mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-02 14:13:42 -04:00
7ac51f60d0
This commit changes the way libraries headers are included in source files: - If the header is in the same directory the source belongs to, so the notation '#include ""' is used with the path relative to the directory containing the source. - If the header is outside the directory containing the source, then we use the notation '#include <>' with the path relative to libraries folder. Some of the advantages of such approach: - Only one search path for libraries headers. - OSs like Windows may have a better lookup time.
40 lines
802 B
C++
40 lines
802 B
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include "Semaphores.h"
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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bool LinuxSemaphore::give()
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{
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return pthread_mutex_unlock(&_lock) == 0;
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}
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bool LinuxSemaphore::take(uint32_t timeout_ms)
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{
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if (timeout_ms == 0) {
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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 = hal.scheduler->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 ((hal.scheduler->micros64() - start) < timeout_ms*1000);
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return false;
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}
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bool LinuxSemaphore::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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