EL4121 Embedded System / mbed-os

mbed-os

Dependents:   cobaLCDJoyMotor_Thread odometry_omni_3roda_v3 odometry_omni_3roda_v1 odometry_omni_3roda_v2 ... more

events/equeue/equeue_posix.c@0:b74591d5ab33, 2017-12-11 (annotated)

Committer:
be_bryan
Date:
Mon Dec 11 17:54:04 2017 +0000
Revision:
0:b74591d5ab33
motor ++

Who changed what in which revision?

UserRevisionLine numberNew contents of line
be_bryan 0:b74591d5ab33 1 /*
be_bryan 0:b74591d5ab33 2 * Implementation for Posix compliant platforms
be_bryan 0:b74591d5ab33 3 *
be_bryan 0:b74591d5ab33 4 * Copyright (c) 2016 Christopher Haster
be_bryan 0:b74591d5ab33 5 *
be_bryan 0:b74591d5ab33 6 * Licensed under the Apache License, Version 2.0 (the "License");
be_bryan 0:b74591d5ab33 7 * you may not use this file except in compliance with the License.
be_bryan 0:b74591d5ab33 8 * You may obtain a copy of the License at
be_bryan 0:b74591d5ab33 9 *
be_bryan 0:b74591d5ab33 10 * http://www.apache.org/licenses/LICENSE-2.0
be_bryan 0:b74591d5ab33 11 *
be_bryan 0:b74591d5ab33 12 * Unless required by applicable law or agreed to in writing, software
be_bryan 0:b74591d5ab33 13 * distributed under the License is distributed on an "AS IS" BASIS,
be_bryan 0:b74591d5ab33 14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
be_bryan 0:b74591d5ab33 15 * See the License for the specific language governing permissions and
be_bryan 0:b74591d5ab33 16 * limitations under the License.
be_bryan 0:b74591d5ab33 17 */
be_bryan 0:b74591d5ab33 18 #include "equeue/equeue_platform.h"
be_bryan 0:b74591d5ab33 19
be_bryan 0:b74591d5ab33 20 #if defined(EQUEUE_PLATFORM_POSIX)
be_bryan 0:b74591d5ab33 21
be_bryan 0:b74591d5ab33 22 #include <time.h>
be_bryan 0:b74591d5ab33 23 #include <sys/time.h>
be_bryan 0:b74591d5ab33 24 #include <errno.h>
be_bryan 0:b74591d5ab33 25
be_bryan 0:b74591d5ab33 26
be_bryan 0:b74591d5ab33 27 // Tick operations
be_bryan 0:b74591d5ab33 28 unsigned equeue_tick(void) {
be_bryan 0:b74591d5ab33 29 struct timeval tv;
be_bryan 0:b74591d5ab33 30 gettimeofday(&tv, 0);
be_bryan 0:b74591d5ab33 31 return (unsigned)(tv.tv_sec*1000 + tv.tv_usec/1000);
be_bryan 0:b74591d5ab33 32 }
be_bryan 0:b74591d5ab33 33
be_bryan 0:b74591d5ab33 34
be_bryan 0:b74591d5ab33 35 // Mutex operations
be_bryan 0:b74591d5ab33 36 int equeue_mutex_create(equeue_mutex_t *m) {
be_bryan 0:b74591d5ab33 37 return pthread_mutex_init(m, 0);
be_bryan 0:b74591d5ab33 38 }
be_bryan 0:b74591d5ab33 39
be_bryan 0:b74591d5ab33 40 void equeue_mutex_destroy(equeue_mutex_t *m) {
be_bryan 0:b74591d5ab33 41 pthread_mutex_destroy(m);
be_bryan 0:b74591d5ab33 42 }
be_bryan 0:b74591d5ab33 43
be_bryan 0:b74591d5ab33 44 void equeue_mutex_lock(equeue_mutex_t *m) {
