platforms/posix/src: move to platforms/posix/src/px4/common

platforms/posix/src/px4/common/px4_sem.cpp

@@ -0,0 +1,219 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_sem.cpp
+ *
+ * PX4 Middleware Wrapper Linux Implementation
+ */
+
+#include <px4_defines.h>
+#include <px4_middleware.h>
+#include <px4_workqueue.h>
+#include <px4_time.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <pthread.h>
+#include <errno.h>
+
+#if (defined(__PX4_DARWIN) || defined(__PX4_CYGWIN) || defined(__PX4_POSIX)) && !defined(__PX4_QURT)
+
+#include <px4_posix.h>
+
+int px4_sem_init(px4_sem_t *s, int pshared, unsigned value)
+{
+	// We do not used the process shared arg
+	(void)pshared;
+	s->value = value;
+	pthread_cond_init(&(s->wait), nullptr);
+	pthread_mutex_init(&(s->lock), nullptr);
+
+#if !defined(__PX4_DARWIN)
+	// We want to use CLOCK_MONOTONIC if possible but we can't on macOS
+	// because it's not available.
+	pthread_condattr_t attr;
+	pthread_condattr_init(&attr);
+	pthread_condattr_setclock(&attr, CLOCK_MONOTONIC);
+	pthread_cond_init(&(s->wait), &attr);
+#endif
+
+	return 0;
+}
+
+int px4_sem_setprotocol(px4_sem_t *s, int protocol)
+{
+	return 0;
+}
+
+int px4_sem_wait(px4_sem_t *s)
+{
+	int ret = pthread_mutex_lock(&(s->lock));
+
+	if (ret) {
+		return ret;
+	}
+
+	s->value--;
+
+	if (s->value < 0) {
+		ret = pthread_cond_wait(&(s->wait), &(s->lock));
+
+	} else {
+		ret = 0;
+	}
+
+	if (ret) {
+		PX4_WARN("px4_sem_wait failure");
+	}
+
+	int mret = pthread_mutex_unlock(&(s->lock));
+
+	return (ret) ? ret : mret;
+}
+
+int px4_sem_trywait(px4_sem_t *s)
+{
+	int ret = pthread_mutex_lock(&(s->lock));
+
+	if (ret) {
+		return ret;
+	}
+
+	if (s->value <= 0) {
+		errno = EAGAIN;
+		ret = -1;
+
+	} else {
+		s->value--;
+	}
+
+	int mret = pthread_mutex_unlock(&(s->lock));
+
+	return (ret) ? ret : mret;
+}
+
+int px4_sem_timedwait(px4_sem_t *s, const struct timespec *abstime)
+{
+	int ret = pthread_mutex_lock(&(s->lock));
+
+	if (ret) {
+		return ret;
+	}
+
+	s->value--;
+	errno = 0;
+
+	if (s->value < 0) {
+		ret = px4_pthread_cond_timedwait(&(s->wait), &(s->lock), abstime);
+
+	} else {
+		ret = 0;
+	}
+
+	errno = ret;
+
+	if (ret != 0 && ret != ETIMEDOUT) {
+		setbuf(stdout, nullptr);
+		setbuf(stderr, nullptr);
+		const unsigned NAMELEN = 32;
+		char thread_name[NAMELEN] = {};
+		(void)pthread_getname_np(pthread_self(), thread_name, NAMELEN);
+		PX4_WARN("%s: px4_sem_timedwait failure: ret: %d", thread_name, ret);
+	}
+
+	int mret = pthread_mutex_unlock(&(s->lock));
+
+	if (ret || mret) {
+		return -1;
+	}
+
+	return 0;
+}
+
+int px4_sem_post(px4_sem_t *s)
+{
+	int ret = pthread_mutex_lock(&(s->lock));
+
+	if (ret) {
+		return ret;
+	}
+
+	s->value++;
+
+	if (s->value <= 0) {
+		ret = pthread_cond_signal(&(s->wait));
+
+	} else {
+		ret = 0;
+	}
+
+	if (ret) {
+		PX4_WARN("px4_sem_post failure");
+	}
+
+	int mret = pthread_mutex_unlock(&(s->lock));
+
+	// return the cond signal failure if present,
+	// else return the mutex status
+	return (ret) ? ret : mret;
+}
+
+int px4_sem_getvalue(px4_sem_t *s, int *sval)
+{
+	int ret = pthread_mutex_lock(&(s->lock));
+
+	if (ret) {
+		PX4_WARN("px4_sem_getvalue failure");
+	}
+
+	if (ret) {
+		return ret;
+	}
+
+	*sval = s->value;
+	ret = pthread_mutex_unlock(&(s->lock));
+
+	return ret;
+}
+
+int px4_sem_destroy(px4_sem_t *s)
+{
+	pthread_mutex_lock(&(s->lock));
+	pthread_cond_destroy(&(s->wait));
+	pthread_mutex_unlock(&(s->lock));
+	pthread_mutex_destroy(&(s->lock));
+
+	return 0;
+}
+
+#endif