#pragma once #include <AP_HAL/AP_HAL_Boards.h> #include <stdint.h> #include <AP_HAL/AP_HAL_Macros.h> #include <AP_HAL/Semaphores.h> #include "AP_HAL_SITL_Namespace.h" #include <pthread.h> class HALSITL::Semaphore : public AP_HAL::Semaphore { public: Semaphore(); bool give() override; bool take(uint32_t timeout_ms) override; bool take_nonblocking() override; void check_owner() const; // asserts that current thread owns semaphore protected: pthread_mutex_t _lock; pthread_t owner; // keep track the recursion level to ensure we only disown the // semaphore once we're done with it uint8_t take_count; };