thread.hpp

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/*
 * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#pragma once

#include <uavcan_stm32/build_config.hpp>

#if UAVCAN_STM32_NUTTX
# include <nuttx/config.h>
# include <nuttx/fs/fs.h>
# include <poll.h>
# include <errno.h>
# include <cstdio>
# include <ctime>
# include <cstring>
#else
# error "Unknown OS"
#endif

#include <uavcan/uavcan.hpp>

namespace uavcan_stm32
{

class CanDriver;

#if UAVCAN_STM32_NUTTX

/**
 * 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_);
    }
};
#endif


class MutexLocker
{
    Mutex &mutex_;

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

}