mirror of https://github.com/ArduPilot/ardupilot
45 lines
965 B
C++
45 lines
965 B
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#include "Semaphores.h"
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#include <nuttx/arch.h>
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extern const AP_HAL::HAL& hal;
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using namespace VRBRAIN;
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bool Semaphore::give()
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{
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return pthread_mutex_unlock(&_lock) == 0;
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}
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bool Semaphore::take(uint32_t timeout_ms)
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{
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if (up_interrupt_context()) {
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// don't ever wait on a semaphore in interrupt context
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return take_nonblocking();
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}
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if (timeout_ms == HAL_SEMAPHORE_BLOCK_FOREVER) {
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return pthread_mutex_lock(&_lock) == 0;
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}
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if (take_nonblocking()) {
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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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hal.scheduler->delay_microseconds(200);
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if (take_nonblocking()) {
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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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return pthread_mutex_trylock(&_lock) == 0;
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}
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#endif // CONFIG_HAL_BOARD
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