ardupilot/libraries/AP_HAL_SITL/Semaphores.h

27 lines
652 B
C++

#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;
};