ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / VP_SDK / VP_Os / elinux / vp_os_signal.c

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Os/elinux/vp_os_signal.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Os/elinux/vp_os_signal.c
new file mode 100644 (file)
index 0000000..00381fb
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Os/elinux/vp_os_signal.c
@@ -0,0 +1,95 @@
+/**
+ * @file signal.c
+ * @author aurelien.morelle@parrot.fr
+ * @date 2006/12/15
+ */
+
+#include "VP_Os/vp_os_signal.h"
+
+#ifndef __USE_GNU
+#define __USE_GNU
+#endif
+#include <sys/time.h>
+#include <errno.h>
+
+void
+vp_os_mutex_init(vp_os_mutex_t *mutex)
+{
+  pthread_mutex_init((pthread_mutex_t *)mutex, NULL);
+}
+
+
+void
+vp_os_mutex_destroy(vp_os_mutex_t *mutex)
+{
+  pthread_mutex_destroy((pthread_mutex_t *)mutex);
+}
+
+
+void
+vp_os_mutex_lock(vp_os_mutex_t *mutex)
+{
+  pthread_mutex_lock((pthread_mutex_t *)mutex);
+}
+
+C_RESULT
+vp_os_mutex_trylock(vp_os_mutex_t *mutex)
+{
+  return pthread_mutex_trylock((pthread_mutex_t *)mutex) ? C_FAIL : C_OK;
+}
+
+void
+vp_os_mutex_unlock(vp_os_mutex_t *mutex)
+{
+  pthread_mutex_unlock((pthread_mutex_t *)mutex);
+}
+
+
+void
+vp_os_cond_init(vp_os_cond_t *cond, vp_os_mutex_t *mutex)
+{
+  pthread_cond_init(&cond->cond, NULL);
+  cond->mutex = mutex;
+}
+
+
+void
+vp_os_cond_destroy(vp_os_cond_t *cond)
+{
+  pthread_cond_destroy(&cond->cond);
+}
+
+
+void
+vp_os_cond_wait(vp_os_cond_t *cond)
+{
+  pthread_cond_wait(&cond->cond, (pthread_mutex_t *)cond->mutex);
+}
+
+
+C_RESULT
+vp_os_cond_timed_wait(vp_os_cond_t *cond, uint32_t ms)
+{
+  struct timespec ts;
+  struct timeval tv;
+  gettimeofday(&tv, NULL);
+  TIMEVAL_TO_TIMESPEC(&tv, &ts);
+/*  ts.tv_sec += ms/1000;
+//  ts.tv_nsec += (ms%1000)*1000;
+  ts.tv_nsec += (ms%1000)*1000000;*/
+
+  int tmp;
+  ts.tv_nsec += ms * 1000000;
+  tmp = ts.tv_nsec / (1000 * 1000000);
+  ts.tv_sec += tmp;
+  ts.tv_nsec -= tmp * (1000 * 1000000);
+  return ( pthread_cond_timedwait(&cond->cond, (pthread_mutex_t *)cond->mutex, &ts) == ETIMEDOUT ? FAIL : SUCCESS );
+}
+
+
+void
+vp_os_cond_signal(vp_os_cond_t *cond)
+{
+  pthread_cond_signal(&cond->cond);
+}
+