ardupilot/libraries/AP_HAL_ChibiOS/Semaphores.h

47 lines
1.3 KiB
C++

/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#pragma once
#include <AP_HAL/AP_HAL_Boards.h>
#include "AP_HAL_ChibiOS.h"
class ChibiOS::Semaphore : public AP_HAL::Semaphore {
public:
Semaphore() {
#if CH_CFG_USE_MUTEXES == TRUE
chMtxObjectInit(&_lock);
#endif
}
bool give();
bool take(uint32_t timeout_ms);
bool take_nonblocking();
bool check_owner(void) {
#if CH_CFG_USE_MUTEXES == TRUE
return _lock.owner == chThdGetSelfX();
#else
return true;
#endif
}
void assert_owner(void) {
osalDbgAssert(check_owner(), "owner");
}
private:
mutex_t _lock;
};