ardupilot/libraries/AP_HAL_ChibiOS/CANThread.h

/*
 * The MIT License (MIT)
 *
 * Copyright (c) 2014 Pavel Kirienko
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

/*
 * This file is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This file is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 * Modified for Ardupilot by Siddharth Bharat Purohit
 */

#pragma once

#include "AP_HAL_ChibiOS.h"

#if HAL_WITH_UAVCAN

# include <ch.hpp>

#include <uavcan/uavcan.hpp>

namespace ChibiOS_CAN {

class CanDriver;

class BusEvent {
    chibios_rt::CounterSemaphore sem_;

public:
    BusEvent(CanDriver& can_driver)
        : sem_(0)
    {
        (void)can_driver;
    }

    bool wait(uavcan::MonotonicDuration duration);

    void signal();

    void signalFromInterrupt();
};

class Mutex {
    chibios_rt::Mutex mtx_;

public:
    void lock();
    void unlock();
};

class MutexLocker {
    Mutex& mutex_;

public:
    MutexLocker(Mutex& mutex)
        : mutex_(mutex)
    {
        mutex_.lock();
    }
    ~MutexLocker()
    {
        mutex_.unlock();
    }
};

}

#endif //HAL_WITH_UAVCAN