2026-08-06 22:56:24 +00:00
<!-- HTML header for doxygen 1.9.8-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
< html xmlns = "http://www.w3.org/1999/xhtml" lang = "en-US" >
< head >
< meta http-equiv = "Content-Type" content = "text/xhtml;charset=UTF-8" />
< meta http-equiv = "X-UA-Compatible" content = "IE=11" />
< meta name = "generator" content = "Doxygen 1.9.8" />
< meta name = "viewport" content = "width=device-width, initial-scale=1" />
< title > RTAB-Map: utilite/include/rtabmap/utilite/USemaphore.h Source File</ title >
< link href = "tabs.css" rel = "stylesheet" type = "text/css" />
< script type = "text/javascript" src = "jquery.js" ></ script >
< script type = "text/javascript" src = "dynsections.js" ></ script >
< link href = "navtree.css" rel = "stylesheet" type = "text/css" />
< script type = "text/javascript" src = "resize.js" ></ script >
< script type = "text/javascript" src = "navtreedata.js" ></ script >
< script type = "text/javascript" src = "navtree.js" ></ script >
< link href = "search/search.css" rel = "stylesheet" type = "text/css" />
< script type = "text/javascript" src = "search/searchdata.js" ></ script >
< script type = "text/javascript" src = "search/search.js" ></ script >
< link href = "doxygen.css" rel = "stylesheet" type = "text/css" />
< link href = "doxygen-awesome.css" rel = "stylesheet" type = "text/css" />
< link href = "custom.css" rel = "stylesheet" type = "text/css" />
< script type = "text/javascript" > window . RTABMAP_DOC_ROOT = "" ;</ script >
< script type = "text/javascript" src = "../versions.js" ></ script >
< script type = "text/javascript" src = "version-switcher.js" ></ script >
< script type = "text/javascript" src = "doxygen-awesome-darkmode-toggle.js" ></ script >
< script type = "text/javascript" > DoxygenAwesomeDarkModeToggle . init ();</ script >
</ head >
< body >
< div id = "top" > <!-- do not remove this div, it is closed by doxygen! -->
< div id = "titlearea" >
< table cellspacing = "0" cellpadding = "0" >
< tbody >
< tr id = "projectrow" >
< td id = "projectalign" >
2026-09-20 06:51:14 +00:00
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.12</ span >
2026-08-06 22:56:24 +00:00
</ div >
< div id = "projectbrief" > Real-Time Appearance-Based Mapping</ div >
</ td >
</ tr >
</ tbody >
</ table >
</ div >
<!-- end header part -->
<!-- Generated by Doxygen 1.9.8 -->
< script type = "text/javascript" >
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
var searchBox = new SearchBox ( "searchBox" , "search/" , '.html' );
/* @license-end */
</ script >
< script type = "text/javascript" src = "menudata.js" ></ script >
< script type = "text/javascript" src = "menu.js" ></ script >
< script type = "text/javascript" >
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
$ ( function () {
initMenu ( '' , true , false , 'search.php' , 'Search' );
$ ( document ). ready ( function () { init_search (); });
});
/* @license-end */
</ script >
< div id = "main-nav" ></ div >
< script type = "text/javascript" >
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
$ ( document ). ready ( function () { init_codefold ( 0 ); });
/* @license-end */
</ script >
</ div > <!-- top -->
< div id = "side-nav" class = "ui-resizable side-nav-resizable" >
< div id = "nav-tree" >
< div id = "nav-tree-contents" >
< div id = "nav-sync" class = "sync" ></ div >
</ div >
</ div >
< div id = "splitbar" style = "-moz-user-select:none;"
class = "ui-resizable-handle" >
</ div >
</ div >
< script type = "text/javascript" >
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
$ ( document ). ready ( function (){ initNavTree ( 'USemaphore_8h_source.html' , '' ); initResizable (); });
/* @license-end */
</ script >
< div id = "doc-content" >
<!-- window showing the filter options -->
< div id = "MSearchSelectWindow"
onmouseover = "return searchBox.OnSearchSelectShow()"
onmouseout = "return searchBox.OnSearchSelectHide()"
onkeydown = "return searchBox.OnSearchSelectKey(event)" >
</ div >
<!-- iframe showing the search results (closed by default) -->
< div id = "MSearchResultsWindow" >
< div id = "MSearchResults" >
< div class = "SRPage" >
< div id = "SRIndex" >
