Overloading the set_thread_affinity method for Windows compatibility

ros-controls · Nov 12, 2024 · 06329ba · 06329ba
1 parent c0d6b2b
commit 06329ba
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Showing 2 changed files with 13 additions and 5 deletions.
diff --git a/include/realtime_tools/realtime_helpers.hpp b/include/realtime_tools/realtime_helpers.hpp
@@ -31,6 +31,7 @@
 
 #include <string>
 #include <thread>
+#include <pthread.h>
 #include <utility>
 
 namespace realtime_tools

diff --git a/src/realtime_helpers.cpp b/src/realtime_helpers.cpp
@@ -115,13 +115,16 @@ bool lock_memory(std::string & message)
 #endif
 }
 
-std::pair<bool, std::string> set_thread_affinity(pthread_t thread, int core)
-{
-  std::string message;
 #ifdef _WIN32
-  message = "Thread affinity is not supported on Windows.";
+std::pair<bool, std::string> set_thread_affinity(HANDLE thread, int core)
+{
+  std::string message = "Thread affinity is not supported on Windows.";
   return std::make_pair(false, message);
+}
 #else
+std::pair<bool, std::string> set_thread_affinity(pthread_t thread, int core)
+{
+  std::string message;
   auto set_affinity_result_message = [](int result, std::string & msg) -> bool {
     if (result == 0) {
       msg = "Thread affinity set successfully!";
@@ -176,8 +179,8 @@ std::pair<bool, std::string> set_thread_affinity(pthread_t thread, int core)
             " cores. Parsed core number should be between 0 and " +
             std::to_string(number_of_cores - 1);
   return std::make_pair(false, message);
-#endif
 }
+#endif
 
 std::pair<bool, std::string> set_thread_affinity(std::thread & thread, int core)
 {
@@ -190,7 +193,11 @@ std::pair<bool, std::string> set_thread_affinity(std::thread & thread, int core)
 
 std::pair<bool, std::string> set_current_thread_affinity(int core)
 {
+#ifdef _WIN32
+  return set_thread_affinity(GetCurrentThread(), core);
+#else
   return set_thread_affinity(pthread_self(), core);
+#endif
 }
 
 int64_t get_number_of_available_processors()