mirror of https://github.com/ArduPilot/ardupilot
43 lines
780 B
C
43 lines
780 B
C
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <stdint.h>
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#include <AP_HAL/Semaphores.h>
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#include <pthread.h>
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namespace QURT
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{
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class Semaphore : public AP_HAL::Semaphore
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{
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public:
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friend class BinarySemaphore;
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Semaphore();
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bool give() override;
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bool take(uint32_t timeout_ms) override;
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bool take_nonblocking() override;
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bool check_owner(void);
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protected:
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// qurt_mutex_t _lock;
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pthread_mutex_t _lock;
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pthread_t owner;
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};
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class BinarySemaphore : public AP_HAL::BinarySemaphore
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{
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public:
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BinarySemaphore(bool initial_state=false);
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bool wait(uint32_t timeout_us) override;
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bool wait_blocking(void) override;
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void signal(void) override;
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protected:
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Semaphore mtx;
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pthread_cond_t cond;
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bool pending;
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};
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}
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