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Add RPI Pico SDK mutex and locking to multithread #344

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Add RPI Pico SDK mutex and locking to multithread #344

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bdaddba
Release v2.1.0
pablogs9 Nov 30, 2021
27b810a
Add Twitter and Readthedocs shields (#307) (#308)
mergify[bot] Jan 19, 2022
2195d43
Release v2.1.1
pablogs9 Mar 10, 2022
6f4edd2
Release v2.2.0
pablogs9 Jun 28, 2022
fda7242
Release v2.2.1
pablogs9 Sep 28, 2022
4b98d2d
Release v2.3.0
pablogs9 Dec 14, 2022
3d19dd5
add pico sdk multi thread capability Signed-off-by: Dwayne Williams <…
DwayneGit Feb 22, 2023
776e6cc
Merge remote-tracking branch 'eProsima/ros2' into ros2 Signed-off-by:…
DwayneGit Feb 22, 2023
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4 changes: 4 additions & 0 deletions include/uxr/client/profile/multithread/multithread.h
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,8 @@ struct uxrSession;
#elif defined(PLATFORM_NAME_FREERTOS)
#include "FreeRTOS.h"
#include "semphr.h"
#elif defined(PLATFORM_NAME_RPIPICO)
#include "pico/mutex.h"
#elif defined(UCLIENT_PLATFORM_ZEPHYR)
#elif defined(UCLIENT_PLATFORM_POSIX)
#include <pthread.h>
Expand All @@ -45,6 +47,8 @@ typedef struct uxrMutex
#elif defined(PLATFORM_NAME_FREERTOS)
SemaphoreHandle_t impl;
StaticSemaphore_t xMutexBuffer;
#elif defined(PLATFORM_NAME_RPIPICO)
recursive_mutex_t impl;
#elif defined(UCLIENT_PLATFORM_ZEPHYR)
struct k_mutex impl;
#elif defined(UCLIENT_PLATFORM_POSIX)
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6 changes: 6 additions & 0 deletions src/c/profile/multithread/multithread.c
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,8 @@ void uxr_init_lock(
{
#if defined(PLATFORM_NAME_FREERTOS)
mutex->impl = xSemaphoreCreateRecursiveMutexStatic( &mutex->xMutexBuffer );
#elif defined(PLATFORM_NAME_RPIPICO)
recursive_mutex_init(&mutex->impl);
#elif defined(UCLIENT_PLATFORM_ZEPHYR)
k_mutex_init(&mutex->impl);
#elif defined(UCLIENT_PLATFORM_POSIX)
Expand All @@ -29,6 +31,8 @@ void uxr_lock(
{
#if defined(PLATFORM_NAME_FREERTOS)
xSemaphoreTakeRecursive(mutex->impl, portMAX_DELAY);
#elif defined(PLATFORM_NAME_RPIPICO)
recursive_mutex_enter_blocking(&mutex->impl);
#elif defined(UCLIENT_PLATFORM_ZEPHYR)
k_mutex_lock(&mutex->impl, K_FOREVER);
#elif defined(UCLIENT_PLATFORM_POSIX)
Expand All @@ -43,6 +47,8 @@ void uxr_unlock(
{
#if defined(PLATFORM_NAME_FREERTOS)
xSemaphoreGiveRecursive(mutex->impl);
#elif defined(PLATFORM_NAME_RPIPICO)
recursive_mutex_exit(&mutex->impl);
#elif defined(UCLIENT_PLATFORM_ZEPHYR)
k_mutex_unlock(&mutex->impl);
#elif defined(UCLIENT_PLATFORM_POSIX)
Expand Down