2. Multithreaded processes

2.1 Simple threads

The nrtThread class defines a process (method) that be threaded. This is an abstract class since the threaded method, execute(void *), is purely virtual.

When this class is derived, it is expected that either create(void *) or createDetached(void *) is called explicitly (e.g. in the constructor). create makes a joinable thread, and createDetached a detached one.

In both cases, the th protected variable holds the last created thread identifier.

nrtThread holds a internal synchronisation variable that can, directly or not, used through the kill(nrtThread *) (current thread activates de conditional variable of the given thread) and wait(pthread_cond_t *_cond = 0) (current thread is waiting for the activation of a synchronisation variable, its own by default) methods.

2.2 ``Cyclic'' threads

nrtCyclicThread (inherited from nrtThread) has a special behaviour; it calls the virtual handle(void) method periodicaly. Use setSecs(int) or Secs(void) to access period.

The internal EOT parameter has to be set to 1 whenever the thread has to be killed.