mirror of
https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
139 lines
3.0 KiB
C++
139 lines
3.0 KiB
C++
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#include "HAL/Semaphore.h"
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#include "ChipObject.h"
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#include "Log.h"
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// set the logging level
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TLogLevel semaphoreLogLevel = logDEBUG;
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#define SEMAPHORE_LOG(level) \
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if (level > semaphoreLogLevel) ; \
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else Log().Get(level)
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// See: http://www.vxdev.com/docs/vx55man/vxworks/ref/semMLib.html
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const uint32_t SEMAPHORE_Q_FIFO= 0x01; // TODO: Support
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const uint32_t SEMAPHORE_Q_PRIORITY = 0x01; // TODO: Support
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const uint32_t SEMAPHORE_DELETE_SAFE = 0x04; // TODO: Support
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const uint32_t SEMAPHORE_INVERSION_SAFE = 0x08; // TODO: Support
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const int32_t SEMAPHORE_NO_WAIT = 0;
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const int32_t SEMAPHORE_WAIT_FOREVER = -1;
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const uint32_t SEMAPHORE_EMPTY = 0;
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const uint32_t SEMAPHORE_FULL = 1;
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MUTEX_ID initializeMutexRecursive()
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{
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pthread_mutexattr_t attr;
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pthread_mutexattr_init(&attr);
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pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_RECURSIVE);
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MUTEX_ID sem = new pthread_mutex_t();
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pthread_mutex_init(sem, &attr);
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pthread_mutexattr_destroy(&attr);
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return sem;
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}
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MUTEX_ID initializeMutexNormal()
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{
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pthread_mutexattr_t attr;
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pthread_mutexattr_init(&attr);
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pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_NORMAL);
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MUTEX_ID sem = new pthread_mutex_t();
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pthread_mutex_init(sem, &attr);
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pthread_mutexattr_destroy(&attr);
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return sem;
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}
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void deleteMutex(MUTEX_ID sem)
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{
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pthread_mutex_destroy(sem);
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delete sem;
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}
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/**
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* Lock the semaphore, blocking until it's available.
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* @return 0 for success, -1 for error. If -1, the error will be in errno.
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*/
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int8_t takeMutex(MUTEX_ID sem)
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{
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return pthread_mutex_lock(sem);
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}
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int8_t tryTakeMutex(MUTEX_ID sem)
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{
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return pthread_mutex_trylock(sem);
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}
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/**
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* Unlock the semaphore.
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* @return 0 for success, -1 for error. If -1, the error will be in errno.
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*/
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int8_t giveMutex(MUTEX_ID sem)
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{
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return pthread_mutex_unlock(sem);
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}
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SEMAPHORE_ID initializeSemaphore(uint32_t initial_value) {
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SEMAPHORE_ID sem = new sem_t;
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sem_init(sem, 0, initial_value);
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return sem;
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}
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void deleteSemaphore(SEMAPHORE_ID sem) {
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sem_destroy(sem);
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delete sem;
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}
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/**
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* Lock the semaphore, blocking until it's available.
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* @return 0 for success, -1 for error. If -1, the error will be in errno.
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*/
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int8_t takeSemaphore(SEMAPHORE_ID sem)
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{
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return sem_wait(sem);
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}
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int8_t tryTakeSemaphore(SEMAPHORE_ID sem)
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{
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return sem_trywait(sem);
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}
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/**
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* Unlock the semaphore.
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* @return 0 for success, -1 for error. If -1, the error will be in errno.
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*/
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int8_t giveSemaphore(SEMAPHORE_ID sem)
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{
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return sem_post(sem);
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}
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MULTIWAIT_ID initializeMultiWait() {
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pthread_condattr_t attr;
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pthread_condattr_init(&attr);
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MULTIWAIT_ID cond = new pthread_cond_t();
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pthread_cond_init(cond, &attr);
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pthread_condattr_destroy(&attr);
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return cond;
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}
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void deleteMultiWait(MULTIWAIT_ID sem) {
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pthread_cond_destroy(sem);
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delete sem;
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}
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int8_t takeMultiWait(MULTIWAIT_ID sem, int32_t timeout) {
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MUTEX_ID m = initializeMutexNormal();
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takeMutex(m);
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int8_t val = pthread_cond_wait(sem, m);
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deleteMutex(m);
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return val;
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}
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int8_t giveMultiWait(MULTIWAIT_ID sem) {
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return pthread_cond_broadcast(sem);
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}
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