OSAL/Synchronized.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef NT_SYNCHRONIZED_H
#define NT_SYNCHRONIZED_H

#define NT_CRITICAL_REGION(s) { NTSynchronized _sync(s);
#define NT_END_REGION }

#if (defined __vxworks || defined WIN32)

#ifdef __vxworks
#include <vxWorks.h>
#endif
#include <semLib.h>

class NTReentrantSemaphore
{
public:
        explicit NTReentrantSemaphore(){
                m_semaphore = semMCreate(SEM_Q_PRIORITY | SEM_INVERSION_SAFE | SEM_DELETE_SAFE);
        };
        ~NTReentrantSemaphore(){
                semDelete(m_semaphore);
        };
        void take(){
                semTake(m_semaphore, WAIT_FOREVER);
        };
        void give(){
                semGive(m_semaphore);
        };
private:
        SEM_ID m_semaphore;
};

#else

#include <pthread.h>

class NTReentrantSemaphore
{
public:
        explicit NTReentrantSemaphore(){
                pthread_mutexattr_init(&mta);
                pthread_mutexattr_settype(&mta, PTHREAD_MUTEX_RECURSIVE);
                pthread_mutex_init(&m_semaphore, &mta);
        };
        ~NTReentrantSemaphore(){
                pthread_mutex_unlock(&m_semaphore);
                pthread_mutex_destroy(&m_semaphore);
        };
        void take(){
                pthread_mutex_lock(&m_semaphore);
        };
        void give(){
                pthread_mutex_unlock(&m_semaphore);
        };
private:
        pthread_mutexattr_t mta;
        pthread_mutex_t m_semaphore;
};
#endif // __vxworks

class NTSynchronized
{
public:
        explicit NTSynchronized(NTReentrantSemaphore&);
        //TODO remove vxworks SEM_ID support
#if (defined __vxworks || defined WIN32)
        explicit NTSynchronized(SEM_ID);
#endif
        virtual ~NTSynchronized();
private:
#if (defined __vxworks || defined WIN32)
        bool usingSem;
        NTReentrantSemaphore* m_sem;
        SEM_ID m_semaphore;
#else
        NTReentrantSemaphore& m_semaphore;
#endif
};



#endif