mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-17 20:07:35 +08:00
Thomas Debrunner
bc872822bc
- Instead we disable interrups on Nuttx where needed - No lock is held during param export. Params can be changed concurrently and we rely on the fact that another export will be triggered in that case.
106 lines
2.7 KiB
C++
106 lines
2.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 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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#ifdef __PX4_NUTTX
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#include "px4_platform_common/micro_hal.h"
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#endif
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#ifdef __PX4_POSIX
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#include <pthread.h>
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class _MutexHolder
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{
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public:
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pthread_mutex_t _mutex;
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pthread_mutexattr_t _mutex_attr;
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_MutexHolder()
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{
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pthread_mutexattr_init(&_mutex_attr);
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pthread_mutexattr_settype(&_mutex_attr, PTHREAD_MUTEX_RECURSIVE);
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pthread_mutex_init(&_mutex, &_mutex_attr);
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}
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~_MutexHolder()
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{
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pthread_mutex_destroy(&_mutex);
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}
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};
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#endif
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class AtomicTransaction
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{
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private:
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#ifdef __PX4_NUTTX
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irqstate_t _irq_state;
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#endif
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#ifdef __PX4_POSIX
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static _MutexHolder _mutex_holder;
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#endif
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public:
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AtomicTransaction()
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{
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lock();
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}
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~AtomicTransaction()
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{
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unlock();
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}
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void lock()
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{
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#ifdef __PX4_NUTTX
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_irq_state = px4_enter_critical_section();
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#endif
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#ifdef __PX4_POSIX
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pthread_mutex_lock(&_mutex_holder._mutex);
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#endif
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}
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void unlock()
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{
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#ifdef __PX4_NUTTX
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px4_leave_critical_section(_irq_state);
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#endif
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#ifdef __PX4_POSIX
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pthread_mutex_unlock(&_mutex_holder._mutex);
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#endif
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}
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};
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