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Dependencies: Library_Cntrl Library_Misc_cuboid
Fork of cuboid_balance_ros by
Signal.cpp@0:acf871f26563, 2019-03-08 (annotated)
- Committer:
- altb2
- Date:
- Fri Mar 08 13:34:59 2019 +0000
- Revision:
- 0:acf871f26563
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb2 | 0:acf871f26563 | 1 | /* |
altb2 | 0:acf871f26563 | 2 | * Signal.cpp |
altb2 | 0:acf871f26563 | 3 | * Copyright (c) 2017, ZHAW |
altb2 | 0:acf871f26563 | 4 | * All rights reserved. |
altb2 | 0:acf871f26563 | 5 | */ |
altb2 | 0:acf871f26563 | 6 | |
altb2 | 0:acf871f26563 | 7 | #include "Signal.h" |
altb2 | 0:acf871f26563 | 8 | |
altb2 | 0:acf871f26563 | 9 | using namespace std; |
altb2 | 0:acf871f26563 | 10 | |
altb2 | 0:acf871f26563 | 11 | int32_t Signal::signals = 0; |
altb2 | 0:acf871f26563 | 12 | |
altb2 | 0:acf871f26563 | 13 | /** |
altb2 | 0:acf871f26563 | 14 | * Creates a signal object and assignes a unique flag. |
altb2 | 0:acf871f26563 | 15 | */ |
altb2 | 0:acf871f26563 | 16 | Signal::Signal() { |
altb2 | 0:acf871f26563 | 17 | |
altb2 | 0:acf871f26563 | 18 | mutex.lock(); |
altb2 | 0:acf871f26563 | 19 | |
altb2 | 0:acf871f26563 | 20 | int32_t n = 0; |
altb2 | 0:acf871f26563 | 21 | while ((((1 << n) & signals) > 0) && (n < 30)) n++; |
altb2 | 0:acf871f26563 | 22 | signal = (1 << n); |
altb2 | 0:acf871f26563 | 23 | |
altb2 | 0:acf871f26563 | 24 | mutex.unlock(); |
altb2 | 0:acf871f26563 | 25 | } |
altb2 | 0:acf871f26563 | 26 | |
altb2 | 0:acf871f26563 | 27 | /** |
altb2 | 0:acf871f26563 | 28 | * Deletes the signal object and releases the assigned flag. |
altb2 | 0:acf871f26563 | 29 | */ |
altb2 | 0:acf871f26563 | 30 | Signal::~Signal() { |
altb2 | 0:acf871f26563 | 31 | |
altb2 | 0:acf871f26563 | 32 | mutex.lock(); |
altb2 | 0:acf871f26563 | 33 | |
altb2 | 0:acf871f26563 | 34 | signals &= ~signal; |
altb2 | 0:acf871f26563 | 35 | |
altb2 | 0:acf871f26563 | 36 | mutex.unlock(); |
altb2 | 0:acf871f26563 | 37 | } |
altb2 | 0:acf871f26563 | 38 | |
altb2 | 0:acf871f26563 | 39 | /** |
altb2 | 0:acf871f26563 | 40 | * Gets the assigned signal flag. |
altb2 | 0:acf871f26563 | 41 | */ |
altb2 | 0:acf871f26563 | 42 | int32_t Signal::read() { |
altb2 | 0:acf871f26563 | 43 | |
altb2 | 0:acf871f26563 | 44 | return signal; |
altb2 | 0:acf871f26563 | 45 | } |
altb2 | 0:acf871f26563 | 46 | |
altb2 | 0:acf871f26563 | 47 | /** |
altb2 | 0:acf871f26563 | 48 | * The empty operator is a shorthand notation of the <code>read()</code> method. |
altb2 | 0:acf871f26563 | 49 | */ |
altb2 | 0:acf871f26563 | 50 | Signal::operator int32_t() { |
altb2 | 0:acf871f26563 | 51 | |
altb2 | 0:acf871f26563 | 52 | return read(); |
altb2 | 0:acf871f26563 | 53 | } |
altb2 | 0:acf871f26563 | 54 | |
altb2 | 0:acf871f26563 | 55 |