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/*
* RPLIDAR SDK
*
* Copyright (c) 2009 - 2014 RoboPeak Team
* http://www.robopeak.com
* Copyright (c) 2014 - 2020 Shanghai Slamtec Co., Ltd.
* http://www.slamtec.com
*
*/
/*
* 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.
*
* 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 HOLDER 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.
*
*/
#pragma once
namespace rp{ namespace hal{
class Event
{
public:
enum
{
EVENT_OK = 1,
EVENT_TIMEOUT = 0xFFFFFFFF,
EVENT_FAILED = 0,
};
Event(bool isAutoReset = true, bool isSignal = false)
#ifdef _WIN32
: _event(NULL)
#else
: _is_signalled(isSignal)
, _isAutoReset(isAutoReset)
#endif
{
#ifdef _WIN32
_event = CreateEvent(NULL, isAutoReset?FALSE:TRUE, isSignal?TRUE:FALSE, NULL);
#else
pthread_mutex_init(&_cond_locker, NULL);
pthread_condattr_init(&_cond_attr);
#ifdef _MACOS
// sadly, there is no monotonic clock support for pthread cond variable on MACOS
// if time slew is a big issue, try to reimplement it using kqueue/kevent
#else
pthread_condattr_setclock(&_cond_attr, CLOCK_MONOTONIC);
#endif
pthread_cond_init(&_cond_var, &_cond_attr);
#endif
}
~ Event()
{
release();
}
void set( bool isSignal = true )
{
if (isSignal){
#ifdef _WIN32
SetEvent(_event);
#else
pthread_mutex_lock(&_cond_locker);
if ( _is_signalled == false )
{
_is_signalled = true;
pthread_cond_signal(&_cond_var);
}
pthread_mutex_unlock(&_cond_locker);
#endif
}
else
{
#ifdef _WIN32
ResetEvent(_event);
#else
pthread_mutex_lock(&_cond_locker);
_is_signalled = false;
pthread_mutex_unlock(&_cond_locker);
#endif
}
}
unsigned long wait( unsigned long timeout = 0xFFFFFFFF )
{
#ifdef _WIN32
switch (WaitForSingleObject(_event, timeout==0xFFFFFFF?INFINITE:(DWORD)timeout))
{
case WAIT_FAILED:
return EVENT_FAILED;
case WAIT_OBJECT_0:
return EVENT_OK;
case WAIT_TIMEOUT:
return EVENT_TIMEOUT;
}
return EVENT_OK;
#else
unsigned long ans = EVENT_OK;
pthread_mutex_lock( &_cond_locker );
if ( !_is_signalled )
{
if (timeout == 0xFFFFFFFF){
pthread_cond_wait(&_cond_var,&_cond_locker);
}else
{
int timewaitresult = 0;
#ifdef _MACOS
timespec wait_time;
wait_time.tv_sec = timeout / 1000;
wait_time.tv_nsec = (timeout%1000)*1000000ULL;
timewaitresult = pthread_cond_timedwait_relative_np(&_cond_var,&_cond_locker,&wait_time);
#else
timespec wait_time;
clock_gettime(CLOCK_MONOTONIC, &wait_time);
wait_time.tv_sec += timeout / 1000;
wait_time.tv_nsec += (timeout%1000)*1000000ULL;
if (wait_time.tv_nsec >= 1000000000)
{
++wait_time.tv_sec;
wait_time.tv_nsec -= 1000000000;
}
timewaitresult = pthread_cond_timedwait(&_cond_var,&_cond_locker,&wait_time);
#endif
switch (timewaitresult)
{
case 0:
// signalled
break;
case ETIMEDOUT:
// time up
ans = EVENT_TIMEOUT;
goto _final;
break;
default:
ans = EVENT_FAILED;
goto _final;
}
}
}
//assert(_is_signalled);
if ( _isAutoReset )
{
_is_signalled = false;
}
_final:
pthread_mutex_unlock( &_cond_locker );
return ans;
#endif
}
protected:
void release()
{
#ifdef _WIN32
CloseHandle(_event);
#else
pthread_mutex_destroy(&_cond_locker);
pthread_cond_destroy(&_cond_var);
#endif
}
#ifdef _WIN32
HANDLE _event;
#else
pthread_cond_t _cond_var;
pthread_mutex_t _cond_locker;
pthread_condattr_t _cond_attr;
bool _is_signalled;
bool _isAutoReset;
#endif
};
}}
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