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39 lines
816 B
39 lines
816 B
#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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#include "Semaphores.h" |
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extern const AP_HAL::HAL& hal; |
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using namespace VRBRAIN; |
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bool Semaphore::give() |
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{ |
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return pthread_mutex_unlock(&_lock) == 0; |
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} |
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bool Semaphore::take(uint32_t timeout_ms) |
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{ |
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if (timeout_ms == 0) { |
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return pthread_mutex_lock(&_lock) == 0; |
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} |
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if (take_nonblocking()) { |
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return true; |
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} |
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uint64_t start = AP_HAL::micros64(); |
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do { |
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hal.scheduler->delay_microseconds(200); |
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if (take_nonblocking()) { |
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return true; |
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} |
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} while ((AP_HAL::micros64() - start) < timeout_ms*1000); |
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return false; |
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} |
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bool Semaphore::take_nonblocking() |
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{ |
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return pthread_mutex_trylock(&_lock) == 0; |
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} |
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#endif // CONFIG_HAL_BOARD
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