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5578b629a3
The head/tail semaphores are not used as lock but rather as resource counters and thus relate more as signaling semaphores. Disable PI for them. I run my code with CONFIG_DEBUG_ASSERTIONS=y and the kernel panics due to the semaphore having no holder, disabling PI fixes this.
92 lines
2.5 KiB
C++
92 lines
2.5 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <px4_platform_common/sem.h>
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#include "LockGuard.hpp"
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template<class T, size_t N>
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class BlockingQueue
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{
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public:
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BlockingQueue()
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{
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px4_sem_init(&_sem_head, 0, N);
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px4_sem_init(&_sem_tail, 0, 0);
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px4_sem_setprotocol(&_sem_head, SEM_PRIO_NONE);
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px4_sem_setprotocol(&_sem_tail, SEM_PRIO_NONE);
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}
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~BlockingQueue()
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{
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px4_sem_destroy(&_sem_head);
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px4_sem_destroy(&_sem_tail);
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}
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void push(T newItem)
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{
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do {} while (px4_sem_wait(&_sem_head) != 0);
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_data[_tail] = newItem;
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_tail = (_tail + 1) % N;
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px4_sem_post(&_sem_tail);
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}
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T pop()
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{
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do {} while (px4_sem_wait(&_sem_tail) != 0);
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T ret = _data[_head];
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_head = (_head + 1) % N;
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px4_sem_post(&_sem_head);
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return ret;
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}
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private:
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px4_sem_t _sem_head;
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px4_sem_t _sem_tail;
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T _data[N] {};
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size_t _head{0};
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size_t _tail{0};
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};
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