mutex.h

Go to the documentation of this file.

#pragma once
 
#include "roo_threads/impl/resolve.h"
 
#ifdef ROO_THREADS_USE_FREERTOS
 
#include <cstdint>
#include <utility>
 
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "roo_threads/impl/freertos/config.h"
#include "roo_time.h"
 
namespace roo_threads {
/// @brief Backend namespace using FreeRTOS synchronization primitives.
namespace freertos {
 
/// @ingroup roo_threads_api_mutex
/// @brief FreeRTOS backend implementation of `roo::mutex`.
/// @copydoc roo_threads::doc::mutex
class mutex {
 public:
  /// @copydoc roo_threads::doc::mutex::mutex
  mutex() noexcept;
  ~mutex() = default;
 
  mutex(const mutex&) = delete;
  mutex& operator=(const mutex&) = delete;
 
  /// @copydoc roo_threads::doc::mutex::lock
  void lock();
  /// @copydoc roo_threads::doc::mutex::try_lock
  bool try_lock();
 
  /// @copydoc roo_threads::doc::mutex::unlock
  void unlock();
 
 private:
  void ensureInitialized() noexcept;
 
  StaticSemaphore_t mutex_;
 
#if ROO_THREADS_FREERTOS_LAZY_INITIALIZE
  bool initialized_ = false;
#endif
};
 
template <typename Mutex>
/// @ingroup roo_threads_api_mutex
class lock_guard {
 public:
  typedef Mutex mutex_type;
 
  /// @copydoc roo_threads::doc::lock_guard::lock_guard
  explicit lock_guard(mutex_type& mutex) : mutex_(mutex) { mutex_.lock(); }
 
  /// @copydoc roo_threads::doc::lock_guard::~lock_guard
  ~lock_guard() { mutex_.unlock(); }
 
  lock_guard(const lock_guard&) = delete;
  lock_guard& operator=(const lock_guard&) = delete;
 
 private:
  mutex_type& mutex_;
};
 
// Do not lock the associated mutex.
/// @ingroup roo_threads_api_mutex
/// @copydoc roo_threads::doc::defer_lock_t
struct defer_lock_t {
  explicit defer_lock_t() = default;
};
 
// Try to lock the associated mutex without blocking.
/// @ingroup roo_threads_api_mutex
/// @copydoc roo_threads::doc::try_to_lock_t
struct try_to_lock_t {
  explicit try_to_lock_t() = default;
};
 
// Assume the calling thread already holds a non-shared lock (i.e., a lock
// acquired by lock, try_lock, try_lock_for, or try_lock_until) on the mutex.
/// @ingroup roo_threads_api_mutex
/// @copydoc roo_threads::doc::adopt_lock_t
struct adopt_lock_t {
  explicit adopt_lock_t() = default;
};
 
// Tags for the unique_lock constructor.
 
inline constexpr defer_lock_t defer_lock{};
inline constexpr try_to_lock_t try_to_lock{};
inline constexpr adopt_lock_t adopt_lock{};
 
namespace internal {
void checkLockOwned(bool owns);
void checkLockUnowned(const void* lock, bool owns);
}  // namespace internal
 
template <typename Mutex>
/// @ingroup roo_threads_api_mutex
class unique_lock {
 public:
  typedef Mutex mutex_type;
 
  /// @copydoc roo_threads::doc::unique_lock::unique_lock() noexcept
  unique_lock() noexcept : lock_(nullptr), owns_(false) {}
 
  /// @copydoc roo_threads::doc::unique_lock::unique_lock(mutex_type&)
  explicit unique_lock(mutex_type& mutex) : lock_(&mutex), owns_(false) {
    lock();
  }
 
  /// @copydoc
  /// roo_threads::doc::unique_lock::unique_lock(mutex_type&,defer_lock_t)
  unique_lock(mutex_type& mutex, defer_lock_t) noexcept
      : lock_(&mutex), owns_(false) {}
 
  /// @copydoc
  /// roo_threads::doc::unique_lock::unique_lock(mutex_type&,try_to_lock_t)
  unique_lock(mutex_type& mutex, try_to_lock_t)
      : lock_(&mutex), owns_(lock_->try_lock()) {}
 
