132 lines
3.1 KiB
C++
132 lines
3.1 KiB
C++
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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include <cmath>
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#include <cstdbool>
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#include <cstddef>
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#include <cstdint>
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#include <cstdio>
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#include <cstdlib>
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#include <functional>
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#include <sstream>
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#ifdef THREADS_STD
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#include <thread>
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#define CROSSPLATFORM_THREAD_T std::thread
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#include <mutex>
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#define CROSSPLATFORM_MUTEX_T std::mutex
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#else
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#include "api.h"
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#include "pros/apix.h"
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#define CROSSPLATFORM_THREAD_T pros::task_t
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#define CROSSPLATFORM_MUTEX_T pros::Mutex
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#endif
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#define NOT_INITIALIZE_TASK \
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(strcmp(pros::c::task_get_name(pros::c::task_get_current()), "User Initialization (PROS)") != 0)
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#define NOT_COMP_INITIALIZE_TASK \
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(strcmp(pros::c::task_get_name(pros::c::task_get_current()), "User Comp. Init. (PROS)") != 0)
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class CrossplatformThread {
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public:
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#ifdef THREADS_STD
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CrossplatformThread(void (*ptr)(void *),
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void *params,
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const char *const = "OkapiLibCrossplatformTask")
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#else
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CrossplatformThread(void (*ptr)(void *),
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void *params,
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const char *const name = "OkapiLibCrossplatformTask")
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#endif
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:
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#ifdef THREADS_STD
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thread(ptr, params)
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#else
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thread(
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pros::c::task_create(ptr, params, TASK_PRIORITY_DEFAULT, TASK_STACK_DEPTH_DEFAULT, name))
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#endif
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{
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}
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~CrossplatformThread() {
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#ifdef THREADS_STD
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thread.join();
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#else
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if (pros::c::task_get_state(thread) != pros::E_TASK_STATE_DELETED) {
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pros::c::task_delete(thread);
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}
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#endif
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}
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#ifdef THREADS_STD
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void notifyWhenDeleting(CrossplatformThread *) {
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}
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#else
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void notifyWhenDeleting(CrossplatformThread *parent) {
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pros::c::task_notify_when_deleting(parent->thread, thread, 1, pros::E_NOTIFY_ACTION_INCR);
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}
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#endif
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#ifdef THREADS_STD
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void notifyWhenDeletingRaw(CROSSPLATFORM_THREAD_T *) {
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}
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#else
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void notifyWhenDeletingRaw(CROSSPLATFORM_THREAD_T parent) {
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pros::c::task_notify_when_deleting(parent, thread, 1, pros::E_NOTIFY_ACTION_INCR);
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}
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#endif
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#ifdef THREADS_STD
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std::uint32_t notifyTake(const std::uint32_t) {
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return 0;
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}
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#else
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std::uint32_t notifyTake(const std::uint32_t itimeout) {
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return pros::c::task_notify_take(true, itimeout);
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}
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#endif
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static std::string getName() {
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#ifdef THREADS_STD
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std::ostringstream ss;
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ss << std::this_thread::get_id();
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return ss.str();
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#else
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return std::string(pros::c::task_get_name(NULL));
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#endif
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}
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CROSSPLATFORM_THREAD_T thread;
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};
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class CrossplatformMutex {
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public:
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CrossplatformMutex() = default;
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void lock() {
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#ifdef THREADS_STD
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mutex.lock();
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#else
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while (!mutex.take(1)) {
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}
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#endif
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}
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void unlock() {
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#ifdef THREADS_STD
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mutex.unlock();
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#else
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mutex.give();
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#endif
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}
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protected:
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CROSSPLATFORM_MUTEX_T mutex;
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};
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