c++ thread线程从主进程读取参数并赋值，如何实现？

[王嘉丞]

int Robot::Initrobot()// 沟通及初始化
{


/********接口初始化，连接机器人1并清除缓存**********/
iErrorCode = RobotInit(); //初始化接口(必须)
if (iErrorCode == 0)
{
//初始化成功
iConnectID1 = ConnectUDP(strIP1, sPort); //连接机器人1(必须)
printf("接口初始化成功");
}




int RobotMonitor(int &ID, tagMSG Msg,bool Handled)
{

typedef struct tagMSG
{
HWND hwnd;
UINT message;
WPARAM wParam;
LPARAM lParam;
DWORD time;
POINT pt;
DWORD lPrivate;
} MSG, *PMSG, *NPMSG, *LPMSG;

struct KuseVar
{
bool b1;//记录esc
bool b2;//记录CTRL
};
KuseVar KVar;
DWORD dw;
HANDLE g_hMutex;

g_hMutex = CreateMutex(NULL, FALSE, NULL);//创建互斥体
/*以上成员参数定义*/
if (Msg.message == WM_KEYDOWN)
{
if (Msg.wParam == VK_CONTROL)
{
dw = WaitForSingleObject(g_hMutex, INFINITE); //检测hHandle事件的信号状态
//等待互斥量信号
if (dw == WAIT_OBJECT_0)
{
KVar.b1 = true;
int sysIO = 10240;//外部暂停
int res = Send_SysIO(sysIO, ID);
ReleaseMutex(g_hMutex);
}
}
if (Msg.wParam == VK_ESCAPE)
{
dw = WaitForSingleObject(g_hMutex, INFINITE);
//等待互斥量信号
if (dw == WAIT_OBJECT_0)
{
KVar.b2 = true;
int errorCode = MovePause(ID);
ReleaseMutex(g_hMutex);//释放线程拥有的互斥体的控制权
}

}

}
return 0;
}
/*全局监视函数，及时暂停或制动*/



int main {
rpy rpy1;
float J1, J2, J3, J4, J5, J6;
char order1, order2;
char JorL;
int flag = 0;
Robot zuoye1;//记住：非静态成员必须以实例为目标，所以以类Robot定义了对象zuoye1


zuoye1.Initrobot();
zuoye1.Readrobot();
zuoye1.ReadPosPara();
zuoye1.ReadRCpara();
zuoye1.Openjob("1024");
zuoye1.Clearbuffer();
zuoye1.poweron();//仅仅是查询，上电还是依赖示教盒，安全起见，勿用IO指令
zuoye1.Safesetting();
printf("程序及机器人完成初始化、打开作业、上电\n");
std::system("pause");
/*xxxxxxxxxxxxxx线程1：以下为后台detach监控程序xxxxxxxxxxxxxxxx*/
std::thread T1(RobotMonitor,zuoye1.iConnectID1);//可能不对哦~
T1.detach();//
}
其中， thread T1需要参数为ID1,ID1是main中 initrobot读取的参数，那么T1如何读取这个实时从机械臂反馈的ID呢？并且将ID赋值给线程T1的 “ID1”变量，我的std::thread T1(RobotMonitor,zuoye1.iConnectID1);仅仅将iconnectID1提取到线程空间中，如何将其赋值给线程变量呢？是在detach之前直接赋值？ 那么触发线程的顺序是 先启动线程，再赋值 ? 不能启动线程的时候直接赋值吗 ？赋值语句又是什么？ 感谢解答~

[王嘉丞]

引用 1 楼 AlbertS 的回复:

什么叫提取到线程空间，thread后面的参数不就是传到线程中的吗？

抱歉问的不专业，这个问题我已经解决了，还有个问题想请教int RobotMonitor(int ID)
{
printf("n线程已启动\");//这句话出现就证明线程detach

while (1)
{
if (GetAsyncKeyState(VK_ESCAPE) && 0x8000)
{
int sysIO = 10240;//外部暂停
int res = Send_SysIO(sysIO, ID);
printf("按下ESC外部暂停\n");
}
if (GetAsyncKeyState(VK_CONTROL) && 0x8000)
{
int errorCode = MovePause(ID);
printf("按下CTRL运动指令已暂停\n");
}
return 0;
}
}
这段函数在main中为以下：
/*xxxxxxxxxxxxxx线程1：以下为后台detach监控程序xxxxxxxxxxxxxxxx*/
std::thread T1(RobotMonitor,ID);//可能不对哦~
printf("监视线程ID为%i\n", T1.get_id());
T1.detach();

但是我在程序运行过程中，按esc和ctrl 并没有printf，也无响应，但是printf了“线程已启动”证明已经thread了，为什么按响应按键没有printf响应的语句呢？ 是因为线程控制权问题？ 线程没有权限在控制台面板输出printf，但是他实际上捕获了键盘操作？

[赵4老师]

仅供参考：

//循环向a函数每次发送200个字节长度（这个是固定的）的buffer,
//a函数中需要将循环传进来的buffer，组成240字节（也是固定的）的新buffer进行处理，
//在处理的时候每次从新buffer中取两个字节打印
#ifdef _MSC_VER
    #pragma warning(disable:4996)
#endif
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#ifdef _MSC_VER
    #include <windows.h>
    #include <process.h>
    #include <io.h>
    #define  MYVOID             void
    #define  vsnprintf          _vsnprintf
#else
    #include <unistd.h>
    #include <sys/time.h>
    #include <pthread.h>
    #define  CRITICAL_SECTION   pthread_mutex_t
    #define  MYVOID             void *
#endif
//Log{
#define MAXLOGSIZE 20000000
#define MAXLINSIZE 16000
#include <time.h>
#include <sys/timeb.h>
#include <stdarg.h>
char logfilename1[]="MyLog1.log";
char logfilename2[]="MyLog2.log";
static char logstr[MAXLINSIZE+1];
char datestr[16];
char timestr[16];
char mss[4];
CRITICAL_SECTION cs_log;
FILE *flog;
#ifdef _MSC_VER
void Lock(CRITICAL_SECTION *l) {
    EnterCriticalSection(l);
}
void Unlock(CRITICAL_SECTION *l) {
    LeaveCriticalSection(l);
}
void sleep_ms(int ms) {
    Sleep(ms);
}
#else
void Lock(CRITICAL_SECTION *l) {
    pthread_mutex_lock(l);
}
void Unlock(CRITICAL_SECTION *l) {
    pthread_mutex_unlock(l);
}
void sleep_ms(int ms) {
    usleep(ms*1000);
}
#endif
void LogV(const char *pszFmt,va_list argp) {
    struct tm *now;
    struct timeb tb;

    if (NULL==pszFmt||0==pszFmt[0]) return;
    vsnprintf(logstr,MAXLINSIZE,pszFmt,argp);
    ftime(&tb);
    now=localtime(&tb.time);
    sprintf(datestr,"%04d-%02d-%02d",now->tm_year+1900,now->tm_mon+1,now->tm_mday);
    sprintf(timestr,"%02d:%02d:%02d",now->tm_hour     ,now->tm_min  ,now->tm_sec );
    sprintf(mss,"%03d",tb.millitm);
    printf("%s %s.%s %s",datestr,timestr,mss,logstr);
    flog=fopen(logfilename1,"a");
    if (NULL!=flog) {
        fprintf(flog,"%s %s.%s %s",datestr,timestr,mss,logstr);
        if (ftell(flog)>MAXLOGSIZE) {
            fclose(flog);
            if (rename(logfilename1,logfilename2)) {
                remove(logfilename2);
                rename(logfilename1,logfilename2);
            }
        } else {
            fclose(flog);
        }
    }
}
void Log(const char *pszFmt,...) {
    va_list argp;