be_bryan 0:b74591d5ab33 45 pthread_mutex_lock(m);
be_bryan 0:b74591d5ab33 46 }
be_bryan 0:b74591d5ab33 47
be_bryan 0:b74591d5ab33 48 void equeue_mutex_unlock(equeue_mutex_t *m) {
be_bryan 0:b74591d5ab33 49 pthread_mutex_unlock(m);
be_bryan 0:b74591d5ab33 50 }
be_bryan 0:b74591d5ab33 51
be_bryan 0:b74591d5ab33 52
be_bryan 0:b74591d5ab33 53 // Semaphore operations
be_bryan 0:b74591d5ab33 54 int equeue_sema_create(equeue_sema_t *s) {
be_bryan 0:b74591d5ab33 55 int err = pthread_mutex_init(&s->mutex, 0);
be_bryan 0:b74591d5ab33 56 if (err) {
be_bryan 0:b74591d5ab33 57 return err;
be_bryan 0:b74591d5ab33 58 }
be_bryan 0:b74591d5ab33 59
be_bryan 0:b74591d5ab33 60 err = pthread_cond_init(&s->cond, 0);
be_bryan 0:b74591d5ab33 61 if (err) {
be_bryan 0:b74591d5ab33 62 return err;
be_bryan 0:b74591d5ab33 63 }
be_bryan 0:b74591d5ab33 64
be_bryan 0:b74591d5ab33 65 s->signal = false;
be_bryan 0:b74591d5ab33 66 return 0;
be_bryan 0:b74591d5ab33 67 }
be_bryan 0:b74591d5ab33 68
be_bryan 0:b74591d5ab33 69 void equeue_sema_destroy(equeue_sema_t *s) {
be_bryan 0:b74591d5ab33 70 pthread_cond_destroy(&s->cond);
be_bryan 0:b74591d5ab33 71 pthread_mutex_destroy(&s->mutex);
be_bryan 0:b74591d5ab33 72 }
be_bryan 0:b74591d5ab33 73
be_bryan 0:b74591d5ab33 74 void equeue_sema_signal(equeue_sema_t *s) {
be_bryan 0:b74591d5ab33 75 pthread_mutex_lock(&s->mutex);
be_bryan 0:b74591d5ab33 76 s->signal = true;
be_bryan 0:b74591d5ab33 77 pthread_cond_signal(&s->cond);
be_bryan 0:b74591d5ab33 78 pthread_mutex_unlock(&s->mutex);
be_bryan 0:b74591d5ab33 79 }
be_bryan 0:b74591d5ab33 80
be_bryan 0:b74591d5ab33 81 bool equeue_sema_wait(equeue_sema_t *s, int ms) {
be_bryan 0:b74591d5ab33 82 pthread_mutex_lock(&s->mutex);
be_bryan 0:b74591d5ab33 83 if (!s->signal) {
be_bryan 0:b74591d5ab33 84 if (ms < 0) {
be_bryan 0:b74591d5ab33 85 pthread_cond_wait(&s->cond, &s->mutex);
be_bryan 0:b74591d5ab33 86 } else {
be_bryan 0:b74591d5ab33 87 struct timeval tv;
be_bryan 0:b74591d5ab33 88 gettimeofday(&tv, 0);
be_bryan 0:b74591d5ab33 89
be_bryan 0:b74591d5ab33 90 struct timespec ts = {
be_bryan 0:b74591d5ab33 91 .tv_sec = ms/1000 + tv.tv_sec,
be_bryan 0:b74591d5ab33 92 .tv_nsec = ms*1000000 + tv.tv_usec*1000,
be_bryan 0:b74591d5ab33 93 };
be_bryan 0:b74591d5ab33 94
be_bryan 0:b74591d5ab33 95 pthread_cond_timedwait(&s->cond, &s->mutex, &ts);
be_bryan 0:b74591d5ab33 96 }
be_bryan 0:b74591d5ab33 97 }
be_bryan 0:b74591d5ab33 98
be_bryan 0:b74591d5ab33 99 bool signal = s->signal;
be_bryan 0:b74591d5ab33 100 s->signal = false;
be_bryan 0:b74591d5ab33 101 pthread_mutex_unlock(&s->mutex);
be_bryan 0:b74591d5ab33 102
be_bryan 0:b74591d5ab33 103 return signal;
be_bryan 0:b74591d5ab33 104 }
be_bryan 0:b74591d5ab33 105
be_bryan 0:b74591d5ab33 106 #endif