Orocos Real-Time Toolkit  2.6.0
Semaphore.hpp
00001 /***************************************************************************
00002   tag: Peter Soetens  Tue Apr 5 16:53:24 CEST 2005  Semaphore.hpp 
00003 
00004                         Semaphore.hpp -  description
00005                            -------------------
00006     begin                : Tue April 05 2005
00007     copyright            : (C) 2005 Peter Soetens
00008     email                : peter.soetens@mech.kuleuven.ac.be
00009  
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
00032  *   License along with this library; if not, write to the Free Software   *
00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037  
00038  
00039  
00040 
00041 #ifndef RTT_OS_SEMAPHORE_HPP
00042 #define RTT_OS_SEMAPHORE_HPP
00043 
00044 #include "fosi.h"
00045 #include "../rtt-config.h"
00046 #include "../Time.hpp"
00047 
00048 namespace RTT
00049 { namespace os {
00061     class RTT_API Semaphore 
00062     {
00063     private:
00064         rt_sem_t sem;
00065     public:
00070         Semaphore(int count)
00071         {
00072             rtos_sem_init( &sem, count );
00073         }
00074 
00078         ~Semaphore()
00079         {
00080             rtos_sem_destroy( &sem );
00081         }
00082 
00087         void wait()
00088         {
00089             rtos_sem_wait( &sem );
00090         }
00091 
00096         void signal()
00097         {
00098             rtos_sem_signal( &sem );
00099         }
00100 
00106         bool trywait()
00107         {
00108             if ( rtos_sem_trywait( &sem ) == 0 )
00109                 return true;
00110             return false;
00111         }
00112 
00120         bool waitUntil( Seconds abs_time )
00121         {
00122             if (rtos_sem_wait_until( &sem, Seconds_to_nsecs(abs_time) ) == 0 )
00123                 return true;
00124             return false;
00125         }
00126 
00134         bool waitUntil( nsecs abs_time )
00135         {
00136             if (rtos_sem_wait_until( &sem, abs_time ) == 0 )
00137                 return true;
00138             return false;
00139         }
00140 
00144 #ifndef OROPKG_OS_MACOSX
00145         int value()
00146         {
00147             return rtos_sem_value( &sem );
00148         }
00149 #endif
00150     };
00151 }}
00152 
00153 #endif