mirror of
https://github.com/wpilibsuite/allwpilib
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c0ecde302f
If a lock is used with a mutex that doesn't need to be unlocked again before the lock is destroyed, std::lock_guard can be more efficient than std::unique_lock due to less overhead. This commit also removes a redundant set of curly braces in PIDController.cpp intended to constrain a lock's scope. Change-Id: Idd692ce439528ddb319a4c62c40c7351a664eb97
77 lines
1.9 KiB
C++
77 lines
1.9 KiB
C++
#pragma once
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// Allows usage with std::lock_guard without including <mutex> separately
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#include <mutex>
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#ifdef FRC_SIMULATOR
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// We do not want to use pthreads if in the simulator; however, in the
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// simulator, we do not care about priority inversion.
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typedef std::mutex priority_mutex;
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typedef std::recursive_mutex priority_recursive_mutex;
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#else // Covers rest of file.
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#include <pthread.h>
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class priority_recursive_mutex {
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public:
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typedef pthread_mutex_t *native_handle_type;
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constexpr priority_recursive_mutex() noexcept = default;
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priority_recursive_mutex(const priority_recursive_mutex &) = delete;
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priority_recursive_mutex &operator=(const priority_recursive_mutex &) = delete;
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// Lock the mutex, blocking until it's available.
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void lock();
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// Unlock the mutex.
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void unlock();
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// Tries to lock the mutex.
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bool try_lock() noexcept;
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pthread_mutex_t *native_handle();
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private:
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// Do the equivalent of setting PTHREAD_PRIO_INHERIT and
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// PTHREAD_MUTEX_RECURSIVE_NP.
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#if __WORDSIZE == 64
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pthread_mutex_t m_mutex = {
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{0, 0, 0, 0, 0x20 | PTHREAD_MUTEX_RECURSIVE_NP, 0, 0, {0, 0}}};
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#else
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pthread_mutex_t m_mutex = {
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{0, 0, 0, 0x20 | PTHREAD_MUTEX_RECURSIVE_NP, 0, {0}}};
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#endif
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};
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class priority_mutex {
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public:
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typedef pthread_mutex_t *native_handle_type;
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constexpr priority_mutex() noexcept = default;
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priority_mutex(const priority_mutex &) = delete;
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priority_mutex &operator=(const priority_mutex &) = delete;
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// Lock the mutex, blocking until it's available.
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void lock();
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// Unlock the mutex.
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void unlock();
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// Tries to lock the mutex.
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bool try_lock() noexcept;
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pthread_mutex_t *native_handle();
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private:
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// Do the equivalent of setting PTHREAD_PRIO_INHERIT.
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#if __WORDSIZE == 64
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pthread_mutex_t m_mutex = {
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{0, 0, 0, 0, 0x20, 0, 0, {0, 0}}};
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#else
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pthread_mutex_t m_mutex = {
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{0, 0, 0, 0x20, 0, {0}}};
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#endif
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};
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#endif // FRC_SIMULATOR
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