< div id = "SRResults" ></ div >
< div class = "SRStatus" id = "Loading" > Loading...</ div >
< div class = "SRStatus" id = "Searching" > Searching...</ div >
< div class = "SRStatus" id = "NoMatches" > No Matches</ div >
</ div >
</ div >
</ div >
</ div >
< div class = "header" >
< div class = "headertitle" >< div class = "title" > USemaphore.h</ div ></ div >
</ div > <!--header-->
< div class = "contents" >
< div class = "fragment" >< div class = "line" >< a id = "l00001" name = "l00001" ></ a >< span class = "lineno" > 1</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > * utilite is a cross-platform library with</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > * useful utilities for fast and small developing.</ span ></ div >
< div class = "line" >< a id = "l00004" name = "l00004" ></ a >< span class = "lineno" > 4</ span >< span class = "comment" > * Copyright (C) 2010 Mathieu Labbe</ span ></ div >
< div class = "line" >< a id = "l00005" name = "l00005" ></ a >< span class = "lineno" > 5</ span >< span class = "comment" > *</ span ></ div >
< div class = "line" >< a id = "l00006" name = "l00006" ></ a >< span class = "lineno" > 6</ span >< span class = "comment" > * utilite is free library: you can redistribute it and/or modify</ span ></ div >
< div class = "line" >< a id = "l00007" name = "l00007" ></ a >< span class = "lineno" > 7</ span >< span class = "comment" > * it under the terms of the GNU Lesser General Public License as published by</ span ></ div >
< div class = "line" >< a id = "l00008" name = "l00008" ></ a >< span class = "lineno" > 8</ span >< span class = "comment" > * the Free Software Foundation, either version 3 of the License, or</ span ></ div >
< div class = "line" >< a id = "l00009" name = "l00009" ></ a >< span class = "lineno" > 9</ span >< span class = "comment" > * (at your option) any later version.</ span ></ div >
< div class = "line" >< a id = "l00010" name = "l00010" ></ a >< span class = "lineno" > 10</ span >< span class = "comment" > *</ span ></ div >
< div class = "line" >< a id = "l00011" name = "l00011" ></ a >< span class = "lineno" > 11</ span >< span class = "comment" > * utilite is distributed in the hope that it will be useful,</ span ></ div >
< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * but WITHOUT ANY WARRANTY; without even the implied warranty of</ span ></ div >
< div class = "line" >< a id = "l00013" name = "l00013" ></ a >< span class = "lineno" > 13</ span >< span class = "comment" > * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</ span ></ div >
< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > * GNU Lesser General Public License for more details.</ span ></ div >
< div class = "line" >< a id = "l00015" name = "l00015" ></ a >< span class = "lineno" > 15</ span >< span class = "comment" > *</ span ></ div >
< div class = "line" >< a id = "l00016" name = "l00016" ></ a >< span class = "lineno" > 16</ span >< span class = "comment" > * You should have received a copy of the GNU Lesser General Public License</ span ></ div >
< div class = "line" >< a id = "l00017" name = "l00017" ></ a >< span class = "lineno" > 17</ span >< span class = "comment" > * along with this program. If not, see < http://www.gnu.org/licenses/> .</ span ></ div >
< div class = "line" >< a id = "l00018" name = "l00018" ></ a >< span class = "lineno" > 18</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00019" name = "l00019" ></ a >< span class = "lineno" > 19</ span > </ div >
< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > * Originally written by Phillip Sitbon</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > * Copyright 2003</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span > </ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "preprocessor" > #ifndef USEMAPHORE_H</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "preprocessor" > #define USEMAPHORE_H</ span ></ div >
< div class = "line" >< a id = "l00027" name = "l00027" ></ a >< span class = "lineno" > 27</ span > </ div >
< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #include < errno.h> </ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span > </ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span >< span class = "preprocessor" > #ifdef _WIN32</ span ></ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "preprocessor" > #include " rtabmap/utilite/Win32/UWin32.h" </ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span >< span class = "preprocessor" > #include < atomic> </ span ></ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "preprocessor" > #define SEM_VALUE_MAX ((int) ((~0u) >> 1))</ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #else</ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span >< span class = "preprocessor" > #include < pthread.h> </ span ></ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span >< span class = "preprocessor" > #include < sys/time.h> </ span ></ div >
< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span > </ div >
< div class = "foldopen" id = "foldopen00055" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00055" name = "l00055" ></ a >< span class = "lineno" >< a class = "line" href = "classUSemaphore.html" > 55</ a ></ span >< span class = "keyword" > class </ span >< a class = "code hl_class" href = "classUSemaphore.html" > USemaphore</ a ></ div >
< div class = "line" >< a id = "l00056" name = "l00056" ></ a >< span class = "lineno" > 56</ span > {</ div >
< div class = "line" >< a id = "l00057" name = "l00057" ></ a >< span class = "lineno" > 57</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "foldopen" id = "foldopen00062" data-start = "{" data-end = "}" >
< div class = "line" >< a id = "l00062" name = "l00062" ></ a >< span class = "lineno" >< a class = "line" href = "classUSemaphore.html#ad991738e68e0a2baaec46ab27296cbe6" > 62</ a ></ span > < a class = "code hl_function" href = "classUSemaphore.html#ad991738e68e0a2baaec46ab27296cbe6" > USemaphore</ a > ( < span class = "keywordtype" > int</ span > initValue = 0 )</ div >
< div class = "line" >< a id = "l00063" name = "l00063" ></ a >< span class = "lineno" > 63</ span >< span class = "preprocessor" > #ifdef _WIN32</ span ></ div >
< div class = "line" >< a id = "l00064" name = "l00064" ></ a >< span class = "lineno" > 64</ span > : _count(initValue)</ div >
< div class = "line" >< a id = "l00065" name = "l00065" ></ a >< span class = "lineno" > 65</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00066" name = "l00066" ></ a >< span class = "lineno" > 66</ span > {</ div >
< div class = "line" >< a id = "l00067" name = "l00067" ></ a >< span class = "lineno" > 67</ span >< span class = "preprocessor" > #ifdef _WIN32</ span ></ div >
< div class = "line" >< a id = "l00068" name = "l00068" ></ a >< span class = "lineno" > 68</ span > S = CreateSemaphore(0,initValue,SEM_VALUE_MAX,0);</ div >
< div class = "line" >< a id = "l00069" name = "l00069" ></ a >< span class = "lineno" > 69</ span >< span class = "preprocessor" > #else</ span ></ div >
< div class = "line" >< a id = "l00070" name = "l00070" ></ a >< span class = "lineno" > 70</ span > _available = initValue;</ div >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" > 71</ span > pthread_mutex_init(& _waitMutex, NULL);</ div >
< div class = "line" >< a id = "l00072" name = "l00072" ></ a >< span class = "lineno" > 72</ span > pthread_cond_init(& _cond, NULL);</ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" > 73</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00074" name = "l00074" ></ a >< span class = "lineno" > 74</ span > }</ div >
</ div >
< div class = "line" >< a id = "l00075" name = "l00075" ></ a >< span class = "lineno" > 75</ span > </ div >
< div class = "line" >< a id = "l00076" name = "l00076" ></ a >< span class = "lineno" > 76</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classUSemaphore.html" > ~USemaphore</ a > ()</ div >
< div class = "line" >< a id = "l00077" name = "l00077" ></ a >< span class = "lineno" > 77</ span > {</ div >
< div class = "line" >< a id = "l00078" name = "l00078" ></ a >< span class = "lineno" > 78</ span >< span class = "preprocessor" > #ifdef _WIN32</ span ></ div >
< div class = "line" >< a id = "l00079" name = "l00079" ></ a >< span class = "lineno" > 79</ span > CloseHandle(S);</ div >
