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[wpiutil] Enable priority_mutex for systemcore (#8071)

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This commit is contained in:
Ryan Blue
2025-07-11 09:29:44 -04:00
committed by GitHub
parent 72d7a07635
commit fa08679762
1 changed files with 8 additions and 17 deletions
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25
wpiutil/src/main/native/include/wpi/priority_mutex.h
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@@ -13,9 +13,7 @@
namespace wpi {
// TODO replace this with systemcore once our compiler has the defines
// for RT
#if defined(__FRC_ROBORIO__) && !defined(WPI_USE_PRIORITY_MUTEX)
#if defined(__FRC_SYSTEMCORE__) && !defined(WPI_USE_PRIORITY_MUTEX)
#define WPI_USE_PRIORITY_MUTEX
#endif
@@ -43,15 +41,11 @@ class priority_recursive_mutex {
pthread_mutex_t* native_handle() { return &m_mutex; }
private:
// Do the equivalent of setting PTHREAD_PRIO_INHERIT and
// PTHREAD_MUTEX_RECURSIVE_NP.
#ifdef __PTHREAD_MUTEX_HAVE_PREV
// Do the equivalent of setting PTHREAD_PRIO_INHERIT and
// PTHREAD_MUTEX_RECURSIVE_NP.
// from glibc sysdeps/nptl/pthreadP.h: PTHREAD_MUTEX_PRIO_INHERIT_NP = 32
pthread_mutex_t m_mutex = {
{0, 0, 0, 0, 0x20 | PTHREAD_MUTEX_RECURSIVE_NP, __PTHREAD_SPINS, {0, 0}}};
#else
pthread_mutex_t m_mutex = {
{0, 0, 0, 0x20 | PTHREAD_MUTEX_RECURSIVE_NP, 0, {__PTHREAD_SPINS}}};
#endif
{__PTHREAD_MUTEX_INITIALIZER(0x20 | PTHREAD_MUTEX_RECURSIVE_NP)}};
};
class priority_mutex {
@@ -74,12 +68,9 @@ class priority_mutex {
pthread_mutex_t* native_handle() { return &m_mutex; }
private:
// Do the equivalent of setting PTHREAD_PRIO_INHERIT.
#ifdef __PTHREAD_MUTEX_HAVE_PREV
pthread_mutex_t m_mutex = {{0, 0, 0, 0, 0x20, __PTHREAD_SPINS, {0, 0}}};
#else
pthread_mutex_t m_mutex = {{0, 0, 0, 0x20, 0, {__PTHREAD_SPINS}}};
#endif
// Do the equivalent of setting PTHREAD_PRIO_INHERIT.
// from glibc sysdeps/nptl/pthreadP.h: PTHREAD_MUTEX_PRIO_INHERIT_NP = 32
pthread_mutex_t m_mutex = {{__PTHREAD_MUTEX_INITIALIZER(0x20)}};
};
#endif // defined(WPI_USE_PRIORITY_MUTEX) && defined(__linux__)