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#include <iostream>
#include <thread>
#include <atomic>
#include <mutex>
#include <chrono>

static std::mutex mtx;
static const std::chrono::milliseconds ms10(10); // shorthand for a duration of 10ms
static std::atomic<int> result(0);
static std::atomic<bool> thread_please_stop(false);

void a_thread() {
        while(!thread_please_stop) {
                std::this_thread::sleep_for(ms10);
                ++result;
                std::lock_guard<std::mutex> guard(mtx);
                std::cout << "a thread" << std::endl;
        }
}

int main(int argc, char** argv)
{
        std::cout << "hello threaded world" << std::endl;
        std::thread my_thread(a_thread); // Create and start thread
        std::this_thread::sleep_for(3 * ms10); // Wait a bit.
        thread_please_stop = true; // Tell the thread to stop.
        my_thread.join(); // Wait until thread ended
        std::cout << "result: " << result << std::endl;
        return 0;
}

Code: Select all

#include <iostream>
#include <thread>
#include <atomic>
#include <mutex>
#include <chrono>

int main(int argc, char** argv)
{
        std::cout << "hello threaded world" << std::endl;
        std::mutex mtx;
        const std::chrono::milliseconds ms10(10); // shorthand for a duration of 10ms
        std::atomic<int> result(0);
        std::atomic<bool> thread_please_stop(false);
        // Create and start thread
        std::thread my_thread([&](){
                while(!thread_please_stop) {
                        std::this_thread::sleep_for(ms10);
                        ++result;
                        std::lock_guard<std::mutex> guard(mtx);
                        std::cout << "a thread" << std::endl;
                }
        });
        std::this_thread::sleep_for(3 * ms10); // Wait a bit.
        thread_please_stop = true; // Tell the thread to stop.
        my_thread.join(); // Wait until thread ended
        std::cout << "result: " << result << std::endl;
        return 0;
}

Code: Select all

g++ -std=gnu++11 -pthread t.cpp -o t

Code: Select all

g++ -std=gnu++11 -pthread -D_GLIBCXX_USE_NANOSLEEP t.cpp -o t

Code: Select all

// Multitasking-Demo:
// 3 Motoren an die Motorausgänge A,B,C anschließen !
// die Motoren werden automatisch angesteuert,
// die Encoderwerte werden simultan angezeigt!

#include <stdio.h>
#include <unistd.h>

#include "ev3_constants.h"
#include "ev3_command.h"
#include "ev3_button.h"
#include "ev3_timer.h"
#include "ev3_lcd.h"
#include "ev3_sound.h"
#include "ev3_output.h"

#define clreol  DRAW_OPT_CLEAR_EOL

task  DisplayValues() {
  while(true) {
    TextOut(0,56, "Enc.A:", clreol); NumOut(42,56, MotorRotationCount(OUT_A));
    TextOut(0,48, "Enc.B:", clreol); NumOut(42,48, MotorRotationCount(OUT_B));
    TextOut(0,40, "Enc.C:", clreol); NumOut(42,40, MotorRotationCount(OUT_C));
    Wait(40);
  }
}


task MotorControl() {
  int speed;

  while(true) {
    speed=Random(201) - 100; // ergibt eine Zufallszahl für die Motorleistung  zwischen -100 und +100
    OnFwd(OUT_A,speed);

    speed=Random(201) - 100;
    OnFwd(OUT_B,speed);

    speed=Random(201) - 100;
    OnFwd(OUT_C,speed);

    Wait( 200+ (Random(2800)) ); // ergibt eine Zufallszahl für die Aktionsdauer von 200 - 3000 ms
  }
}


task main() {
  start DisplayValues;
  start MotorControl;

  while(true);

}

Code: Select all

--- t.c 2013-10-23 10:25:01.062472458 +0200
+++ t.cpp       2013-10-23 10:24:23.306103673 +0200
@@ -5,6 +5,7 @@
 
 #include <stdio.h>
 #include <unistd.h>
+#include <thread>
 
 #include "ev3_constants.h"
 #include "ev3_command.h"
@@ -16,7 +17,7 @@
 
 #define clreol  DRAW_OPT_CLEAR_EOL
 
-task  DisplayValues() {
+void  DisplayValues() {
   while(true) {
     TextOut(0,56, "Enc.A:", clreol); NumOut(42,56, MotorRotationCount(OUT_A));
     TextOut(0,48, "Enc.B:", clreol); NumOut(42,48, MotorRotationCount(OUT_B));
@@ -26,7 +27,7 @@
 }
 
 
-task MotorControl() {
+void MotorControl() {
   int speed;
 
   while(true) {
@@ -44,10 +45,10 @@
 }
 
 
-task main() {
-  start DisplayValues;
-  start MotorControl;
+int main(void) {
+  std::thread d_thread(DisplayValues);
+  std::thread m_thread(MotorControl);
 
   while(true);
-
+  return 0;
 }

Code: Select all

[aholler@krabat t]$ LANG=C g++ -std=gnu++11 -pthread -D_GLIBCXX_USE_NANOSLEEP t.cpp -o t
t.cpp:22:35: error: macro "TextOut" passed 4 arguments, but takes just 3
t.cpp:23:35: error: macro "TextOut" passed 4 arguments, but takes just 3
t.cpp:24:35: error: macro "TextOut" passed 4 arguments, but takes just 3
t.cpp:35:22: error: macro "OnFwd" passed 2 arguments, but takes just 1
t.cpp:38:22: error: macro "OnFwd" passed 2 arguments, but takes just 1
t.cpp:41:22: error: macro "OnFwd" passed 2 arguments, but takes just 1
t.cpp: In function 'void DisplayValues()':
t.cpp:22:5: error: 'TextOut' was not declared in this scope
t.cpp: In function 'void MotorControl()':
t.cpp:34:21: error: 'Random' was not declared in this scope
t.cpp:35:5: error: 'OnFwd' was not declared in this scope

Code: Select all

  
t.cpp       2013-10-23 10:24:23.306103673 +0200 // ?????????????
@@ -5,6 +5,7 @@                 // ?????????????

#include <stdio.h>
#include <unistd.h>
#include <thread>

#include "ev3_constants.h"
#include "ev3_command.h"
#include "ev3_button.h"
#include "ev3_timer.h"
#include "ev3_lcd.h"
#include "ev3_sound.h"
#include "ev3_output.h"


@@ -16,7 +17,7 @@  // ?????????????

#define clreol  DRAW_OPT_CLEAR_EOL

+void  DisplayValues() {
   while(true) {
     TextOut(0,56, "Enc.A:", clreol); NumOut(42,56, MotorRotationCount(OUT_A));
     TextOut(0,48, "Enc.B:", clreol); NumOut(42,48, MotorRotationCount(OUT_B));
@@ -26,7 +27,7 @@  // ?????????????
}


void MotorControl() {
   int speed;

   while(true) {
@@ -44,10 +45,10 @@  // ?????????????
}


int main(void) {
  std::thread d_thread(DisplayValues);
  std::thread m_thread(MotorControl);

   while(true);

   return 0;
}