mirror of https://github.com/ArduPilot/ardupilot
80 lines
1.8 KiB
C++
80 lines
1.8 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include "Semaphores.h"
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#include "Scheduler.h"
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extern const AP_HAL::HAL& hal;
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using namespace HALSITL;
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// construct a semaphore
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Semaphore::Semaphore()
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{
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pthread_mutexattr_t attr;
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pthread_mutexattr_init(&attr);
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pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_RECURSIVE);
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pthread_mutex_init(&_lock, &attr);
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}
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bool Semaphore::give()
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{
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take_count--;
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if (pthread_mutex_unlock(&_lock) != 0) {
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AP_HAL::panic("Bad semaphore usage");
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}
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if (take_count == 0) {
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owner = (pthread_t)-1;
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}
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return true;
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}
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void Semaphore::check_owner() const
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{
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// should probably make sure we're holding the semaphore here....
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if (owner != pthread_self()) {
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AP_HAL::panic("Wrong owner");
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}
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}
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bool Semaphore::take(uint32_t timeout_ms)
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{
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if (timeout_ms == HAL_SEMAPHORE_BLOCK_FOREVER) {
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if (pthread_mutex_lock(&_lock) == 0) {
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owner = pthread_self();
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take_count++;
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return true;
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}
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return false;
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}
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if (take_nonblocking()) {
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owner = pthread_self();
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return true;
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}
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uint64_t start = AP_HAL::micros64();
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do {
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Scheduler::from(hal.scheduler)->set_in_semaphore_take_wait(true);
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hal.scheduler->delay_microseconds(200);
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Scheduler::from(hal.scheduler)->set_in_semaphore_take_wait(false);
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if (take_nonblocking()) {
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owner = pthread_self();
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return true;
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}
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} while ((AP_HAL::micros64() - start) < timeout_ms * 1000);
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return false;
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}
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bool Semaphore::take_nonblocking()
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{
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if (pthread_mutex_trylock(&_lock) == 0) {
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owner = pthread_self();
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take_count++;
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return true;
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}
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return false;
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}
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#endif // CONFIG_HAL_BOARD
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