< div class = "line" >< a id = "l00080" name = "l00080" ></ a >< span class = "lineno" > 80</ span >< span class = "preprocessor" > #else</ span ></ div >
< div class = "line" >< a id = "l00081" name = "l00081" ></ a >< span class = "lineno" > 81</ span > pthread_cond_destroy(& _cond);</ div >
< div class = "line" >< a id = "l00082" name = "l00082" ></ a >< span class = "lineno" > 82</ span > pthread_mutex_destroy(& _waitMutex);</ div >
< div class = "line" >< a id = "l00083" name = "l00083" ></ a >< span class = "lineno" > 83</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00084" name = "l00084" ></ a >< span class = "lineno" > 84</ span > }</ div >
< div class = "line" >< a id = "l00085" name = "l00085" ></ a >< span class = "lineno" > 85</ span > </ div >
< div class = "line" >< a id = "l00094" name = "l00094" ></ a >< span class = "lineno" > 94</ span >< span class = "preprocessor" > #ifdef _WIN32</ span ></ div >
< div class = "line" >< a id = "l00095" name = "l00095" ></ a >< span class = "lineno" > 95</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classUSemaphore.html#a1128f81a47324e6de3946a7719c24223" > acquire</ a > (< span class = "keywordtype" > int</ span > n = 1, < span class = "keywordtype" > int</ span > ms = 0)< span class = "keyword" > const</ span ></ div >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" > 96</ span >< span class = "keyword" > </ span > {</ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" > 97</ span > < span class = "keywordtype" > int</ span > rt = 0;</ div >
< div class = "line" >< a id = "l00098" name = "l00098" ></ a >< span class = "lineno" > 98</ span > < span class = "keywordflow" > while</ span > (n-- > 0 && rt==0)</ div >
< div class = "line" >< a id = "l00099" name = "l00099" ></ a >< span class = "lineno" > 99</ span > {</ div >
< div class = "line" >< a id = "l00100" name = "l00100" ></ a >< span class = "lineno" > 100</ span > rt = WaitForSingleObject((HANDLE)S, ms< =0?INFINITE:ms);</ div >
< div class = "line" >< a id = "l00101" name = "l00101" ></ a >< span class = "lineno" > 101</ span > < span class = "keywordflow" > if</ span > (rt == 0) {</ div >
< div class = "line" >< a id = "l00102" name = "l00102" ></ a >< span class = "lineno" > 102</ span > --_count;</ div >
< div class = "line" >< a id = "l00103" name = "l00103" ></ a >< span class = "lineno" > 103</ span > }</ div >
< div class = "line" >< a id = "l00104" name = "l00104" ></ a >< span class = "lineno" > 104</ span > }</ div >
< div class = "line" >< a id = "l00105" name = "l00105" ></ a >< span class = "lineno" > 105</ span > < span class = "keywordflow" > return</ span > rt == 0;</ div >
< div class = "line" >< a id = "l00106" name = "l00106" ></ a >< span class = "lineno" > 106</ span > }</ div >
< div class = "line" >< a id = "l00107" name = "l00107" ></ a >< span class = "lineno" > 107</ span >< span class = "preprocessor" > #else</ span ></ div >
< div class = "foldopen" id = "foldopen00108" data-start = "{" data-end = "}" >
< div class = "line" >< a id = "l00108" name = "l00108" ></ a >< span class = "lineno" >< a class = "line" href = "classUSemaphore.html#a1128f81a47324e6de3946a7719c24223" > 108</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classUSemaphore.html#a1128f81a47324e6de3946a7719c24223" > acquire</ a > (< span class = "keywordtype" > int</ span > n = 1, < span class = "keywordtype" > int</ span > ms = 0)</ div >
< div class = "line" >< a id = "l00109" name = "l00109" ></ a >< span class = "lineno" > 109</ span > {</ div >
< div class = "line" >< a id = "l00110" name = "l00110" ></ a >< span class = "lineno" > 110</ span > < span class = "keywordtype" > int</ span > rt = 0;</ div >
< div class = "line" >< a id = "l00111" name = "l00111" ></ a >< span class = "lineno" > 111</ span > pthread_mutex_lock(& _waitMutex);</ div >
< div class = "line" >< a id = "l00112" name = "l00112" ></ a >< span class = "lineno" > 112</ span > < span class = "keywordflow" > while</ span > (n > _available && rt == 0)</ div >
< div class = "line" >< a id = "l00113" name = "l00113" ></ a >< span class = "lineno" > 113</ span > {</ div >
