Mutex.hpp

/***************************************************************************
  tag: Peter Soetens  Thu Oct 10 16:16:57 CEST 2002  Mutex.hpp

                        Mutex.hpp -  description
                           -------------------
    begin                : Thu October 10 2002
    copyright            : (C) 2002 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
 *                                                                         *
 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
 *   file, or you compile this file and link it with other files to        *
 *   produce an executable, this file does not by itself cause the         *
 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU General Public             *
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 *   Foundation, Inc., 59 Temple Place,                                    *
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 *                                                                         *
 ***************************************************************************/


#ifndef OS_MUTEX_HPP
#define OS_MUTEX_HPP

#include "fosi.h"
#include "../rtt-config.h"
#include "Time.hpp"
#ifdef ORO_OS_USE_BOOST_THREAD
#include <boost/thread/mutex.hpp>
#include <boost/thread/recursive_mutex.hpp>
#include <boost/date_time/posix_time/posix_time_types.hpp>
#endif

namespace RTT
{ namespace OS {
    class MutexLock;
    class MutexTryLock;
    class MutexTimedLock;

    class RTT_API MutexInterface
    {
    public:
        virtual ~MutexInterface() {}
        virtual void lock() =0;
        virtual void unlock() =0;
        virtual bool trylock() = 0;
        virtual bool timedlock(Seconds s) = 0;
    };


    class RTT_API Mutex : public MutexInterface
    {
#ifndef ORO_OS_USE_BOOST_THREAD
    protected:
        rt_mutex_t m;
    public:
        Mutex()
        {
            rtos_mutex_init( &m);
        }

        virtual ~Mutex()
        {
            if ( trylock() ) {
                unlock();
                rtos_mutex_destroy( &m );
            }
        }

        virtual void lock ()
        {
            rtos_mutex_lock( &m );
        }

        virtual void unlock()
        {
            rtos_mutex_unlock( &m );
        }

        virtual bool trylock()
        {
            if ( rtos_mutex_trylock( &m ) == 0 )
                return true;
            return false;
        }

        virtual bool timedlock(Seconds s)
        {
            if ( rtos_mutex_lock_until( &m, rtos_get_time_ns() + Seconds_to_nsecs(s) ) == 0 )
                return true;
            return false;
        }
#else
    protected:
        boost::timed_mutex m;
    public:
        Mutex()
        {
        }

        virtual ~Mutex()
        {
        }

        virtual void lock ()
        {
            m.lock();
        }

        virtual void unlock()
        {
            m.unlock();
        }

        virtual bool trylock()
        {
            return m.try_lock();
        }

        virtual bool timedlock(Seconds s)
        {
            return m.timed_lock( boost::posix_time::microseconds(Seconds_to_nsecs(s)/1000) );
        }
#endif

    };

    class RTT_API MutexRecursive : public MutexInterface
    {
#ifndef ORO_OS_USE_BOOST_THREAD
    protected:
        rt_rec_mutex_t recm;
    public:
        MutexRecursive()
        {
            rtos_mutex_rec_init( &recm );
        }

        virtual ~MutexRecursive()
        {
            if ( trylock() ) {
                unlock();
                rtos_mutex_rec_destroy( &recm );
            }
        }

        void lock ()
        {
            rtos_mutex_rec_lock( &recm );
        }

        virtual void unlock()
        {
            rtos_mutex_rec_unlock( &recm );
        }

        virtual bool trylock()
        {
            if ( rtos_mutex_rec_trylock( &recm ) == 0 )
                return true;
            return false;
        }

        virtual bool timedlock(Seconds s)
        {
            if ( rtos_mutex_rec_lock_until( &recm, rtos_get_time_ns() + Seconds_to_nsecs(s) ) == 0 )
                return true;
            return false;
        }
#else
    protected:
        boost::recursive_timed_mutex recm;
    public:
        MutexRecursive()
        {
        }

        virtual ~MutexRecursive()
        {
        }

        void lock ()
        {
            recm.lock();
        }

        virtual void unlock()
        {
            recm.unlock();
        }

        virtual bool trylock()
        {
            return recm.try_lock();
        }

        virtual bool timedlock(Seconds s)
        {
            return recm.timed_lock( boost::posix_time::microseconds( Seconds_to_nsecs(s)/1000 ) );
        }
#endif
    };

}}

#endif