ardupilot/libraries/AP_HAL_Linux/Semaphores.cpp

40 lines
791 B
C++

#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "Semaphores.h"
extern const AP_HAL::HAL& hal;
using namespace Linux;
bool LinuxSemaphore::give()
{
return pthread_mutex_unlock(&_lock) == 0;
}
bool LinuxSemaphore::take(uint32_t timeout_ms)
{
if (timeout_ms == 0) {
return pthread_mutex_lock(&_lock) == 0;
}
if (take_nonblocking()) {
return true;
}
uint32_t start = hal.scheduler->micros();
do {
hal.scheduler->delay_microseconds(200);
if (take_nonblocking()) {
return true;
}
} while ((hal.scheduler->micros() - start) < timeout_ms*1000);
return false;
}
bool LinuxSemaphore::take_nonblocking()
{
return pthread_mutex_trylock(&_lock) == 0;
}
#endif // CONFIG_HAL_BOARD