] Force waiting for thread " << m_strName << " to exit...");
                pthread_join(m_Base_Thread, nullptr);
                m_Base_Thread = 0;
                m_ThreadRunning = false;
            }
        }
    }
        catch (const std::exception& e) {
        ERR_LOG("[Thread] Exception in ~Thread_Base: " << e.what());
    }
    catch (...) {
        ERR_LOG("[Thread] Unknown exception in ~Thread_Base");
    }

    pthread_cond_destroy(&m_StateCond);
}

void Thread_Base::SetLogger(PVOID pLoger) {
    m_pThreadLogger = pLoger;
}

PVOID Thread_Base::GetLogger() {
    return m_pThreadLogger;
}

void* Thread_Base::Thread_Base_Thread(void* pPara) {
    Thread_Base* handle = static_cast<Thread_Base*>(pPara);
    if (!handle) {
        ERR_LOG("Invalid thread parameter");
        return nullptr;
    }
    try {
        usleep(30000); // Sleep(30) 替代

        if (!handle->RegistThread()) {
            goto endwork_entry;
        }

        if (!handle->OnStartThread()) {
            goto endwork_entry;
        }

       // LOG("Thread " << handle->m_strName << " starting");
        handle->SetThreadOnTheRun(true);

        while (true) {
            if (!handle->Exec()) {
                break;
            }

            int waitevent = handle->WaitTheIncommingEvent(0);
            if (waitevent == 0) {
                break;
            }
        }

    endwork_entry:
       // LOG("Thread " << handle->m_strName << " exiting");
        try {
            handle->ThreadExitProcedure();
        }
        catch (const std::exception& e) {
            ERR_LOG("[Thread] ThreadExitProcedure exception in " << handle->m_strName << ": " << e.what());
        }
        catch (...) {
            ERR_LOG("[Thread] Unknown ThreadExitProcedure exception in " << handle->m_strName);
        }
        return nullptr;
    }
    catch (const std::exception& e) {
        ERR_LOG("[Thread] Exception in thread " << handle->m_strName << ": " << e.what());

        // 异常情况下也要执行清理
        try {
            handle->ThreadExitProcedure();
        }
        catch (...) {
            ERR_LOG("[Thread] Cleanup failed after exception in " << handle->m_strName);
        }

        return nullptr;
    }
    catch (...) {
        ERR_LOG("[Thread] Unknown exception in thread " << handle->m_strName);

        // 异常情况下也要执行清理
        try {
            handle->ThreadExitProcedure();
        }
        catch (...) {
            ERR_LOG("[Thread] Cleanup failed after unknown exception in " << handle->m_strName);
        }

        return nullptr;
    }
}

bool Thread_Base::StartThread(bool Sync, bool Inherit)
{
    if (m_strName.empty()) {
       // LOG("Warning: Thread name is empty");
    }

       // 检查线程是否已运行
    if (m_ThreadRunning) {
#ifdef __GNU_LIBRARY__ // 仅GNU环境支持非标准函数
        int tryJoin = pthread_tryjoin_np(m_Base_Thread, nullptr);
        if (tryJoin == EBUSY) {
           // LOG("Thread " << m_strName << " is already running");
            return true;
        }
#endif
        // 线程已结束，清理资源
       // LOG("Thread " << m_strName << " has ended, cleaning up");
        pthread_join(m_Base_Thread, nullptr);
        m_ThreadRunning = false;
    }

    m_ExitFlag->ResetEvent();

    // 初始化线程属性
    pthread_attr_t attr;
    if (pthread_attr_init(&attr) != 0) {
        ERR_LOG("Failed to initialize thread attributes");
        return false;
    }

    // 设置栈大小
    size_t stack_size = 2 * 1024 * 1024; // 2MB
    if (pthread_attr_setstacksize(&attr, stack_size) != 0) {
        ERR_LOG("Failed to set thread stack size");
        pthread_attr_destroy(&attr);
        return false;
    }