    Lock(&cs_log);
    va_start(argp,pszFmt);
    LogV(pszFmt,argp);
    va_end(argp);
    Unlock(&cs_log);
}
//Log}
#define ASIZE    200
#define BSIZE    240
#define CSIZE      2
char Abuf[ASIZE];
char Cbuf[CSIZE];
CRITICAL_SECTION cs_HEX;
CRITICAL_SECTION cs_BBB;
struct FIFO_BUFFER {
    int  head;
    int  tail;
    int  size;
    char data[BSIZE];
} BBB;
int No_Loop=0;
void HexDump(int cn,char *buf,int len) {
    int i,j,k;
    char binstr[80];

    Lock(&cs_HEX);
    for (i=0;i<len;i++) {
        if (0==(i%16)) {
            sprintf(binstr,"%03d %04x -",cn,i);
            sprintf(binstr,"%s %02x",binstr,(unsigned char)buf[i]);
        } else if (15==(i%16)) {
            sprintf(binstr,"%s %02x",binstr,(unsigned char)buf[i]);
            sprintf(binstr,"%s  ",binstr);
            for (j=i-15;j<=i;j++) {
                sprintf(binstr,"%s%c",binstr,('!'<buf[j]&&buf[j]<='~')?buf[j]:'.');
            }
            Log("%s\n",binstr);
        } else {
            sprintf(binstr,"%s %02x",binstr,(unsigned char)buf[i]);
        }
    }
    if (0!=(i%16)) {
        k=16-(i%16);
        for (j=0;j<k;j++) {
            sprintf(binstr,"%s   ",binstr);
        }
        sprintf(binstr,"%s  ",binstr);
        k=16-k;
        for (j=i-k;j<i;j++) {
            sprintf(binstr,"%s%c",binstr,('!'<buf[j]&&buf[j]<='~')?buf[j]:'.');
        }
        Log("%s\n",binstr);
    }
    Unlock(&cs_HEX);
}
int GetFromRBuf(int cn,CRITICAL_SECTION *cs,struct FIFO_BUFFER *fbuf,char *buf,int len) {
    int lent,len1,len2;

    lent=0;
    Lock(cs);
    if (fbuf->size>=len) {
        lent=len;
        if (fbuf->head+lent>BSIZE) {
            len1=BSIZE-fbuf->head;
            memcpy(buf     ,fbuf->data+fbuf->head,len1);
            len2=lent-len1;
            memcpy(buf+len1,fbuf->data           ,len2);
            fbuf->head=len2;
        } else {
            memcpy(buf     ,fbuf->data+fbuf->head,lent);
            fbuf->head+=lent;
        }
        fbuf->size-=lent;
    }
    Unlock(cs);
    return lent;
}
MYVOID thdB(void *pcn) {
    char        *recv_buf;
    int          recv_nbytes;
    int          cn;
    int          wc;
    int          pb;

    cn=(int)pcn;
    Log("%03d thdB              thread begin...\n",cn);
    while (1) {
        sleep_ms(10);
        recv_buf=(char *)Cbuf;
        recv_nbytes=CSIZE;
        wc=0;
        while (1) {
            pb=GetFromRBuf(cn,&cs_BBB,&BBB,recv_buf,recv_nbytes);
            if (pb) {
                Log("%03d recv %d bytes\n",cn,pb);
                HexDump(cn,recv_buf,pb);
                sleep_ms(1);
            } else {
                sleep_ms(1000);
            }
            if (No_Loop) break;//
            wc++;
            if (wc>3600) Log("%03d %d==wc>3600!\n",cn,wc);
        }
        if (No_Loop) break;//
    }
#ifndef _MSC_VER
    pthread_exit(NULL);
#endif
}
int PutToRBuf(int cn,CRITICAL_SECTION *cs,struct FIFO_BUFFER *fbuf,char *buf,int len) {
    int lent,len1,len2;

