mirror of https://github.com/ArduPilot/ardupilot
27 lines
652 B
C++
27 lines
652 B
C++
#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <stdint.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_SITL_Namespace.h"
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#include <pthread.h>
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class HALSITL::Semaphore : public AP_HAL::Semaphore {
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public:
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Semaphore();
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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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void check_owner() const; // asserts that current thread owns semaphore
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protected:
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pthread_mutex_t _lock;
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pthread_t owner;
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// keep track the recursion level to ensure we only disown the
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// semaphore once we're done with it
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uint8_t take_count;
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};
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