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unitree_SDK/include/dds/ddsrt/sync.h
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302
unitree_SDK/include/dds/ddsrt/sync.h
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/*
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* Copyright(c) 2006 to 2019 ZettaScale Technology and others
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*
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* This program and the accompanying materials are made available under the
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* terms of the Eclipse Public License v. 2.0 which is available at
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* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
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* v. 1.0 which is available at
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* http://www.eclipse.org/org/documents/edl-v10.php.
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*
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* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
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*/
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#ifndef DDSRT_SYNC_H
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#define DDSRT_SYNC_H
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#include <stdbool.h>
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#include "dds/ddsrt/time.h"
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#include "dds/ddsrt/retcode.h"
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#include "dds/ddsrt/attributes.h"
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#if DDSRT_WITH_FREERTOS
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#include "dds/ddsrt/sync/freertos.h"
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#elif _WIN32
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#include "dds/ddsrt/sync/windows.h"
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#elif __SunOS_5_6
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#include "dds/ddsrt/sync/solaris2.6.h"
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#else
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#include "dds/ddsrt/sync/posix.h"
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#endif
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#if defined (__cplusplus)
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extern "C" {
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#endif
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/**
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* @brief Initialize a mutex.
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*
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* @param[in] mutex Mutex to itialize.
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*/
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DDS_EXPORT void
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ddsrt_mutex_init(
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ddsrt_mutex_t *mutex)
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ddsrt_nonnull_all;
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/**
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* @brief Destroy a mutex.
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*
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* @param[in] mutex Mutex to destroy.
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*/
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DDS_EXPORT void
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ddsrt_mutex_destroy(
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ddsrt_mutex_t *mutex)
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ddsrt_nonnull_all;
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/**
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* @brief Acquire a mutex.
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*
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* @param[in] mutex Mutex to acquire.
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*/
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DDS_EXPORT void
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ddsrt_mutex_lock(
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ddsrt_mutex_t *mutex)
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ddsrt_nonnull_all;
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/**
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* @brief Acquire a mutex if it is not already acquired.
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*
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* @param[in] mutex Mutex to acquire.
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*
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* @returns true if the mutex was acquired, false otherwise.
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*/
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DDS_EXPORT bool
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ddsrt_mutex_trylock(
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ddsrt_mutex_t *mutex)
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ddsrt_nonnull_all
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ddsrt_attribute_warn_unused_result;
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/**
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* @brief Release an acquired mutex.
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*
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* @param[in] mutex Mutex to release.
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*/
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DDS_EXPORT void
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ddsrt_mutex_unlock (
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ddsrt_mutex_t *mutex)
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ddsrt_nonnull_all;
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/**
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* @brief Initialize a condition variable.
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*
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* @param[in] cond Condition variable to initialize.
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*/
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DDS_EXPORT void
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ddsrt_cond_init(
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ddsrt_cond_t *cond)
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ddsrt_nonnull_all;
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/**
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* @brief Destroy a condition variable.
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*
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* @param[in] cond Condition variable to destroy.
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*/
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DDS_EXPORT void
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ddsrt_cond_destroy(
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ddsrt_cond_t *cond)
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ddsrt_nonnull_all;
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/**
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* @brief Wait for a condition variable to be signalled.
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*
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* @param[in] cond Condition variable to block on.
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* @param[in] mutex Mutex to associate with condition variable.
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*
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* @pre The calling thread must hold the mutex specified by @mutex.
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*
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* @post The calling thread will hold the mutex specified by @mutex.
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*/
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DDS_EXPORT void
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ddsrt_cond_wait(
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ddsrt_cond_t *cond,
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ddsrt_mutex_t *mutex)
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ddsrt_nonnull_all;
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/**
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* @brief Wait until @abstime for a condition variable to be signalled.
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*
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* @param[in] cond Condition variable to block on.
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* @param[in] mutex Mutex to associate with condition variable.
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* @param[in] abstime Time in nanoseconds since UNIX Epoch.
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*
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* @pre The calling thread must hold the mutex specified by @mutex.
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*
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* @post The calling thread will hold the mutex specified by @mutex.
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*
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* @returns false if the condition variable was not signalled before the
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* absolute time specified by @abstime passed, otherwise true.
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*/
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DDS_EXPORT bool
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ddsrt_cond_waituntil(
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ddsrt_cond_t *cond,
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ddsrt_mutex_t *mutex,
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dds_time_t abstime)
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ddsrt_nonnull((1,2));
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/**
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* @brief Wait for @reltime for a condition variable to be signalled.
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*
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* @param[in] cond Condition variable to block on.
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* @param[in] mutex Mutex to associate with condition variable.