    Lock(cs);
    lent=len;
    if (fbuf->size+lent>BSIZE) {
        lent=BSIZE-fbuf->size;
    }
    if (fbuf->tail+lent>BSIZE) {
        len1=BSIZE-fbuf->tail;
        memcpy(fbuf->data+fbuf->tail,buf     ,len1);
        len2=lent-len1;
        memcpy(fbuf->data           ,buf+len1,len2);
        fbuf->tail=len2;
    } else {
        memcpy(fbuf->data+fbuf->tail,buf     ,lent);
        fbuf->tail+=lent;
    }
    fbuf->size+=lent;
    Unlock(cs);
    return lent;
}
MYVOID thdA(void *pcn) {
    char        *send_buf;
    int          send_nbytes;
    int          cn;
    int          wc;
    int           a;
    int          pa;

    cn=(int)pcn;
    Log("%03d thdA              thread begin...\n",cn);
    a=0;
    while (1) {
        sleep_ms(100);
        memset(Abuf,a,ASIZE);
        a=(a+1)%256;
        if (16==a) {No_Loop=1;break;}//去掉这句可以让程序一直循环直到按Ctrl+C或Ctrl+Break或当前目录下存在文件No_Loop
        send_buf=(char *)Abuf;
        send_nbytes=ASIZE;
        Log("%03d sending %d bytes\n",cn,send_nbytes);
        HexDump(cn,send_buf,send_nbytes);
        wc=0;
        while (1) {
            pa=PutToRBuf(cn,&cs_BBB,&BBB,send_buf,send_nbytes);
            Log("%03d sent %d bytes\n",cn,pa);
            HexDump(cn,send_buf,pa);
            send_buf+=pa;
            send_nbytes-=pa;
            if (send_nbytes<=0) break;//
            sleep_ms(1000);
            if (No_Loop) break;//
            wc++;
            if (wc>3600) Log("%03d %d==wc>3600!\n",cn,wc);
        }
        if (No_Loop) break;//
    }
#ifndef _MSC_VER
    pthread_exit(NULL);
#endif
}
int main() {
#ifdef _MSC_VER
    InitializeCriticalSection(&cs_log);
    InitializeCriticalSection(&cs_HEX);
    InitializeCriticalSection(&cs_BBB);
#else
    pthread_t threads[2];
    int threadsN;
    int rc;
    pthread_mutex_init(&cs_log,NULL);
    pthread_mutex_init(&cs_HEX,NULL);
    pthread_mutex_init(&cs_BBB,NULL);
#endif
    Log("Start===========================================================\n");

    BBB.head=0;
    BBB.tail=0;
    BBB.size=0;

#ifdef _MSC_VER
    _beginthread((void(__cdecl *)(void *))thdA,0,(void *)1);
    _beginthread((void(__cdecl *)(void *))thdB,0,(void *)2);
#else
    threadsN=0;
    rc=pthread_create(&(threads[threadsN++]),NULL,thdA,(void *)1);if (rc) Log("%d=pthread_create %d error!\n",rc,threadsN-1);
    rc=pthread_create(&(threads[threadsN++]),NULL,thdB,(void *)2);if (rc) Log("%d=pthread_create %d error!\n",rc,threadsN-1);
#endif

    if (!access("No_Loop",0)) {
        remove("No_Loop");
        if (!access("No_Loop",0)) {
            No_Loop=1;
        }
    }
    while (1) {
        sleep_ms(1000);
        if (No_Loop) break;//
        if (!access("No_Loop",0)) {
            No_Loop=1;
        }
    }
    sleep_ms(3000);
    Log("End=============================================================\n");
#ifdef _MSC_VER
    DeleteCriticalSection(&cs_BBB);
    DeleteCriticalSection(&cs_HEX);
    DeleteCriticalSection(&cs_log);
#else
    pthread_mutex_destroy(&cs_BBB);
    pthread_mutex_destroy(&cs_HEX);
    pthread_mutex_destroy(&cs_log);
#endif
    return 0;
}

[AlbertS]

什么叫提取到线程空间，thread后面的参数不就是传到线程中的吗？

[zgbzsu2008]

c++11 多线程有个promise了解下