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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 Locker
{
public:
enum LOCK_STATUS
{
LOCK_OK = 1,
LOCK_TIMEOUT = -1,
LOCK_FAILED = 0
};
Locker(bool recusive = false){
#ifdef _WIN32
_lock = NULL;
#endif
init(recusive);
}
~Locker()
{
release();
}
Locker::LOCK_STATUS lock(unsigned long timeout = 0xFFFFFFFF)
{
#ifdef _WIN32
switch (WaitForSingleObject(_lock, timeout==0xFFFFFFF?INFINITE:(DWORD)timeout))
{
case WAIT_ABANDONED:
return LOCK_FAILED;
case WAIT_OBJECT_0:
return LOCK_OK;
case WAIT_TIMEOUT:
return LOCK_TIMEOUT;
}
#else
#ifdef _MACOS
if (timeout !=0 ) {
if (pthread_mutex_lock(&_lock) == 0) return LOCK_OK;
}
#else
if (timeout == 0xFFFFFFFF){
if (pthread_mutex_lock(&_lock) == 0) return LOCK_OK;
}
#endif
else if (timeout == 0)
{
if (pthread_mutex_trylock(&_lock) == 0) return LOCK_OK;
}
#ifndef _MACOS
else
{
timespec wait_time;
timeval now;
gettimeofday(&now,NULL);
wait_time.tv_sec = timeout/1000 + now.tv_sec;
wait_time.tv_nsec = (timeout%1000)*1000000 + now.tv_usec*1000;
if (wait_time.tv_nsec >= 1000000000)
{
++wait_time.tv_sec;
wait_time.tv_nsec -= 1000000000;
}
switch (pthread_mutex_timedlock(&_lock,&wait_time))
{
case 0:
return LOCK_OK;
case ETIMEDOUT:
return LOCK_TIMEOUT;
}
}
#endif
#endif
return LOCK_FAILED;
}
void unlock()
{
#ifdef _WIN32
if (_recusive) {
ReleaseMutex(_lock);
} else {
ReleaseSemaphore(_lock, 1, NULL);
}
#else
pthread_mutex_unlock(&_lock);
#endif
}
#ifdef _WIN32
HANDLE getLockHandle()
{
return _lock;
}
#else
pthread_mutex_t *getLockHandle()
{
return &_lock;
}
#endif
protected:
void init(bool recusive)
{
#ifdef _WIN32
if (_recusive = recusive) {
_lock = CreateMutex(NULL, FALSE, NULL);
} else {
_lock = CreateSemaphore(NULL, 1, 1, NULL);
}
#else
if (recusive) {
pthread_mutexattr_t attr;
pthread_mutexattr_init(&attr);
pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_RECURSIVE);
pthread_mutex_init(&_lock, &attr);
} else {
pthread_mutex_init(&_lock, NULL);
}
#endif
}
void release()
{
unlock(); //force unlock before release
#ifdef _WIN32
if (_lock) CloseHandle(_lock);
_lock = NULL;
#else
pthread_mutex_destroy(&_lock);
#endif
}
#ifdef _WIN32
HANDLE _lock;
bool _recusive;
#else
pthread_mutex_t _lock;
#endif
};
class AutoLocker
{
public :
AutoLocker(Locker &l): _binded(l)
{
_binded.lock();
}
void forceUnlock() {
_binded.unlock();
}
~AutoLocker() {_binded.unlock();}
Locker & _binded;
};
}}
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