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* @param[in] reltime Time in nanoseconds since UNIX Epoch.
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*
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* @pre The calling thread must hold the mutex specified by @mutex.
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*
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* @post The calling thread will hold the mutex specified by @mutex.
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*
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* @returns false if the condition variable was not signalled before the
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* relative time specified by @reltime passed, otherwise true.
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*/
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DDS_EXPORT bool
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ddsrt_cond_waitfor(
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ddsrt_cond_t *cond,
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ddsrt_mutex_t *mutex,
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dds_duration_t reltime)
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ddsrt_nonnull((1,2));
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/**
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* @brief Signal a condition variable and unblock at least one thread.
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*
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* @param[in] cond Condition variable to signal.
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*
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* @pre The mutex associated with the condition in general should be acquired
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* by the calling thread before setting the condition state and
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* signalling.
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*/
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DDS_EXPORT void
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ddsrt_cond_signal(
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ddsrt_cond_t *cond)
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ddsrt_nonnull_all;
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/**
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* @brief Signal a condition variable and unblock all threads.
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*
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* @param[in] cond Condition variable to signal.
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*
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* @pre The mutex associated with the condition in general should be acquired
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* by the calling thread before setting the condition state and
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* signalling
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*/
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DDS_EXPORT void
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ddsrt_cond_broadcast(
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ddsrt_cond_t *cond)
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ddsrt_nonnull_all;
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/**
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* @brief Initialize a read-write lock.
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*
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* @param[in] rwlock Read-write lock to initialize.
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*/
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DDS_EXPORT void
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ddsrt_rwlock_init(
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ddsrt_rwlock_t *rwlock)
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ddsrt_nonnull_all;
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/**
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* @brief Destroy a read-write lock.
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*
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* @param[in] rwlock Read-write lock to destroy.
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*/
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DDS_EXPORT void
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ddsrt_rwlock_destroy(
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ddsrt_rwlock_t *rwlock);
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/**
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* @brief Acquire a read-write lock for reading.
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*
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* @param[in] rwlock Read-write lock to acquire.
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*
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* @post Data related to the critical section must not be changed by the
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* calling thread.
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*/
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DDS_EXPORT void
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ddsrt_rwlock_read(
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ddsrt_rwlock_t *rwlock)
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ddsrt_nonnull_all;
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/**
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* @brief Acquire a read-write lock for writing.
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*
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* @param[in] rwlock Read-write lock to acquire.
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*/
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DDS_EXPORT void
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ddsrt_rwlock_write(
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ddsrt_rwlock_t *rwlock)
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ddsrt_nonnull_all;
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/**
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* @brief Try to acquire a read-write lock for reading.
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*
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* Try to acquire a read-write lock while for reading, immediately return if
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* the lock is already exclusively acquired by another thread.
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*
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* @param[in] rwlock Read-write lock to aqcuire.
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*
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* @post Data related to the critical section must not changed by the
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* calling thread.
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*
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* @returns true if the lock was acquired, otherwise false.
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*/
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DDS_EXPORT bool
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ddsrt_rwlock_tryread(
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ddsrt_rwlock_t *rwlock)
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ddsrt_nonnull_all
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ddsrt_attribute_warn_unused_result;
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/**
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* @brief Try to acquire a read-write lock for writing.
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*
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* Try to acquire a read-write lock for writing, immediately return if the
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* lock is already acquired, either for reading or writing, by another thread.
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*
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* @param[in] rwlock Read-write lock to acquire.
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*
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* @returns true if the lock was acquired, otherwise false.
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*/
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DDS_EXPORT bool
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ddsrt_rwlock_trywrite(
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ddsrt_rwlock_t *rwlock)
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ddsrt_nonnull_all
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ddsrt_attribute_warn_unused_result;
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/**
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* @brief Release a previously acquired read-write lock.
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*
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* @param[in] rwlock Read-write lock to release.
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*/
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DDS_EXPORT void
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ddsrt_rwlock_unlock(
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ddsrt_rwlock_t *rwlock)
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ddsrt_nonnull_all;
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/* Initialization callback used by ddsrt_once */
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typedef void (*ddsrt_once_fn)(void);
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/**
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* @brief Invoke init_fn exactly once for a given control.
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*
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* The first thread to call this function with a given control will call the
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* function specified by @init_fn with no arguments. All following calls with
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* the same control will not call the specified function.
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*
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* @pre The control parameter is properly initialized with DDSRT_ONCE_INIT.
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*/
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DDS_EXPORT void
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ddsrt_once(
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ddsrt_once_t *control,
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ddsrt_once_fn init_fn);
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#if defined (__cplusplus)
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}
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#endif
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#endif /* DDSRT_SYNC_H */
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