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https://github.com/ArduPilot/ardupilot
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remove AP_Semaphore library, deprecated under AP_HAL
This commit is contained in:
Pat Hickey
Andrew Tridgell
parent
ec8b56db7d
commit
db31608aa2
@ -1,70 +0,0 @@
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL.h>
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#include "AP_Semaphore.h"
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extern const AP_HAL::HAL& hal;
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// Constructor
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AP_Semaphore::AP_Semaphore()
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{
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}
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// get - to claim ownership of the semaphore
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bool AP_Semaphore::get(void* caller)
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{
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bool result = false;
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hal.scheduler->begin_atomic();
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if( !_taken ) {
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_taken = true;
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_owner = caller;
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result = true;
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}
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hal.scheduler->end_atomic();
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return result;
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}
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// release - to give up ownership of the semaphore
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// returns true if successfully released
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bool AP_Semaphore::release(void* caller)
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{
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// check legitimacy of release call
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if( caller != _owner ) {
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return false;
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}
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// if another process is waiting immediately call the provided kontinuation
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if( _waiting_k != NULL ) {
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// give ownership to waiting process
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_owner = _waiting_owner;
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AP_HAL::Proc k = _waiting_k;
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// clear waiting process
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_waiting_k = NULL;
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_waiting_owner = NULL;
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// callback
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k();
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}
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// give up the semaphore
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_taken = false;
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return true;
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}
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// call_on_release - returns true if caller successfully added to the queue to
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// be called back
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bool AP_Semaphore::call_on_release(void* caller, AP_HAL::Proc k)
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{
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bool result = false;
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hal.scheduler->begin_atomic();
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if( _waiting_owner == NULL ) {
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_waiting_owner = caller;
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_waiting_k = k;
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result = true;
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}
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hal.scheduler->end_atomic();
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return result;
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}
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@ -1,37 +0,0 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file AP_Semaphore.h
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/// @brief class to ensure conflicts over shared resources are avoided
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#ifndef __AP_SEMAPHORE_H__
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#define __AP_SEMAPHORE_H__
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#include <AP_HAL.h>
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/// @class AP_Semaphore
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class AP_Semaphore {
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public:
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// Constructor
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AP_Semaphore();
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// get - to claim ownership of the semaphore
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virtual bool get(void* caller);
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// release - to give up ownership of the semaphore
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virtual bool release(void* caller);
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// call_on_release - returns true if caller successfully added to the
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// queue to be called back
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virtual bool call_on_release(void* caller, AP_HAL::Proc k);
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protected:
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bool _taken;
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void* _owner;
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void* _waiting_owner;
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// procedure of process waiting for sempahore
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AP_HAL::Proc _waiting_k;
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};
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#endif // __AP_SEMAPHORE_H__
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@ -1,115 +0,0 @@
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#include <AP_Common.h>
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#include <AP_Progmem.h>
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#include <AP_HAL.h>
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#include <AP_Semaphore.h>
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#include <AP_HAL_AVR.h>
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const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
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static AP_Semaphore my_semaphore;
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static AP_Semaphore AP_Semaphore_spi3;
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int16_t dummy1, dummy2, dummy3; // used to provide points to semaphore library
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// call back for dummy1
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void callback_1() {
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hal.console->println("dummy2 called back!");
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}
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// call back for dummy3
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void callback_3() {
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hal.console->println("dummy3 called back!");
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}
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void setup(void)
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{
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// print welcome message
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hal.console->println("AP_Semaphore_test ver 1.0");
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}
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void print_test_result(bool expected, bool got) {
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if( expected == got ) {
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hal.console->print_P(PSTR("success: got "));
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if (got) {
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hal.console->println_P(PSTR("true"));
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} else {
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hal.console->println_P(PSTR("false"));
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}
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} else {
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hal.console->printf_P(PSTR("***failed************************: expected %d got %d\r\n"),
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(int)expected, (int) got);
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}
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}
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void loop(void)
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{
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bool ret;
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// quick test of spi semaphore
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ret = AP_Semaphore_spi3.get(&dummy3);
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hal.console->print("dummy3 gets SPI semaphore: ");
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print_test_result(true, ret);
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// dummy1 gets semaphore
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hal.console->print("dummy1 gets semaphore: ");
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ret = my_semaphore.get(&dummy1);
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print_test_result(true, ret);
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// dummy2 tries to get semaphore (fails)
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hal.console->print("dummy2 gets semaphore: ");
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ret = my_semaphore.get(&dummy2);
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print_test_result(false, ret);
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// dummy2 tries to release semaphore (fails)
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hal.console->print("dummy2 releases semaphore (that it doesn't have): ");
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ret = my_semaphore.release(&dummy2);
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print_test_result(false, ret);
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// dummy1 releases semaphore
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hal.console->print("dummy1 releases semaphore: ");
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ret = my_semaphore.release(&dummy1);
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print_test_result(true, ret);
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// dummy2 tries to get semaphore (succeeds)
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hal.console->print("dummy2 gets semaphore: ");
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ret = my_semaphore.get(&dummy2);
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print_test_result(true, ret);
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// dummy1 tries to get semphore (fails)
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hal.console->print("dummy1 gets semaphore: ");
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ret = my_semaphore.get(&dummy1);
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print_test_result(false, ret);
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// dummy1 asks for call back (succeeds)
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hal.console->print("dummy1 asks for call back on release: ");
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ret = my_semaphore.call_on_release(&dummy1, callback_1);
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print_test_result(true, ret);
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// dummy3 asks for call back (fails)
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hal.console->print("dummy3 asks for call back on release: ");
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ret = my_semaphore.call_on_release(&dummy3, callback_3);
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print_test_result(false, ret);
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// dummy2 releases semaphore
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// dummy1's call back should be called
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hal.console->print("dummy2 releases semaphore: ");
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ret = my_semaphore.release(&dummy2);
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print_test_result(true, ret);
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hal.console->println("--------------------");
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// nobody has semaphore
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// delay
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hal.scheduler->delay(10000);
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}
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extern "C" {
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int main (void) {
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hal.init(NULL);
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setup();
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for(;;) loop();
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return 0;
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}
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}
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@ -1,2 +0,0 @@
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BOARD = mega2560
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include ../../../AP_Common/Arduino.mk
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