mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
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
99 lines
2.5 KiB
C++
99 lines
2.5 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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#if (defined __vxworks || defined WIN32)
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#ifdef __vxworks
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#include <vxWorks.h>
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#endif
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#include <semLib.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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m_semaphore = semMCreate(SEM_Q_PRIORITY | SEM_INVERSION_SAFE | SEM_DELETE_SAFE);
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};
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~NTReentrantSemaphore(){
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semDelete(m_semaphore);
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};
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void take(){
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semTake(m_semaphore, WAIT_FOREVER);
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};
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void give(){
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semGive(m_semaphore);
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};
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private:
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SEM_ID m_semaphore;
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};
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#else
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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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#endif // __vxworks
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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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#if (defined __vxworks || defined WIN32)
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explicit NTSynchronized(SEM_ID);
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#endif
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virtual ~NTSynchronized();
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private:
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#if (defined __vxworks || defined WIN32)
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bool usingSem;
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NTReentrantSemaphore* m_sem;
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SEM_ID m_semaphore;
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#else
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NTReentrantSemaphore& m_semaphore;
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#endif
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};
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#endif
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