mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
fd4c169658
Implemented setTaskPriority() and getTaskPriority() in Task HAL API Removed all other unimplemented functions in HAL and removed spawnTask() Replaced instances of pthread_t* with TASK typedef Removed unused HAL error constants and removed commented-out classes and functions in wpilibj's HALLibrary Changed Task class API to match the construction semantics of a std::thread Change-Id: I3bc951a3da90d24c5589fae4d1ca2bb60225c873
96 lines
2.4 KiB
C++
96 lines
2.4 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 WIN32
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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 // WIN32
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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 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 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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