mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
29d029fa61
verified to work on real robots adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows - Java and C++ simulation robot programs run on windows - simulation eclipse plugin delivers models and gazebo plugins - Java Gazebo now respects GAZEBO_IP variables and can work across networks - hal and network tables win32 hacked to work on windows - smart dashboard broken on windows due to network tables hacks - wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake - removed constexpr for cross platform compatibility - msgs generated using .protos as a part of build process - some spare and unused cmake/pom files deleted - simulation ubuntu debians removed entirely - refactored CMake project flags and macros - updated to match non-sim C++ API - fixed and updated documentation - servo added to simulation Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05
61 lines
1.8 KiB
C++
61 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef NT_SYNCHRONIZED_H
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#define NT_SYNCHRONIZED_H
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#define NT_CRITICAL_REGION(s) { NTSynchronized _sync(s);
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#define NT_END_REGION }
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#include <pthread.h>
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class NTReentrantSemaphore
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{
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public:
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explicit NTReentrantSemaphore(){
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pthread_mutexattr_init(&mta);
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pthread_mutexattr_settype(&mta, PTHREAD_MUTEX_RECURSIVE);
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pthread_mutex_init(&m_semaphore, &mta);
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};
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~NTReentrantSemaphore(){
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pthread_mutex_unlock(&m_semaphore);
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pthread_mutex_destroy(&m_semaphore);
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};
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void take(){
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pthread_mutex_lock(&m_semaphore);
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};
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void give(){
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pthread_mutex_unlock(&m_semaphore);
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};
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private:
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pthread_mutexattr_t mta;
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pthread_mutex_t m_semaphore;
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};
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/**
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* Provide easy support for critical regions.
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* A critical region is an area of code that is always executed under mutual exclusion. Only
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* one task can be executing this code at any time. The idea is that code that manipulates data
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* that is shared between two or more tasks has to be prevented from executing at the same time
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* otherwise a race condition is possible when both tasks try to update the data. Typically
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* semaphores are used to ensure only single task access to the data.
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* Synchronized objects are a simple wrapper around semaphores to help ensure that semaphores
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* are always signaled (semGive) after a wait (semTake).
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*/
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class NTSynchronized
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{
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public:
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explicit NTSynchronized(NTReentrantSemaphore&);
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//TODO remove vxworks SEM_ID support
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virtual ~NTSynchronized();
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private:
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NTReentrantSemaphore& m_semaphore;
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};
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#endif
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