mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
efec0c5cc3
There is a shim for backwards compatibility, just like the frc namespace. As with the frc namespace, the library compiles without the shim.
93 lines
2.7 KiB
C++
93 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016-2017. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#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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#if defined(FRC_SIMULATOR) || defined(_WIN32)
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namespace hal {
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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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} // namespace hal
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#else // Covers rest of file.
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#include <pthread.h>
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namespace hal {
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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 = {{0, 0, 0, 0, 0x20, 0, 0, {0, 0}}};
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#else
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pthread_mutex_t m_mutex = {{0, 0, 0, 0x20, 0, {0}}};
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#endif
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};
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} // namespace hal
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#endif // FRC_SIMULATOR
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// For backwards compatibility
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#ifndef NAMESPACED_PRIORITY
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using priority_mutex = hal::priority_mutex; // NOLINT
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using priority_recursive_mutex = hal::priority_recursive_mutex; // NOLINT
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#endif
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