    // 配置调度继承
    if (Inherit) {
        pthread_attr_setinheritsched(&attr, PTHREAD_INHERIT_SCHED);
    }
    else {
        pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
    }

    // 创建线程
   // LOG("Creating thread " << m_strName);
    int result = pthread_create(&m_Base_Thread, &attr, Thread_Base_Thread, this);
    pthread_attr_destroy(&attr);

    if (result != 0) {
        ERR_LOG("Failed to create thread " << m_strName << ", error: " << result);
        m_ExitFlag->SetEvent();
        return false;
    }

    m_ThreadRunning = true;
    m_ThreadID = static_cast<unsigned long>(m_Base_Thread);
   // LOG("Thread " << m_strName << " created, ID: " << m_ThreadID);

    // 同步等待线程启动
    if (Sync) {
       // LOG("Waiting for thread " << m_strName << " to start");
        return WaitTheThreadOnTheRun(300000); // 300秒超时
    }

    return true;
}

bool Thread_Base::StopThread(unsigned long timeperiod) 
{
    // 如果已经停止，直接返回
    if (!m_ThreadRunning) {
        return true;
    }
    bool ret = true;
    // 设置退出标志 - 通过信号量通知        
    m_ExitFlag->SetEvent();

    // 检查是否在同一个线程内调用
    if (pthread_equal(pthread_self(), m_Base_Thread)) {
        return true;
    }

    if (m_Base_Thread) {
        struct timespec ts;
        // 计算绝对超时时间
        if (clock_gettime(CLOCK_REALTIME, &ts) == -1) {
            perror("clock_gettime");
            return false;
        }

        // 将毫秒转换为秒和纳秒
        ts.tv_sec += timeperiod / 1000;
        ts.tv_nsec += (timeperiod % 1000) * 1000000;

        // 处理纳秒溢出
        if (ts.tv_nsec >= 1000000000) {
            ts.tv_sec += 1;
            ts.tv_nsec -= 1000000000;
        }

#ifdef __GNU_LIBRARY__
        int joinResult = pthread_timedjoin_np(m_Base_Thread, nullptr, &ts);
#else
        // 标准环境下使用循环等待
        int joinResult = ETIMEDOUT;
        const int interval = 100; // 100ms轮询
        for (unsigned long elapsed = 0; elapsed < timeperiod; elapsed += interval) {
            int tryJoin = pthread_tryjoin_np(m_Base_Thread, nullptr);
            if (tryJoin == 0) {
                joinResult = 0;
                break;
            }
            usleep(interval * 1000);
        }
#endif

        if (joinResult == ETIMEDOUT) {
            ERR_LOG("Timeout stopping thread " << m_strName << ", escalating to blocking join to avoid detach/use-after-free");

            // 尝试阻塞等待，确保线程退出后再清理，避免悬挂指针
            int forceJoin = pthread_join(m_Base_Thread, nullptr);
            if (forceJoin != 0) {
                ERR_LOG("Blocking join failed for thread " << m_strName << ", error: " << forceJoin);
                ret = false;
            } else {
                m_Base_Thread = 0;
                m_ThreadID = 0;
                m_ThreadRunning = false;
            }
        }
        else if (joinResult != 0) {
            ERR_LOG("Failed to join thread " << m_strName << ", error: " << joinResult);
            ret = false;
        }
        else {
            // 正常停止
            m_Base_Thread = 0;
            m_ThreadID = 0;
            m_ThreadRunning = false;
        }
    }
    return ret;
}

void Thread_Base::NotifyExit()
{
    // 发送退出信号
    m_ExitFlag->SetEvent();
}

int Thread_Base::WaitTheIncommingEvent(unsigned long waittime) // 修改为 unsigned long 以匹配毫秒超时
{
    std::vector<std::shared_ptr<LinuxEvent>> waitEvents = {
        m_ExitFlag,
        m_WorkFlag
    };

    if (m_Base_Thread)
    {
        // 等待两个事件中的一个发生
        int wait = LinuxEvent::WaitForMultipleEvents(waitEvents, waittime);
        if (wait == 0)
        {
            return 0; // ExitFlag触发
        }
        else if (wait == 1)
        {
            return 1; // WorkFlag触发
        }
        else
        {
            // 超时或错误
            return -1;
        }
    }
    // 无线程对象，默认认为退出
    return 0;
}

bool Thread_Base::WaitTheThreadEnd(unsigned long waittime)
{
    if (m_Base_Thread == 0) {
        return true; // 没有线程存在，直接返回成功
    }

