Semi-Autonomous-Robot / Semi Autonomous Robot - ECE 4180

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Dependencies:   mbed Motordriver mbed-rtos PololuLedStrip

mbed/mbed/platform/SingletonPtr.h@3:a3ed7ff99772, 2019-12-06 (annotated)

Committer:
arogliero3
Date:
Fri Dec 06 00:58:02 2019 -0500
Revision:
3:a3ed7ff99772
Parent:
0:e0dbd261724a 
update img6

Who changed what in which revision?

UserRevisionLine numberNew contents of line
arogliero3 0:e0dbd261724a 1
arogliero3 0:e0dbd261724a 2 /** \addtogroup platform */
arogliero3 0:e0dbd261724a 3 /** @{*/
arogliero3 0:e0dbd261724a 4 /* mbed Microcontroller Library
arogliero3 0:e0dbd261724a 5 * Copyright (c) 2006-2013 ARM Limited
arogliero3 0:e0dbd261724a 6 *
arogliero3 0:e0dbd261724a 7 * Licensed under the Apache License, Version 2.0 (the "License");
arogliero3 0:e0dbd261724a 8 * you may not use this file except in compliance with the License.
arogliero3 0:e0dbd261724a 9 * You may obtain a copy of the License at
arogliero3 0:e0dbd261724a 10 *
arogliero3 0:e0dbd261724a 11 * http://www.apache.org/licenses/LICENSE-2.0
arogliero3 0:e0dbd261724a 12 *
arogliero3 0:e0dbd261724a 13 * Unless required by applicable law or agreed to in writing, software
arogliero3 0:e0dbd261724a 14 * distributed under the License is distributed on an "AS IS" BASIS,
arogliero3 0:e0dbd261724a 15 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
arogliero3 0:e0dbd261724a 16 * See the License for the specific language governing permissions and
arogliero3 0:e0dbd261724a 17 * limitations under the License.
arogliero3 0:e0dbd261724a 18 */
arogliero3 0:e0dbd261724a 19 #ifndef SINGLETONPTR_H
arogliero3 0:e0dbd261724a 20 #define SINGLETONPTR_H
arogliero3 0:e0dbd261724a 21
arogliero3 0:e0dbd261724a 22 #include <stdint.h>
arogliero3 0:e0dbd261724a 23 #include <new>
arogliero3 0:e0dbd261724a 24 #include "platform/mbed_assert.h"
arogliero3 0:e0dbd261724a 25 #ifdef MBED_CONF_RTOS_PRESENT
arogliero3 0:e0dbd261724a 26 #include "cmsis_os.h"
arogliero3 0:e0dbd261724a 27 #endif
arogliero3 0:e0dbd261724a 28
arogliero3 0:e0dbd261724a 29 #ifdef MBED_CONF_RTOS_PRESENT
arogliero3 0:e0dbd261724a 30 extern osMutexId singleton_mutex_id;
arogliero3 0:e0dbd261724a 31 #endif
arogliero3 0:e0dbd261724a 32
arogliero3 0:e0dbd261724a 33 /** Lock the singleton mutex
arogliero3 0:e0dbd261724a 34 *
arogliero3 0:e0dbd261724a 35 * This function is typically used to provide
arogliero3 0:e0dbd261724a 36 * exclusive access when initializing a
arogliero3 0:e0dbd261724a 37 * global object.
arogliero3 0:e0dbd261724a 38 */
arogliero3 0:e0dbd261724a 39 inline static void singleton_lock(void)
arogliero3 0:e0dbd261724a 40 {
arogliero3 0:e0dbd261724a 41 #ifdef MBED_CONF_RTOS_PRESENT
arogliero3 0:e0dbd261724a 42 osMutexWait(singleton_mutex_id, osWaitForever);
arogliero3 0:e0dbd261724a 43 #endif
arogliero3 0:e0dbd261724a 44 }
arogliero3 0:e0dbd261724a 45
arogliero3 0:e0dbd261724a 46 /** Unlock the singleton mutex
arogliero3 0:e0dbd261724a 47 *
arogliero3 0:e0dbd261724a 48 * This function is typically used to provide