  /// @copydoc
  /// roo_threads::doc::unique_lock::unique_lock(mutex_type&,adopt_lock_t)
  unique_lock(mutex_type& mutex, adopt_lock_t) noexcept
      : lock_(&mutex), owns_(true) {}
 
  /// @copydoc
  /// roo_threads::doc::unique_lock::unique_lock(mutex_type&,roo_time::Uptime)
  unique_lock(mutex_type& mutex, roo_time::Uptime tp)
      : lock_(&mutex), owns_(lock_->try_lock_until(tp)) {}
 
  /// @copydoc
  /// roo_threads::doc::unique_lock::unique_lock(mutex_type&,roo_time::Duration)
  unique_lock(mutex_type& mutex, roo_time::Duration duration)
      : lock_(&mutex), owns_(lock_->try_lock_for(duration)) {}
 
  /// @copydoc roo_threads::doc::unique_lock::~unique_lock
  ~unique_lock() {
    if (owns_) unlock();
  }
 
  unique_lock(const unique_lock&) = delete;
  unique_lock& operator=(const unique_lock&) = delete;
 
  /// @copydoc roo_threads::doc::unique_lock::unique_lock(unique_lock&&)
  unique_lock(unique_lock&& lock) noexcept
      : lock_(lock.lock_), owns_(lock.owns_) {
    lock.lock_ = 0;
    lock.owns_ = false;
  }
 
  /// @copydoc roo_threads::doc::unique_lock::operator=(unique_lock&&)
  unique_lock& operator=(unique_lock&& lock) noexcept {
    if (owns_) unlock();
 
    unique_lock(std::move(lock)).swap(*this);
 
    lock.lock_ = 0;
    lock.owns_ = false;
 
    return *this;
  }
 
  /// @copydoc roo_threads::doc::unique_lock::lock
  void lock() {
    internal::checkLockUnowned(lock_, owns_);
    lock_->lock();
    owns_ = true;
  }
 
  /// @copydoc roo_threads::doc::unique_lock::try_lock
  bool try_lock() {
    internal::checkLockUnowned(lock_, owns_);
    owns_ = lock_->try_lock();
    return owns_;
  }
 
  /// @copydoc roo_threads::doc::unique_lock::try_lock_until
  bool try_lock_until(roo_time::Uptime tp) {
    internal::checkLockUnowned(lock_, owns_);
    owns_ = lock_->try_lock_until(tp);
    return owns_;
  }
 
  /// @copydoc roo_threads::doc::unique_lock::try_lock_for
  bool try_lock_for(roo_time::Duration duration) {
    internal::checkLockUnowned(lock_, owns_);
    owns_ = lock_->try_lock_for(duration);
    return owns_;
  }
 
  /// @copydoc roo_threads::doc::unique_lock::unlock
  void unlock() {
    internal::checkLockOwned(owns_);
    if (lock_ != nullptr) {
      lock_->unlock();
      owns_ = false;
    }
  }
 
  /// @copydoc roo_threads::doc::unique_lock::swap
  void swap(unique_lock& other) noexcept {
    std::swap(lock_, other.lock_);
    std::swap(owns_, other.owns_);
  }
 
  /// @copydoc roo_threads::doc::unique_lock::release
  mutex_type* release() noexcept {
    mutex_type* ret = lock_;
    lock_ = nullptr;
    owns_ = false;
    return ret;
  }
 
  /// @copydoc roo_threads::doc::unique_lock::owns_lock
  bool owns_lock() const noexcept { return owns_; }
 
  /// @copydoc roo_threads::doc::unique_lock::operator bool
  explicit operator bool() const noexcept { return owns_lock(); }
 
  /// @copydoc roo_threads::doc::unique_lock::mutex
  mutex_type* mutex() const noexcept { return lock_; }
 
 private:
  mutex_type* lock_;
  bool owns_;
};
 
}  // namespace freertos
}  // namespace roo_threads
 
#endif  // ROO_THREADS_USE_FREERTOS