mirror of https://github.com/ArduPilot/ardupilot
33 lines
678 B
C++
33 lines
678 B
C++
#include "AP_HAL.h"
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extern const AP_HAL::HAL &hal;
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/*
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implement WithSemaphore class for WITH_SEMAPHORE() support
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*/
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WithSemaphore::WithSemaphore(AP_HAL::Semaphore *mtx, uint32_t line) :
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WithSemaphore(*mtx, line)
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{}
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WithSemaphore::WithSemaphore(AP_HAL::Semaphore &mtx, uint32_t line) :
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_mtx(mtx)
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{
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#ifndef HAL_BOOTLOADER_BUILD
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bool in_main = hal.scheduler->in_main_thread();
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if (in_main) {
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hal.util->persistent_data.semaphore_line = line;
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}
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#endif
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_mtx.take_blocking();
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#ifndef HAL_BOOTLOADER_BUILD
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if (in_main) {
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hal.util->persistent_data.semaphore_line = 0;
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}
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#endif
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}
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WithSemaphore::~WithSemaphore()
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{
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_mtx.give();
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}
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