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#pragma once
#include <mutex> //unique_lock
// Xenomai enforces the requirement to hold the lock so that optimizing
// the wake up process is possible - under the assumption that the caller
// owns the lock. There is no hack around this.
// See: https://www.xenomai.org/pipermail/xenomai/2017-October/037759.html
#define SC_CONDITION_VARIABLE_ANY_SHOULD_LOCK_BEFORE_NOTIFY
// to make sure Xenomai gets initialised on time, create one object of this
// class before any XenomaiMutex or XenomaiConditionVariable constructors
class XenomaiInitializer {
public:
XenomaiInitializer();
};
class XenomaiMutex {
friend class XenomaiConditionVariable;
public:
XenomaiMutex();
~XenomaiMutex();
bool try_lock();
void lock();
void unlock();
private:
pthread_mutex_t m_mutex;
bool m_enabled = false;
};
class XenomaiConditionVariable {
public:
XenomaiConditionVariable();
~XenomaiConditionVariable();
void wait(std::unique_lock<XenomaiMutex>& lck);
void notify_one() noexcept;
void notify_all() noexcept;
private:
pthread_cond_t m_cond;
bool m_enabled = false;
};
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