    // 计算绝对超时时间
    struct timespec ts;
    if (clock_gettime(CLOCK_REALTIME, &ts) == -1) {
        perror("clock_gettime");
        return false;
    }

    ts.tv_sec += waittime / 1000;
    ts.tv_nsec += (waittime % 1000) * 1000000;

    if (ts.tv_nsec >= 1000000000) {
        ts.tv_sec += 1;
        ts.tv_nsec -= 1000000000;
    }

#ifdef __GNU_LIBRARY__
    int result = pthread_timedjoin_np(m_Base_Thread, nullptr, &ts);
#else
    int result = ETIMEDOUT;
    const int interval = 100;
    for (unsigned long elapsed = 0; elapsed < waittime; elapsed += interval) {
        if (pthread_tryjoin_np(m_Base_Thread, nullptr) == 0) {
            result = 0;
            break;
        }
        usleep(interval * 1000);
    }
#endif

    return result == 0;
}

bool Thread_Base::WaitTheThreadEndSign(unsigned long waittime)
{
    return m_Base_Thread ? m_ExitFlag->Wait(waittime) : true;
}

bool Thread_Base::SetThreadOnTheRun(bool OnTheRun)
{
    if (!m_ThreadRunning || !m_RunFlag) {
        return false;
    }

    try {
        if (OnTheRun) {
            m_RunFlag->SetEvent();
        }
        else {
            m_RunFlag->ResetEvent();
        }
        return true;
    }
    catch (...) {
        // 捕获所有异常，防止崩溃传播
        return false;
    }
}

void Thread_Base::NotifyThreadWork()
{
    m_WorkFlag->SetEvent();
    // 发送退出信号
}

bool Thread_Base::WaitTheThreadOnTheRun(unsigned long waittime)
{
    //LOG("Waiting for thread " << m_strName << " to run");

    if (m_Base_Thread == 0) {
        ERR_LOG("Thread " << m_strName << " does not exist");
        return false;
    }
    return m_RunFlag->Wait(waittime);
}
// 虚函数默认实现
bool Thread_Base::Exec() { return true; }
bool Thread_Base::OnStartThread() { return true; }
bool Thread_Base::OnEndThread() { return true; }
bool Thread_Base::RegistThread() { return true; }
bool Thread_Base::UnRegistThread() { return true; }
pthread_t Thread_Base::GetTID() { return m_Base_Thread; }
void Thread_Base::SetName(const char* pszThreadName) { if (pszThreadName) m_strName = pszThreadName; }


std::shared_ptr<LinuxEvent> Thread_Base::GetWorkEvt()
{
    return m_WorkFlag;
}

std::shared_ptr<LinuxEvent> Thread_Base::GetExitEvt()
{
    return m_ExitFlag;
}

void Thread_Base::ThreadExitProcedure() {
    // 避免重复清理
    if (!m_ThreadRunning) {
        return;
    }

    try {
        m_ThreadRunning = false;

        // 安全设置事件
        if (m_ExitFlag) {
            try {
                m_ExitFlag->SetEvent();
            }
            catch (const std::exception& e) {
                ERR_LOG("[Thread] SetEvent exception in " << m_strName << ": " << e.what());
            }
            catch (...) {
                ERR_LOG("[Thread] Unknown SetEvent exception in " << m_strName);
            }
        }

