thread.hpp

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/*
 * Copyright (C) 2014, 2018 Pavel Kirienko <pavel.kirienko@gmail.com>
 * Kinetis Port Author David Sidrane <david_s5@nscdg.com>
 */

#pragma once

#include <uavcan_kinetis/build_config.hpp>

#include <nuttx/config.h>
#include <nuttx/fs/fs.h>
#include <poll.h>
#include <errno.h>
#include <cstdio>
#include <ctime>
#include <cstring>

#include <uavcan/uavcan.hpp>

namespace uavcan_kinetis
{

class CanDriver;


/**
 * All bus events are reported as POLLIN.
 */
class BusEvent : uavcan::Noncopyable
{
    using SignalCallbackHandler = void(*)();

    SignalCallbackHandler signal_cb_{nullptr};
    sem_t sem_;
public:

    BusEvent(CanDriver &can_driver);
    ~BusEvent();

    void registerSignalCallback(SignalCallbackHandler handler) { signal_cb_ = handler; }

    bool wait(uavcan::MonotonicDuration duration);

    void signalFromInterrupt();
};

class Mutex
{
    pthread_mutex_t mutex_;

public:
    Mutex()
    {
        init();
    }

    int init()
    {
        return pthread_mutex_init(&mutex_, UAVCAN_NULLPTR);
    }

    int deinit()
    {
        return pthread_mutex_destroy(&mutex_);
    }

    void lock()
    {
        (void)pthread_mutex_lock(&mutex_);
    }

    void unlock()
    {
        (void)pthread_mutex_unlock(&mutex_);
    }
};


class MutexLocker
{
    Mutex &mutex_;

public:
    MutexLocker(Mutex &mutex)
        : mutex_(mutex)
    {
        mutex_.lock();
    }
    ~MutexLocker()
    {
        mutex_.unlock();
    }
};

}