< div class = "line" >< a id = "l00114" name = "l00114" ></ a >< span class = "lineno" > 114</ span > < span class = "keywordflow" > if</ span > (ms > 0)</ div >
< div class = "line" >< a id = "l00115" name = "l00115" ></ a >< span class = "lineno" > 115</ span > {</ div >
< div class = "line" >< a id = "l00116" name = "l00116" ></ a >< span class = "lineno" > 116</ span > < span class = "keyword" > struct </ span > timespec timeToWait;</ div >
< div class = "line" >< a id = "l00117" name = "l00117" ></ a >< span class = "lineno" > 117</ span > < span class = "keyword" > struct </ span > timeval now;</ div >
< div class = "line" >< a id = "l00118" name = "l00118" ></ a >< span class = "lineno" > 118</ span > </ div >
< div class = "line" >< a id = "l00119" name = "l00119" ></ a >< span class = "lineno" > 119</ span > gettimeofday(& now,NULL);</ div >
< div class = "line" >< a id = "l00120" name = "l00120" ></ a >< span class = "lineno" > 120</ span > </ div >
< div class = "line" >< a id = "l00121" name = "l00121" ></ a >< span class = "lineno" > 121</ span > timeToWait.tv_sec = now.tv_sec + ms/1000;</ div >
< div class = "line" >< a id = "l00122" name = "l00122" ></ a >< span class = "lineno" > 122</ span > timeToWait.tv_nsec = (now.tv_usec+1000UL*(ms%1000))*1000UL;</ div >
< div class = "line" >< a id = "l00123" name = "l00123" ></ a >< span class = "lineno" > 123</ span > </ div >
< div class = "line" >< a id = "l00124" name = "l00124" ></ a >< span class = "lineno" > 124</ span > rt = pthread_cond_timedwait(& _cond, & _waitMutex, & timeToWait);</ div >
< div class = "line" >< a id = "l00125" name = "l00125" ></ a >< span class = "lineno" > 125</ span > }</ div >
< div class = "line" >< a id = "l00126" name = "l00126" ></ a >< span class = "lineno" > 126</ span > < span class = "keywordflow" > else</ span ></ div >
< div class = "line" >< a id = "l00127" name = "l00127" ></ a >< span class = "lineno" > 127</ span > {</ div >
< div class = "line" >< a id = "l00128" name = "l00128" ></ a >< span class = "lineno" > 128</ span > rt = pthread_cond_wait(& _cond, & _waitMutex);</ div >
< div class = "line" >< a id = "l00129" name = "l00129" ></ a >< span class = "lineno" > 129</ span > }</ div >
< div class = "line" >< a id = "l00130" name = "l00130" ></ a >< span class = "lineno" > 130</ span > }</ div >
< div class = "line" >< a id = "l00131" name = "l00131" ></ a >< span class = "lineno" > 131</ span > < span class = "keywordflow" > if</ span > (rt == 0)</ div >
< div class = "line" >< a id = "l00132" name = "l00132" ></ a >< span class = "lineno" > 132</ span > {</ div >
< div class = "line" >< a id = "l00133" name = "l00133" ></ a >< span class = "lineno" > 133</ span > < span class = "comment" > // only remove them if waiting did not fail</ span ></ div >
< div class = "line" >< a id = "l00134" name = "l00134" ></ a >< span class = "lineno" > 134</ span > _available -= n;</ div >
< div class = "line" >< a id = "l00135" name = "l00135" ></ a >< span class = "lineno" > 135</ span > }</ div >
< div class = "line" >< a id = "l00136" name = "l00136" ></ a >< span class = "lineno" > 136</ span > pthread_mutex_unlock(& _waitMutex);</ div >
< div class = "line" >< a id = "l00137" name = "l00137" ></ a >< span class = "lineno" > 137</ span > < span class = "keywordflow" > return</ span > rt == 0;</ div >
< div class = "line" >< a id = "l00138" name = "l00138" ></ a >< span class = "lineno" > 138</ span > }</ div >
</ div >
< div class = "line" >< a id = "l00139" name = "l00139" ></ a >< span class = "lineno" > 139</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00140" name = "l00140" ></ a >< span class = "lineno" > 140</ span > </ div >
< div class = "line" >< a id = "l00141" name = "l00141" ></ a >< span class = "lineno" > 141</ span > < span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00142" name = "l00142" ></ a >< span class = "lineno" > 142</ span >< span class = "comment" > * Try to acquire the semaphore, not a blocking call.</ span ></ div >
< div class = "line" >< a id = "l00143" name = "l00143" ></ a >< span class = "lineno" > 143</ span >< span class = "comment" > * @return 0 if the semaphore was acquired, EAGAIN if it couldn' t be taken</ span ></ div >
