00001 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*- 00002 00003 // -- BEGIN LICENSE BLOCK ---------------------------------------------- 00004 // This file is part of FZIs ic_workspace. 00005 // 00006 // This program is free software licensed under the LGPL 00007 // (GNU LESSER GENERAL PUBLIC LICENSE Version 3). 00008 // You can find a copy of this license in LICENSE folder in the top 00009 // directory of the source code. 00010 // 00011 // © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany 00012 // 00013 // -- END LICENSE BLOCK ------------------------------------------------ 00014 00015 //---------------------------------------------------------------------- 00021 //---------------------------------------------------------------------- 00022 #include "SemaphoreImplLxrt38.h" 00023 00024 #include <rtai_posix.h> 00025 00026 #include "Common.h" 00027 00028 namespace icl_core { 00029 namespace thread { 00030 00031 SemaphoreImplLxrt38::SemaphoreImplLxrt38(size_t initial_value, int type) 00032 : m_semaphore(NULL) 00033 { 00034 m_semaphore = rt_typed_sem_init(size_t(this), initial_value, type | PRIO_Q); 00035 } 00036 00037 SemaphoreImplLxrt38::~SemaphoreImplLxrt38() 00038 { 00039 if (m_semaphore != NULL) 00040 { 00041 rt_sem_delete(m_semaphore); 00042 m_semaphore = NULL; 00043 } 00044 } 00045 00046 void SemaphoreImplLxrt38::post() 00047 { 00048 rt_sem_signal(m_semaphore); 00049 } 00050 00051 bool SemaphoreImplLxrt38::tryWait() 00052 { 00053 int res = rt_sem_wait_if(m_semaphore); 00054 return (res > 0 && res < SEM_TIMOUT); 00055 } 00056 00057 bool SemaphoreImplLxrt38::wait() 00058 { 00059 int res = rt_sem_wait(m_semaphore); 00060 return (res < SEM_TIMOUT); 00061 } 00062 00063 bool SemaphoreImplLxrt38::wait(const icl_core::TimeSpan& timeout) 00064 { 00065 return wait(impl::getAbsoluteTimeout(timeout)); 00066 } 00067 00068 bool SemaphoreImplLxrt38::wait(const icl_core::TimeStamp& timeout) 00069 { 00070 struct timespec timeout_spec = timeout.systemTimespec(); 00071 int res = rt_sem_wait_until(m_semaphore, timespec2count(&timeout_spec)); 00072 return (res < SEM_TIMOUT); 00073 } 00074 00075 } 00076 }