Orocos Real-Time Toolkit
2.6.0
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00001 /*************************************************************************** 00002 tag: Peter Soetens Thu Oct 10 16:16:57 CEST 2002 Mutex.hpp 00003 00004 Mutex.hpp - description 00005 ------------------- 00006 begin : Thu October 10 2002 00007 copyright : (C) 2002 Peter Soetens 00008 email : peter.soetens@mech.kuleuven.ac.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU General Public * 00013 * License as published by the Free Software Foundation; * 00014 * version 2 of the License. * 00015 * * 00016 * As a special exception, you may use this file as part of a free * 00017 * software library without restriction. Specifically, if other files * 00018 * instantiate templates or use macros or inline functions from this * 00019 * file, or you compile this file and link it with other files to * 00020 * produce an executable, this file does not by itself cause the * 00021 * resulting executable to be covered by the GNU General Public * 00022 * License. This exception does not however invalidate any other * 00023 * reasons why the executable file might be covered by the GNU General * 00024 * Public License. * 00025 * * 00026 * This library is distributed in the hope that it will be useful, * 00027 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00028 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00029 * Lesser General Public License for more details. * 00030 * * 00031 * You should have received a copy of the GNU General Public * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 00038 00039 #ifndef OS_MUTEX_HPP 00040 #define OS_MUTEX_HPP 00041 00042 #include "fosi.h" 00043 #include "../rtt-config.h" 00044 #include "rtt-os-fwd.hpp" 00045 #include "Time.hpp" 00046 #ifdef ORO_OS_USE_BOOST_THREAD 00047 // BOOST_DATE_TIME_POSIX_TIME_STD_CONFIG is defined in rtt-config.h 00048 #include <boost/thread/mutex.hpp> 00049 #include <boost/thread/recursive_mutex.hpp> 00050 #include <boost/date_time/posix_time/posix_time_types.hpp> 00051 #endif 00052 00053 namespace RTT 00054 { namespace os { 00055 00061 class RTT_API MutexInterface 00062 { 00063 public: 00064 virtual ~MutexInterface() {} 00065 virtual void lock() =0; 00066 virtual void unlock() =0; 00067 virtual bool trylock() = 0; 00068 virtual bool timedlock(Seconds s) = 0; 00069 }; 00070 00071 00082 class RTT_API Mutex : public MutexInterface 00083 { 00084 friend class Condition; 00085 #ifndef ORO_OS_USE_BOOST_THREAD 00086 protected: 00087 rt_mutex_t m; 00088 public: 00092 Mutex() 00093 { 00094 rtos_mutex_init( &m); 00095 } 00096 00102 virtual ~Mutex() 00103 { 00104 if ( trylock() ) { 00105 unlock(); 00106 rtos_mutex_destroy( &m ); 00107 } 00108 } 00109 00110 virtual void lock () 00111 { 00112 rtos_mutex_lock( &m ); 00113 } 00114 00115 virtual void unlock() 00116 { 00117 rtos_mutex_unlock( &m ); 00118 } 00119 00125 virtual bool trylock() 00126 { 00127 if ( rtos_mutex_trylock( &m ) == 0 ) 00128 return true; 00129 return false; 00130 } 00131 00139 virtual bool timedlock(Seconds s) 00140 { 00141 if ( rtos_mutex_lock_until( &m, rtos_get_time_ns() + Seconds_to_nsecs(s) ) == 0 ) 00142 return true; 00143 return false; 00144 } 00145 #else 00146 protected: 00147 boost::timed_mutex m; 00148 public: 00152 Mutex() 00153 { 00154 } 00155 00161 virtual ~Mutex() 00162 { 00163 } 00164 00165 virtual void lock () 00166 { 00167 m.lock(); 00168 } 00169 00170 virtual void unlock() 00171 { 00172 m.unlock(); 00173 } 00174 00180 virtual bool trylock() 00181 { 00182 return m.try_lock(); 00183 } 00184 00192 virtual bool timedlock(Seconds s) 00193 { 00194 return m.timed_lock( boost::posix_time::microseconds(Seconds_to_nsecs(s)/1000) ); 00195 } 00196 #endif 00197 00198 }; 00199 00208 class RTT_API MutexRecursive : public MutexInterface 00209 { 00210 #ifndef ORO_OS_USE_BOOST_THREAD 00211 protected: 00212 rt_rec_mutex_t recm; 00213 public: 00217 MutexRecursive() 00218 { 00219 rtos_mutex_rec_init( &recm ); 00220 } 00221 00227 virtual ~MutexRecursive() 00228 { 00229 if ( trylock() ) { 00230 unlock(); 00231 rtos_mutex_rec_destroy( &recm ); 00232 } 00233 } 00234 00235 void lock () 00236 { 00237 rtos_mutex_rec_lock( &recm ); 00238 } 00239 00240 virtual void unlock() 00241 { 00242 rtos_mutex_rec_unlock( &recm ); 00243 } 00244 00250 virtual bool trylock() 00251 { 00252 if ( rtos_mutex_rec_trylock( &recm ) == 0 ) 00253 return true; 00254 return false; 00255 } 00256 00264 virtual bool timedlock(Seconds s) 00265 { 00266 if ( rtos_mutex_rec_lock_until( &recm, rtos_get_time_ns() + Seconds_to_nsecs(s) ) == 0 ) 00267 return true; 00268 return false; 00269 } 00270 #else 00271 protected: 00272 boost::recursive_timed_mutex recm; 00273 public: 00277 MutexRecursive() 00278 { 00279 } 00280 00286 virtual ~MutexRecursive() 00287 { 00288 } 00289 00290 void lock () 00291 { 00292 recm.lock(); 00293 } 00294 00295 virtual void unlock() 00296 { 00297 recm.unlock(); 00298 } 00299 00305 virtual bool trylock() 00306 { 00307 return recm.try_lock(); 00308 } 00309 00317 virtual bool timedlock(Seconds s) 00318 { 00319 return recm.timed_lock( boost::posix_time::microseconds( Seconds_to_nsecs(s)/1000 ) ); 00320 } 00321 #endif 00322 }; 00323 00324 }} 00325 00326 #endif