Robotic applications often require concurrent and parallel processing to perform multiple tasks simultaneously. The introduction of the C++ 20 standard brought several new threading features, including std::jthread, which provides a convenient way to manage and work with threads. In this blog post, we will explore how std::jthread can be utilized in robotics applications for efficient and safe concurrent processing.

What is std::jthread?

std::jthread is a class template in C++ 20 that represents a joinable thread. With std::jthread, you can create and manage threads with minimal boilerplate code. Unlike std::thread, std::jthread takes care of automatically joining the thread when it goes out of scope, making it easier to handle thread lifetime and preventing resource leaks.

Application in Robotics

Robotic applications often involve various tasks running concurrently, such as sensor data processing, control algorithms, and communication with external devices. std::jthread can be used to manage these tasks efficiently and safely. Here’s an example demonstrating the usage of std::jthread in a robotics application:

#include <iostream>
#include <thread>

void sensorDataProcessing()
{
    // Code for sensor data processing
    std::cout << "Sensor Data Processing\n";
}

void controlAlgorithm()
{
    // Code for control algorithm
    std::cout << "Control Algorithm\n";
}

void communicationTask()
{
    // Code for communication task
    std::cout << "Communication Task\n";
}

int main()
{
    std::jthread sensorThread(sensorDataProcessing);
    std::jthread controlThread(controlAlgorithm);
    std::jthread communicationThread(communicationTask);

    // Main thread continues its own work
    // ...

    return 0;
}

In the above example, we have three tasks: sensorDataProcessing, controlAlgorithm, and communicationTask. Each task is executed in a separate thread using std::jthread. The main thread can continue its own work concurrently while these tasks run.

The std::jthread instances are created with function pointers to the tasks. When the std::jthread object goes out of scope (e.g., at the end of main), the threads are automatically joined, ensuring that all tasks are completed before the program exits.

Benefits of Using std::jthread

• Automatic joining: Unlike std::thread, which requires explicit joining or detaching, std::jthread automatically joins the thread when it goes out of scope, eliminating the need for explicit management of thread lifetime.

• Safe resource management: std::jthread enforces exception safety by joining the thread even if an exception occurs during the thread’s execution. This ensures proper cleanup of resources and prevents resource leaks.

• Simpler code: With std::jthread, the code for managing threads becomes simpler and more concise. The automatic joining feature reduces the likelihood of forgetting to join a thread.

Conclusion

Utilizing std::jthread in robotics applications can greatly simplify the management of concurrent tasks, ensuring safer and more efficient parallel processing. By leveraging the automatic joining and exception safety features of std::jthread, developers can focus on the logic of their tasks rather than dealing with low-level thread management intricacies. Start using std::jthread in your robotics applications and experience the benefits of simplified and safer parallel processing. #Cplusplus #Robotics