PooledThread* ThreadPool::getThread()
{
FastMutex::ScopedLock lock(_mutex);
if (++_age == 32)
housekeep();
PooledThread* pThread = 0;
for (ThreadVec::iterator it = _threads.begin(); !pThread && it != _threads.end(); ++it)
{
if ((*it)->idle()) pThread = *it;
}
if (!pThread)
{
if (_threads.size() < _maxCapacity)
{
pThread = createThread();
try
{
pThread->start();
_threads.push_back(pThread);
}
catch (...)
{
delete pThread;
throw;
}
}
else throw NoThreadAvailableException();
}
pThread->activate();
return pThread;
}
void main() {
unsigned int8 d; // delay value
unsigned int8 i;
unsigned int8 obyte=0;
int16 spin; // pwm 0->1023
char c;
// port D (7:0) SW,DW SZ,DZ SY,DY SX,DX
init();
usb_cdc_init();
usb_init();
usb_wait_for_enumeration();
while (TRUE) {
// get chars from usb
housekeep();
// now process the input and feed output queue
if (nqueue(&rxque0) > 0) {
c = dequeue(&rxque0);
if ((c&0xf0) == 0x90) { // step code
obyte &= 0x55; // zero step bits
if (c&XMASK) { obyte|= 0x02; }
if (c&YMASK) { obyte|= 0x08; }
if (c&ZMASK) { obyte|= 0x20; }
if (c&WMASK) { obyte|= 0x80; }
feed(obyte);
} else if ((c&0x80)==0) { // delay code
d = ((unsigned int8)c)&0x7f;
for (i=1; i<=d; i++) {
feed(0x00); // stall
}
} else if ((c&0xf0) == 0x80) { // dir code
obyte &= 0xaa; // zero dir bits
if (c&XMASK) { obyte|= 0x01; }
if (c&YMASK) { obyte|= 0x04; }
if (c&ZMASK) { obyte|= 0x10; }
if (c&WMASK) { obyte|= 0x40; }
} else if ((c&0xf0) == 0xa0) {
if ((c&0x08)) {
d = ((unsigned int8)c)&0x07;
enable(d); // state
} else {
d = ((unsigned int8)c)&0x07;
set_step(d); // mode
}
} else if ((c&0xc0) == 0xc0) { // spindle PWM speed
spin=c&0x3f; // get the bits
spin = spin<<4;
set_pwm1_duty(spin); // duty cycle is val/(4*(255+1))
} else {
; // unknown code, silently ignore
}
}
}
}
void feed(char *c) {
while (nqueue(&txque0) >= NBUF-4) {
output_bit(LED0,1);
housekeep(); // was a spin lock
}
output_bit(LED0,0);
enqueue(&txque0, c);
}
void ThreadPool::addCapacity(int n)
{
FastMutex::ScopedLock lock(_mutex);
poco_assert (_maxCapacity + n >= _minCapacity);
_maxCapacity += n;
housekeep();
}
void ThreadPool::joinAll()
{
FastMutex::ScopedLock lock(_mutex);
for (ThreadVec::iterator it = _threads.begin(); it != _threads.end(); ++it)
{
(*it)->join();
}
housekeep();
}
void ThreadPool::collect()
{
FastMutex::ScopedLock lock(_mutex);
housekeep();
}
