165 lines
3.7 KiB
C
165 lines
3.7 KiB
C
/*
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Cubesat Space Protocol - A small network-layer protocol designed for Cubesats
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Copyright (C) 2012 Gomspace ApS (http://www.gomspace.com)
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Copyright (C) 2012 AAUSAT3 Project (http://aausat3.space.aau.dk)
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include <semaphore.h>
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#include <pthread.h>
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#include <sys/time.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <errno.h>
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#include <string.h>
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#include <stdint.h>
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#include <inttypes.h>
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/* CSP includes */
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#include <csp/csp.h>
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#include <csp/arch/csp_semaphore.h>
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int csp_mutex_create(csp_mutex_t * mutex) {
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csp_log_lock("Mutex init: %p", mutex);
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if (pthread_mutex_init(mutex, NULL) == 0) {
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return CSP_SEMAPHORE_OK;
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} else {
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return CSP_SEMAPHORE_ERROR;
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}
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}
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int csp_mutex_remove(csp_mutex_t * mutex) {
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if (pthread_mutex_destroy(mutex) == 0) {
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return CSP_SEMAPHORE_OK;
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} else {
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return CSP_SEMAPHORE_ERROR;
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}
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}
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int csp_mutex_lock(csp_mutex_t * mutex, uint32_t timeout) {
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int ret;
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struct timespec ts;
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uint32_t sec, nsec;
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csp_log_lock("Wait: %p timeout %"PRIu32, mutex, timeout);
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if (timeout == CSP_INFINITY) {
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ret = pthread_mutex_lock(mutex);
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} else {
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if (clock_gettime(CLOCK_REALTIME, &ts))
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return CSP_SEMAPHORE_ERROR;
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sec = timeout / 1000;
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nsec = (timeout - 1000 * sec) * 1000000;
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ts.tv_sec += sec;
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if (ts.tv_nsec + nsec >= 1000000000)
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ts.tv_sec++;
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ts.tv_nsec = (ts.tv_nsec + nsec) % 1000000000;
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ret = pthread_mutex_timedlock(mutex, &ts);
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}
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if (ret != 0)
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return CSP_SEMAPHORE_ERROR;
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return CSP_SEMAPHORE_OK;
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}
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int csp_mutex_unlock(csp_mutex_t * mutex) {
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if (pthread_mutex_unlock(mutex) == 0) {
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return CSP_SEMAPHORE_OK;
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} else {
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return CSP_SEMAPHORE_ERROR;
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}
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}
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int csp_bin_sem_create(csp_bin_sem_handle_t * sem) {
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csp_log_lock("Semaphore init: %p", sem);
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if (sem_init(sem, 0, 1) == 0) {
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return CSP_SEMAPHORE_OK;
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} else {
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return CSP_SEMAPHORE_ERROR;
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}
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}
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int csp_bin_sem_remove(csp_bin_sem_handle_t * sem) {
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if (sem_destroy(sem) == 0)
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return CSP_SEMAPHORE_OK;
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else
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return CSP_SEMAPHORE_ERROR;
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}
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int csp_bin_sem_wait(csp_bin_sem_handle_t * sem, uint32_t timeout) {
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int ret;
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struct timespec ts;
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uint32_t sec, nsec;
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csp_log_lock("Wait: %p timeout %"PRIu32, sem, timeout);
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if (timeout == CSP_INFINITY) {
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ret = sem_wait(sem);
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} else {
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if (clock_gettime(CLOCK_REALTIME, &ts))
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return CSP_SEMAPHORE_ERROR;
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sec = timeout / 1000;
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nsec = (timeout - 1000 * sec) * 1000000;
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ts.tv_sec += sec;
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if (ts.tv_nsec + nsec >= 1000000000)
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ts.tv_sec++;
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ts.tv_nsec = (ts.tv_nsec + nsec) % 1000000000;
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ret = sem_timedwait(sem, &ts);
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}
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if (ret != 0)
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return CSP_SEMAPHORE_ERROR;
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return CSP_SEMAPHORE_OK;
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}
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int csp_bin_sem_post(csp_bin_sem_handle_t * sem) {
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CSP_BASE_TYPE dummy = 0;
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return csp_bin_sem_post_isr(sem, &dummy);
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}
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int csp_bin_sem_post_isr(csp_bin_sem_handle_t * sem, CSP_BASE_TYPE * task_woken) {
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csp_log_lock("Post: %p", sem);
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*task_woken = 0;
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int value;
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sem_getvalue(sem, &value);
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if (value > 0)
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return CSP_SEMAPHORE_OK;
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if (sem_post(sem) == 0) {
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return CSP_SEMAPHORE_OK;
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} else {
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return CSP_SEMAPHORE_ERROR;
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}
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}
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