mirror of https://github.com/ArduPilot/ardupilot
47 lines
1.3 KiB
C++
47 lines
1.3 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 <AP_HAL/AP_HAL_Boards.h>
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#include "AP_HAL_ChibiOS.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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#if CH_CFG_USE_MUTEXES == TRUE
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chMtxObjectInit(&_lock);
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#endif
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}
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bool give();
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bool take(uint32_t timeout_ms);
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bool take_nonblocking();
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bool check_owner(void) {
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#if CH_CFG_USE_MUTEXES == TRUE
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return _lock.owner == chThdGetSelfX();
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#else
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return true;
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#endif
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}
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void assert_owner(void) {
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osalDbgAssert(check_owner(), "owner");
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}
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private:
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mutex_t _lock;
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};
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