< div class = "line" >< a id = "l00144" name = "l00144" ></ a >< span class = "lineno" > 144</ span >< span class = "comment" > * without waiting.</ span ></ div >
< div class = "line" >< a id = "l00145" name = "l00145" ></ a >< span class = "lineno" > 145</ span >< span class = "comment" > * @note The Windows overload takes no argument (it always acquires 1).</ span ></ div >
< div class = "line" >< a id = "l00146" name = "l00146" ></ a >< span class = "lineno" > 146</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00147" name = "l00147" ></ a >< span class = "lineno" > 147</ span >< span class = "preprocessor" > #ifdef _WIN32</ span ></ div >
< div class = "line" >< a id = "l00148" name = "l00148" ></ a >< span class = "lineno" > 148</ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classUSemaphore.html#a51a925279a04a54aea3583c4399a744b" > acquireTry</ a > ()< span class = "keyword" > const</ span ></ div >
< div class = "line" >< a id = "l00149" name = "l00149" ></ a >< span class = "lineno" > 149</ span >< span class = "keyword" > </ span > {</ div >
< div class = "line" >< a id = "l00150" name = "l00150" ></ a >< span class = "lineno" > 150</ span > < span class = "comment" > // Non-blocking try-acquire: timeout 0, not INFINITE. INFINITE here</ span ></ div >
< div class = "line" >< a id = "l00151" name = "l00151" ></ a >< span class = "lineno" > 151</ span > < span class = "comment" > // turned this into a blocking acquire and hung tests when the count</ span ></ div >
< div class = "line" >< a id = "l00152" name = "l00152" ></ a >< span class = "lineno" > 152</ span > < span class = "comment" > // reached 0.</ span ></ div >
< div class = "line" >< a id = "l00153" name = "l00153" ></ a >< span class = "lineno" > 153</ span > < span class = "keywordflow" > if</ span > (WaitForSingleObject((HANDLE)S, 0) == WAIT_OBJECT_0)</ div >
< div class = "line" >< a id = "l00154" name = "l00154" ></ a >< span class = "lineno" > 154</ span > {</ div >
< div class = "line" >< a id = "l00155" name = "l00155" ></ a >< span class = "lineno" > 155</ span > --_count;</ div >
< div class = "line" >< a id = "l00156" name = "l00156" ></ a >< span class = "lineno" > 156</ span > < span class = "keywordflow" > return</ span > 0;</ div >
< div class = "line" >< a id = "l00157" name = "l00157" ></ a >< span class = "lineno" > 157</ span > }</ div >
< div class = "line" >< a id = "l00158" name = "l00158" ></ a >< span class = "lineno" > 158</ span > < span class = "keywordflow" > return</ span > EAGAIN;</ div >
< div class = "line" >< a id = "l00159" name = "l00159" ></ a >< span class = "lineno" > 159</ span > }</ div >
< div class = "line" >< a id = "l00160" name = "l00160" ></ a >< span class = "lineno" > 160</ span >< span class = "preprocessor" > #else</ span ></ div >
< div class = "foldopen" id = "foldopen00164" data-start = "{" data-end = "}" >
< div class = "line" >< a id = "l00164" name = "l00164" ></ a >< span class = "lineno" >< a class = "line" href = "classUSemaphore.html#a51a925279a04a54aea3583c4399a744b" > 164</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classUSemaphore.html#a51a925279a04a54aea3583c4399a744b" > acquireTry</ a > (< span class = "keywordtype" > int</ span > n)</ div >
< div class = "line" >< a id = "l00165" name = "l00165" ></ a >< span class = "lineno" > 165</ span > {</ div >
< div class = "line" >< a id = "l00166" name = "l00166" ></ a >< span class = "lineno" > 166</ span > pthread_mutex_lock(& _waitMutex);</ div >
< div class = "line" >< a id = "l00167" name = "l00167" ></ a >< span class = "lineno" > 167</ span > < span class = "keywordflow" > if</ span > (n > _available)</ div >
< div class = "line" >< a id = "l00168" name = "l00168" ></ a >< span class = "lineno" > 168</ span > {</ div >
< div class = "line" >< a id = "l00169" name = "l00169" ></ a >< span class = "lineno" > 169</ span > pthread_mutex_unlock(& _waitMutex);</ div >
< div class = "line" >< a id = "l00170" name = "l00170" ></ a >< span class = "lineno" > 170</ span > < span class = "keywordflow" > return</ span > EAGAIN;</ div >