        // 保护 OnEndThread - 允许失败但不影响清理
        try {
            OnEndThread();
        }
        catch (const std::exception& e) {
            ERR_LOG("[Thread] OnEndThread exception in " << m_strName << ": " << e.what());
        }
        catch (...) {
            ERR_LOG("[Thread] Unknown OnEndThread exception in " << m_strName);
        }

        // 保护 UnRegistThread - 允许失败但不影响清理
        try {
            UnRegistThread();
        }
        catch (const std::exception& e) {
            ERR_LOG("[Thread] UnRegistThread exception in " << m_strName << ": " << e.what());
        }
        catch (...) {
            ERR_LOG("[Thread] Unknown UnRegistThread exception in " << m_strName);
        }

        // 安全设置运行状态
        try {
            SetThreadOnTheRun(false);
        }
        catch (const std::exception& e) {
            ERR_LOG("[Thread] SetThreadOnTheRun exception in " << m_strName << ": " << e.what());
        }
        catch (...) {
            ERR_LOG("[Thread] Unknown SetThreadOnTheRun exception in " << m_strName);
        }

    }
    catch (const std::exception& e) {
        ERR_LOG("[Thread] Critical ThreadExitProcedure exception in " << m_strName << ": " << e.what());
    }
    catch (...) {
        ERR_LOG("[Thread] Critical unknown ThreadExitProcedure exception in " << m_strName);
    }
}

// Work_Thread 实现
Work_Thread::Work_Thread() {
    m_PauseEvt = LinuxEvent::CreateEvent(LinuxEvent::MANUAL_RESET, false);
    m_ResumeEvt = LinuxEvent::CreateEvent(LinuxEvent::MANUAL_RESET, false);
    m_SleepingEvt = LinuxEvent::CreateEvent(LinuxEvent::MANUAL_RESET, false);
    m_WorkingEvt = LinuxEvent::CreateEvent(LinuxEvent::MANUAL_RESET, false);

    if (!m_PauseEvt || !m_SleepingEvt || !m_ResumeEvt || !m_WorkingEvt) {
        throw std::runtime_error("Work_Thread event creation failed");
    }

    MsgQueue<ResDataObject>* p;

    p = new MsgQueue<ResDataObject>;
    m_pWorkQueReq = (void *)p;

    p = new MsgQueue<ResDataObject>;
    m_pWorkQueRes = (void*)p;
}

Work_Thread::~Work_Thread() {
    MsgQueue<ResDataObject>* p;
    p = (MsgQueue<ResDataObject> *)m_pWorkQueReq;
    delete p;
    m_pWorkQueReq = NULL;


    p = (MsgQueue<ResDataObject> *)m_pWorkQueRes;
    delete p;
    m_pWorkQueRes = NULL;
}

bool Work_Thread::PopReqDataObject(ResDataObject& obj) {
    return (bool)((MsgQueue<ResDataObject> *)m_pWorkQueReq)->DeQueue(obj);
}

bool Work_Thread::PushReqDataObject(ResDataObject& obj) {
    if (WaitTheThreadEndSign(0))
    {
        return false;//not possible to send it
    }
    //printf("Thread:%d,push REQ one\n", GetCurrentThreadId());

    ((MsgQueue<ResDataObject> *)m_pWorkQueReq)->InQueue(obj);

    NotifyThreadWork();

    return true;
}

bool Work_Thread::PopResDataObject(ResDataObject& obj) {
    //printf("Thread:%d,Pop Res one\n", GetCurrentThreadId());
    return (bool)((MsgQueue<ResDataObject> *)m_pWorkQueRes)->DeQueue(obj);
}

bool Work_Thread::PushResDataObject(ResDataObject& obj) {
    if (WaitTheThreadEndSign(0))
    {
        return false;//not possible to send it
    }
    //printf("Thread:%d,push Res one\n",GetCurrentThreadId());
    ((MsgQueue<ResDataObject> *)m_pWorkQueRes)->InQueue(obj);

