forked from reedhedges/AriaCoda
-
Notifications
You must be signed in to change notification settings - Fork 0
/
ArCondition_LIN.cpp
257 lines (215 loc) · 7.16 KB
/
ArCondition_LIN.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "ArExport.h"
#include <errno.h>
#include <time.h>
#include <math.h>
#include <sys/time.h>
#include <string.h>
#include "ariaOSDef.h"
#include "ArCondition.h"
#include "ArLog.h"
#include <time.h>
ArStrMap ArCondition::ourStrMap;
AREXPORT ArCondition::ArCondition() :
myFailedInit(false),
myCond(),
myMutex(false)
{
myMutex.setLogName("ArCondition::myMutex");
pthread_condattr_t attr;
pthread_condattr_init(&attr);
if (pthread_cond_init(&myCond, &attr) != 0)
{
ArLog::log(ArLog::Terse, "ArCondition::ArCondition: Unknown error trying to create the condition.");
myFailedInit=true;
}
pthread_condattr_destroy(&attr);
ourStrMap[STATUS_FAILED]="General failure";
ourStrMap[STATUS_FAILED_DESTROY]=
"Another thread is waiting on this condition so it can not be destroyed";
ourStrMap[STATUS_FAILED_INIT] =
"Failed to initialize thread. Requested action is imposesible";
ourStrMap[STATUS_MUTEX_FAILED_INIT]="The underlying mutex failed to init";
ourStrMap[STATUS_MUTEX_FAILED]="The underlying mutex failed in some fashion";
}
AREXPORT ArCondition::~ArCondition()
{
int ret;
ret=pthread_cond_destroy(&myCond);
if (ret == EBUSY)
ArLog::log(ArLog::Terse, "ArCondition::~ArCondition: Trying to destroy a condition that another thread is waiting on.");
else if (ret != 0)
ArLog::log(ArLog::Terse, "ArCondition::~ArCondition: Unknown error while trying to destroy the condition.");
}
AREXPORT int ArCondition::signal()
{
if (myFailedInit)
{
ArLog::log(ArLog::Terse, "ArCondition::signal: Initialization of condition failed, failed to signal");
return(STATUS_FAILED_INIT);
}
if (pthread_cond_signal(&myCond) != 0)
{
ArLog::log(ArLog::Terse, "ArCondition::signal: Unknown error while trying to signal the condition.");
return(STATUS_FAILED);
}
return(0);
}
AREXPORT int ArCondition::broadcast()
{
if (myFailedInit)
{
ArLog::log(ArLog::Terse, "ArCondition::broadcast: Initialization of condition failed, failed to broadcast");
return(STATUS_FAILED_INIT);
}
if (pthread_cond_broadcast(&myCond) != 0)
{
ArLog::log(ArLog::Terse, "ArCondition::broadcast: Unknown error while trying to broadcast the condition.");
return(STATUS_FAILED);
}
return(0);
}
AREXPORT int ArCondition::wait()
{
int ret;
if (myFailedInit)
{
ArLog::log(ArLog::Terse, "ArCondition::wait: Initialization of condition failed, failed to wait");
return(STATUS_FAILED_INIT);
}
ret=myMutex.lock();
if (ret != 0)
{
if (ret == ArMutex::STATUS_FAILED_INIT)
return(STATUS_MUTEX_FAILED_INIT);
else
return(STATUS_MUTEX_FAILED);
}
ret=pthread_cond_wait(&myCond, &myMutex.getMutex());
if (ret != 0)
{
if (ret == EINTR)
return(STATUS_WAIT_INTR);
else
{
ArLog::log(ArLog::Terse, "ArCondition::wait: Unknown error while trying to wait on the condition.");
return(STATUS_FAILED);
}
}
ret=myMutex.unlock();
if (ret != 0)
{
if (ret == ArMutex::STATUS_FAILED_INIT)
return(STATUS_MUTEX_FAILED_INIT);
else
return(STATUS_MUTEX_FAILED);
}
return(0);
}
AREXPORT int ArCondition::timedWait(unsigned int msecs)
{
int ret;
int retUnlock;
if (myFailedInit)
{
ArLog::log(ArLog::Terse, "ArCondition::wait: Initialization of condition failed, failed to wait");
return(STATUS_FAILED_INIT);
}
ret=myMutex.lock();
if (ret != 0)
{
if (ret == ArMutex::STATUS_FAILED_INIT)
return(STATUS_MUTEX_FAILED_INIT);
else
return(STATUS_MUTEX_FAILED);
}
/*
gettimeofday(&tp, NULL);
// convert time of day to pthread time structure
spec.tv_sec = tp.tv_sec;
spec.tv_nsec = tp.tv_usec * 1000;
// add on time specified by msecs
spec.tv_sec += (long int)rint(((float)msecs)/1000.0);
// 1 millisecond = 1000 micro seconds = 1000000 nanoseconds
spec.tv_nsec += (long int)( ( msecs % 1000 ) * 1000000);
// printf("input millisecond=%d :: sec=%ld nsec=%ld curtime=%ld %ld\n", msecs, spec.tv_sec, spec.tv_nsec, tp.tv_sec, tp.tv_usec * 1000);
*/
struct timespec spec;
#if defined(_POSIX_TIMERS) && !defined(__MACH__)
clock_gettime(CLOCK_REALTIME, &spec);
#else
#warning posix realtime timer not available so using gettimeofday instead of clock_gettime
struct timeval tp;
gettimeofday(&tp, NULL);
spec.tv_sec = tp.tv_sec;
spec.tv_nsec = tp.tv_usec * 1000;
#endif
spec.tv_sec += msecs / 1000;
spec.tv_nsec += msecs * 1000 * 1000;
if (spec.tv_nsec > 1000 * 1000 * 1000)
{
spec.tv_sec += 1;
spec.tv_nsec -= 1000 * 1000 * 1000;
}
int timedWaitErrno;
ret=pthread_cond_timedwait(&myCond, &myMutex.getMutex(), &spec);
timedWaitErrno = errno;
/*
if (ret != 0)
ArLog::logErrorFromOS(ArLog::Terse, "ArCondition::timedWait: Unknown error while trying to wait on the condition. Ret %d, %s", ret, strerror(ret));
*/
// must unlock the mutex, even if we fail, since we reacquire lock
// after timedwait times out
retUnlock=myMutex.unlock();
if (ret != 0)
{
if (ret == EINTR)
return(STATUS_WAIT_INTR);
else if (ret == ETIMEDOUT)
return(STATUS_WAIT_TIMEDOUT);
else
{
ArLog::logErrorFromOS(ArLog::Terse, "ArCondition::timedWait: Unknown error while trying to wait on the condition. Ret %d, %s. Errno %d, %s.",
ret, strerror(ret),
timedWaitErrno, strerror(timedWaitErrno));
return(STATUS_FAILED);
}
}
if (retUnlock != 0)
{
if (retUnlock == ArMutex::STATUS_FAILED_INIT)
return(STATUS_MUTEX_FAILED_INIT);
else
return(STATUS_MUTEX_FAILED);
}
return(0);
}
AREXPORT const char * ArCondition::getError(int messageNumber) const
{
ArStrMap::const_iterator it;
if ((it = ourStrMap.find(messageNumber)) != ourStrMap.end())
return (*it).second.c_str();
else
return NULL;
}