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26 lines
652 B
26 lines
652 B
#pragma once |
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#include <AP_HAL/AP_HAL_Boards.h> |
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#include <stdint.h> |
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#include <AP_HAL/AP_HAL_Macros.h> |
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#include <AP_HAL/Semaphores.h> |
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#include "AP_HAL_SITL_Namespace.h" |
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#include <pthread.h> |
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class HALSITL::Semaphore : public AP_HAL::Semaphore { |
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public: |
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Semaphore(); |
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bool give() override; |
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bool take(uint32_t timeout_ms) override; |
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bool take_nonblocking() override; |
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void check_owner() const; // asserts that current thread owns semaphore |
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protected: |
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pthread_mutex_t _lock; |
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pthread_t owner; |
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// keep track the recursion level to ensure we only disown the |
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// semaphore once we're done with it |
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uint8_t take_count; |
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};
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