From 63556b9804757328231676cf757f4851e0f02dee Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 12 Oct 2018 10:35:32 +1100
Subject: [PATCH] HAL_Linux: removed hal.util->new_semaphore()

replaced with HAL_Semaphore
---
 libraries/AP_HAL_Linux/AnalogIn_IIO.cpp | 48 ++++++++++++-------------
 libraries/AP_HAL_Linux/AnalogIn_IIO.h   |  2 +-
 libraries/AP_HAL_Linux/Util.h           |  3 --
 3 files changed, 24 insertions(+), 29 deletions(-)

diff --git a/libraries/AP_HAL_Linux/AnalogIn_IIO.cpp b/libraries/AP_HAL_Linux/AnalogIn_IIO.cpp
index 475a6ac4ec..3d15c16e31 100644
--- a/libraries/AP_HAL_Linux/AnalogIn_IIO.cpp
+++ b/libraries/AP_HAL_Linux/AnalogIn_IIO.cpp
@@ -1,6 +1,7 @@
 #include "AnalogIn_IIO.h"
 
 #include <AP_HAL/AP_HAL.h>
+#include <AP_Common/Semaphore.h>
 
 extern const AP_HAL::HAL &hal;
 
@@ -23,7 +24,6 @@ AnalogSource_IIO::AnalogSource_IIO(int16_t pin, float initial_value, float volta
     _sum_count(0),
     _pin_fd(-1)
 {
-    _semaphore = hal.util->new_semaphore();
     init_pins();
     select_pin();
 }
@@ -51,16 +51,16 @@ void AnalogSource_IIO::select_pin(void)
 float AnalogSource_IIO::read_average()
 {
     read_latest();
-    if (_semaphore->take(1)) {
-        if (_sum_count == 0) {
-            _semaphore->give();
-            return _value;
-        }
-        _value = _sum_value / _sum_count;
-        _sum_value = 0;
-        _sum_count = 0;
-        _semaphore->give();
+    WITH_SEMAPHORE(_semaphore);
+
+    if (_sum_count == 0) {
+        return _value;
     }
+
+    _value = _sum_value / _sum_count;
+    _sum_value = 0;
+    _sum_count = 0;
+
     return _value;
 }
 
@@ -78,12 +78,11 @@ float AnalogSource_IIO::read_latest()
         _latest = 0;
         return 0;
     }
-    if (_semaphore->take(1)) {
-        _latest = atoi(sbuf) * _voltage_scaling;
-        _sum_value += _latest;
-        _sum_count++;
-        _semaphore->give();
-    }
+    WITH_SEMAPHORE(_semaphore);
+
+    _latest = atoi(sbuf) * _voltage_scaling;
+    _sum_value += _latest;
+    _sum_count++;
 
     return _latest;
 }
@@ -106,15 +105,14 @@ void AnalogSource_IIO::set_pin(uint8_t pin)
         return;
     }
 
-    if (_semaphore->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
-        _pin = pin;
-        _sum_value = 0;
-        _sum_count = 0;
-        _latest = 0;
-        _value = 0;
-        select_pin();
-        _semaphore->give();
-    }
+    WITH_SEMAPHORE(_semaphore);
+
+    _pin = pin;
+    _sum_value = 0;
+    _sum_count = 0;
+    _latest = 0;
+    _value = 0;
+    select_pin();
 }
 
 void AnalogSource_IIO::set_stop_pin(uint8_t p)
diff --git a/libraries/AP_HAL_Linux/AnalogIn_IIO.h b/libraries/AP_HAL_Linux/AnalogIn_IIO.h
index cd5255837f..e6ce28157b 100644
--- a/libraries/AP_HAL_Linux/AnalogIn_IIO.h
+++ b/libraries/AP_HAL_Linux/AnalogIn_IIO.h
@@ -42,7 +42,7 @@ private:
     int16_t     _pin;
     int         _pin_fd;
     int         fd_analog_sources[IIO_ANALOG_IN_COUNT];
-    AP_HAL::Semaphore *_semaphore;
+    HAL_Semaphore _semaphore;
 
     void init_pins(void);
     void select_pin(void);
diff --git a/libraries/AP_HAL_Linux/Util.h b/libraries/AP_HAL_Linux/Util.h
index 13ff1801c1..88a50a395c 100644
--- a/libraries/AP_HAL_Linux/Util.h
+++ b/libraries/AP_HAL_Linux/Util.h
@@ -90,9 +90,6 @@ public:
         return Perf::get_instance()->count(perf);
     }
 
-    // create a new semaphore
-    AP_HAL::Semaphore *new_semaphore(void) override { return new Semaphore; }
-
     int get_hw_arm32();
 
     bool toneAlarm_init() override { return _toneAlarm.init(); }