arogliero3 0:e0dbd261724a 49 * exclusive access when initializing a
arogliero3 0:e0dbd261724a 50 * global object.
arogliero3 0:e0dbd261724a 51 */
arogliero3 0:e0dbd261724a 52 inline static void singleton_unlock(void)
arogliero3 0:e0dbd261724a 53 {
arogliero3 0:e0dbd261724a 54 #ifdef MBED_CONF_RTOS_PRESENT
arogliero3 0:e0dbd261724a 55 osMutexRelease (singleton_mutex_id);
arogliero3 0:e0dbd261724a 56 #endif
arogliero3 0:e0dbd261724a 57 }
arogliero3 0:e0dbd261724a 58
arogliero3 0:e0dbd261724a 59 /** Utility class for creating an using a singleton
arogliero3 0:e0dbd261724a 60 *
arogliero3 0:e0dbd261724a 61 * @Note Synchronization level: Thread safe
arogliero3 0:e0dbd261724a 62 *
arogliero3 0:e0dbd261724a 63 * @Note: This class must only be used in a static context -
arogliero3 0:e0dbd261724a 64 * this class must never be allocated or created on the
arogliero3 0:e0dbd261724a 65 * stack.
arogliero3 0:e0dbd261724a 66 *
arogliero3 0:e0dbd261724a 67 * @Note: This class is lazily initialized on first use.
arogliero3 0:e0dbd261724a 68 * This class is a POD type so if it is not used it will
arogliero3 0:e0dbd261724a 69 * be garbage collected.
arogliero3 0:e0dbd261724a 70 */
arogliero3 0:e0dbd261724a 71 template <class T>
arogliero3 0:e0dbd261724a 72 struct SingletonPtr {
arogliero3 0:e0dbd261724a 73
arogliero3 0:e0dbd261724a 74 /** Get a pointer to the underlying singleton
arogliero3 0:e0dbd261724a 75 *
arogliero3 0:e0dbd261724a 76 * @returns
arogliero3 0:e0dbd261724a 77 * A pointer to the singleton
arogliero3 0:e0dbd261724a 78 */
arogliero3 0:e0dbd261724a 79 T* get() {
arogliero3 0:e0dbd261724a 80 if (NULL == _ptr) {
arogliero3 0:e0dbd261724a 81 singleton_lock();
arogliero3 0:e0dbd261724a 82 if (NULL == _ptr) {
arogliero3 0:e0dbd261724a 83 _ptr = new (_data) T();
arogliero3 0:e0dbd261724a 84 }
arogliero3 0:e0dbd261724a 85 singleton_unlock();
arogliero3 0:e0dbd261724a 86 }
arogliero3 0:e0dbd261724a 87 // _ptr was not zero initialized or was
arogliero3 0:e0dbd261724a 88 // corrupted if this assert is hit
arogliero3 0:e0dbd261724a 89 MBED_ASSERT(_ptr == (T *)&_data);
arogliero3 0:e0dbd261724a 90 return _ptr;
arogliero3 0:e0dbd261724a 91 }
arogliero3 0:e0dbd261724a 92
arogliero3 0:e0dbd261724a 93 /** Get a pointer to the underlying singleton
arogliero3 0:e0dbd261724a 94 *
arogliero3 0:e0dbd261724a 95 * @returns
arogliero3 0:e0dbd261724a 96 * A pointer to the singleton
arogliero3 0:e0dbd261724a 97 */
arogliero3 0:e0dbd261724a 98 T* operator->() {
arogliero3 0:e0dbd261724a 99 return get();
arogliero3 0:e0dbd261724a 100 }
arogliero3 0:e0dbd261724a 101
arogliero3 0:e0dbd261724a 102 // This is zero initialized when in global scope
arogliero3 0:e0dbd261724a 103 T *_ptr;
arogliero3 0:e0dbd261724a 104 // Force data to be 4 byte aligned
arogliero3 0:e0dbd261724a 105 uint32_t _data[(sizeof(T) + sizeof(uint32_t) - 1) / sizeof(uint32_t)];
arogliero3 0:e0dbd261724a 106 };
arogliero3 0:e0dbd261724a 107
arogliero3 0:e0dbd261724a 108 #endif
arogliero3 0:e0dbd261724a 109
arogliero3 0:e0dbd261724a 110 /** @}*/