mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.7 KiB
C++
52 lines
1.7 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#pragma once
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#include <stdint.h>
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <AP_HAL/AP_HAL_Macros.h>
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#include <AP_HAL/Semaphores.h>
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#include "AP_HAL_ChibiOS_Namespace.h"
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class ChibiOS::Semaphore : public AP_HAL::Semaphore {
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public:
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Semaphore();
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virtual bool give() override;
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virtual bool take(uint32_t timeout_ms) override;
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virtual bool take_nonblocking() override;
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// methods within HAL_ChibiOS only
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bool check_owner(void);
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void assert_owner(void);
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protected:
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// to avoid polluting the global namespace with the 'ch' variable,
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// we declare the lock as a uint64_t, and cast inside the cpp file
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uint64_t _lock[2];
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};
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// a recursive semaphore, allowing for a thread to take it more than
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// once. It must be released the same number of times it is taken
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class ChibiOS::Semaphore_Recursive : public ChibiOS::Semaphore {
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public:
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Semaphore_Recursive();
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bool give() override;
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bool take(uint32_t timeout_ms) override;
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bool take_nonblocking() override;
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private:
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uint32_t count;
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};
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