mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-25 01:41:43 +00:00
89 lines
2.7 KiB
C++
89 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
// Allows usage with std::lock_guard without including <mutex> separately
|
|
#ifdef __linux__
|
|
#include <pthread.h>
|
|
#endif
|
|
|
|
#include <mutex>
|
|
|
|
namespace wpi {
|
|
|
|
#if defined(__FRC_ROBORIO__) && !defined(WPI_USE_PRIORITY_MUTEX)
|
|
#define WPI_USE_PRIORITY_MUTEX
|
|
#endif
|
|
|
|
#if defined(WPI_USE_PRIORITY_MUTEX) && defined(__linux__)
|
|
|
|
#define WPI_HAVE_PRIORITY_MUTEX 1
|
|
|
|
class priority_recursive_mutex {
|
|
public:
|
|
using native_handle_type = pthread_mutex_t*;
|
|
|
|
constexpr priority_recursive_mutex() noexcept = default;
|
|
priority_recursive_mutex(const priority_recursive_mutex&) = delete;
|
|
priority_recursive_mutex& operator=(const priority_recursive_mutex&) = delete;
|
|
|
|
// Lock the mutex, blocking until it's available.
|
|
void lock() { pthread_mutex_lock(&m_mutex); }
|
|
|
|
// Unlock the mutex.
|
|
void unlock() { pthread_mutex_unlock(&m_mutex); }
|
|
|
|
// Tries to lock the mutex.
|
|
bool try_lock() noexcept { return !pthread_mutex_trylock(&m_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
|
|
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
|
|
};
|
|
|
|
class priority_mutex {
|
|
public:
|
|
using native_handle_type = pthread_mutex_t*;
|
|
|
|
constexpr priority_mutex() noexcept = default;
|
|
priority_mutex(const priority_mutex&) = delete;
|
|
priority_mutex& operator=(const priority_mutex&) = delete;
|
|
|
|
// Lock the mutex, blocking until it's available.
|
|
void lock() { pthread_mutex_lock(&m_mutex); }
|
|
|
|
// Unlock the mutex.
|
|
void unlock() { pthread_mutex_unlock(&m_mutex); }
|
|
|
|
// Tries to lock the mutex.
|
|
bool try_lock() noexcept { return !pthread_mutex_trylock(&m_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
|
|
};
|
|
|
|
#endif // defined(WPI_USE_PRIORITY_MUTEX) && defined(__linux__)
|
|
|
|
} // namespace wpi
|