    NotifyThreadWork();

    return true;
}

bool Work_Thread::WaitForInQue(unsigned long m_Timeout) {
    std::vector<std::shared_ptr<LinuxEvent>> waitEvents = {
        m_ExitFlag,
        m_PauseEvt,
        m_WorkFlag ,
        0,
        0
    };
    waitEvents[3] = ((MsgQueue<ResDataObject> *)m_pWorkQueReq)->GetNotifyHandle();
    waitEvents[4] = ((MsgQueue<ResDataObject> *)m_pWorkQueRes)->GetNotifyHandle();

    int ret = LinuxEvent::WaitForMultipleEvents(waitEvents,0);
    if ((ret >= WAIT_OBJECT_0) && (ret <= WAIT_OBJECT_0 + 1))
    {
        return false;
    }

    if (((MsgQueue<ResDataObject> *)m_pWorkQueReq)->WaitForInQue(0) == WAIT_OBJECT_0)
    {
        return true;
    }
    if (((MsgQueue<ResDataObject> *)m_pWorkQueRes)->WaitForInQue(0) == WAIT_OBJECT_0)
    {
        return true;
    }

    ret = LinuxEvent::WaitForMultipleEvents(waitEvents,m_Timeout);
    if ((ret >= WAIT_OBJECT_0 + 2) && (ret < (WAIT_OBJECT_0 + 5)))
    {
        return true;
    }

    return false;

}

bool Work_Thread::CheckForPause() {
    DWORD retEvt = 0;
    bool ret = false;
    std::vector<std::shared_ptr<LinuxEvent>> waitExp = {
        m_ExitFlag,
        m_PauseEvt
    };
    
    retEvt = LinuxEvent::WaitForMultipleEvents(waitExp, 0);

    if (retEvt == WAIT_OBJECT_0 + 1)
    {
        m_WorkingEvt->ResetEvent();
        m_SleepingEvt->SetEvent();

        ret = true;
    }

    return ret;
}

bool Work_Thread::WaitforResume() {
    bool Exret = false;
    std::vector<std::shared_ptr<LinuxEvent>> wait = {
        m_ExitFlag,
        m_ResumeEvt
    };
    DWORD ret = 0;

    ret = LinuxEvent::WaitForMultipleEvents(wait, -1);


    if (ret == WAIT_OBJECT_0 + 1)
    {
        //拿到Resume
        m_SleepingEvt->ResetEvent();
        m_WorkingEvt->SetEvent();
        Exret = true;
    }


    return Exret;
}

bool Work_Thread::PauseThread(unsigned long timeout) {
    bool ret = false;
    DWORD retEvt = 0;
    std::vector<std::shared_ptr<LinuxEvent>> wait = {
        m_ExitFlag,
        m_SleepingEvt
    };
    if (pthread_self() == GetTID()) {
        return false;
    }

    if (!WaitTheThreadOnTheRun(0)) {
        return false;
    }
    m_PauseEvt->SetEvent();

    //get response
    retEvt = LinuxEvent::WaitForMultipleEvents(wait, timeout);
    if (retEvt == WAIT_OBJECT_0 + 1)
    {
        ret = true;
    }

    m_PauseEvt->ResetEvent();

    return ret;
}

bool Work_Thread::ResumeThread(unsigned long timeout) {
    bool ret = false;
    DWORD retEvt = 0;
    std::vector<std::shared_ptr<LinuxEvent>> wait = {
        m_ExitFlag,
        m_WorkingEvt
    };

    if (pthread_self() == GetTID()) {
        return false;
    }

    if (!WaitTheThreadOnTheRun(0)) {
        return false;
    }

    m_ResumeEvt->SetEvent();

    //get response
    retEvt = LinuxEvent::WaitForMultipleEvents(wait, timeout);
    if (retEvt == WAIT_OBJECT_0 + 1)
    {
        ret = true;
    }

    m_ResumeEvt->ResetEvent();

    return ret;
}

// Ccos_Thread 实现
Ccos_Thread::Ccos_Thread() {}
Ccos_Thread::~Ccos_Thread() {}