< div class = "line" >< a id = "l00171" name = "l00171" ></ a >< span class = "lineno" > 171</ span > }</ div >
< div class = "line" >< a id = "l00172" name = "l00172" ></ a >< span class = "lineno" > 172</ span > _available -= n;</ div >
< div class = "line" >< a id = "l00173" name = "l00173" ></ a >< span class = "lineno" > 173</ span > pthread_mutex_unlock(& _waitMutex);</ div >
< div class = "line" >< a id = "l00174" name = "l00174" ></ a >< span class = "lineno" > 174</ span > < span class = "keywordflow" > return</ span > 0;</ div >
< div class = "line" >< a id = "l00175" name = "l00175" ></ a >< span class = "lineno" > 175</ span > }</ div >
</ div >
< div class = "line" >< a id = "l00176" name = "l00176" ></ a >< span class = "lineno" > 176</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00177" name = "l00177" ></ a >< span class = "lineno" > 177</ span > </ div >
< div class = "line" >< a id = "l00186" name = "l00186" ></ a >< span class = "lineno" > 186</ span >< span class = "preprocessor" > #ifdef _WIN32</ span ></ div >
< div class = "line" >< a id = "l00187" name = "l00187" ></ a >< span class = "lineno" > 187</ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classUSemaphore.html#a693b35a08fd5363b14f3a220081814b5" > release</ a > (< span class = "keywordtype" > int</ span > n = 1)< span class = "keyword" > const</ span ></ div >
< div class = "line" >< a id = "l00188" name = "l00188" ></ a >< span class = "lineno" > 188</ span >< span class = "keyword" > </ span > {</ div >
< div class = "line" >< a id = "l00189" name = "l00189" ></ a >< span class = "lineno" > 189</ span > < span class = "keywordflow" > if</ span > (ReleaseSemaphore((HANDLE)S, n, 0))</ div >
< div class = "line" >< a id = "l00190" name = "l00190" ></ a >< span class = "lineno" > 190</ span > {</ div >
< div class = "line" >< a id = "l00191" name = "l00191" ></ a >< span class = "lineno" > 191</ span > _count += n;</ div >
< div class = "line" >< a id = "l00192" name = "l00192" ></ a >< span class = "lineno" > 192</ span > < span class = "keywordflow" > return</ span > 0;</ div >
< div class = "line" >< a id = "l00193" name = "l00193" ></ a >< span class = "lineno" > 193</ span > }</ div >
< div class = "line" >< a id = "l00194" name = "l00194" ></ a >< span class = "lineno" > 194</ span > < span class = "keywordflow" > return</ span > ERANGE;</ div >
< div class = "line" >< a id = "l00195" name = "l00195" ></ a >< span class = "lineno" > 195</ span > }</ div >
< div class = "line" >< a id = "l00196" name = "l00196" ></ a >< span class = "lineno" > 196</ span >< span class = "preprocessor" > #else</ span ></ div >
< div class = "foldopen" id = "foldopen00197" data-start = "{" data-end = "}" >
< div class = "line" >< a id = "l00197" name = "l00197" ></ a >< span class = "lineno" >< a class = "line" href = "classUSemaphore.html#a693b35a08fd5363b14f3a220081814b5" > 197</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classUSemaphore.html#a693b35a08fd5363b14f3a220081814b5" > release</ a > (< span class = "keywordtype" > int</ span > n = 1)</ div >
< div class = "line" >< a id = "l00198" name = "l00198" ></ a >< span class = "lineno" > 198</ span > {</ div >
< div class = "line" >< a id = "l00199" name = "l00199" ></ a >< span class = "lineno" > 199</ span > pthread_mutex_lock(& _waitMutex);</ div >
< div class = "line" >< a id = "l00200" name = "l00200" ></ a >< span class = "lineno" > 200</ span > _available += n;</ div >
< div class = "line" >< a id = "l00201" name = "l00201" ></ a >< span class = "lineno" > 201</ span > pthread_cond_broadcast(& _cond);</ div >
< div class = "line" >< a id = "l00202" name = "l00202" ></ a >< span class = "lineno" > 202</ span > pthread_mutex_unlock(& _waitMutex);</ div >
< div class = "line" >< a id = "l00203" name = "l00203" ></ a >< span class = "lineno" > 203</ span > < span class = "keywordflow" > return</ span > 0;</ div >
< div class = "line" >< a id = "l00204" name = "l00204" ></ a >< span class = "lineno" > 204</ span > }</ div >
</ div >
< div class = "line" >< a id = "l00205" name = "l00205" ></ a >< span class = "lineno" > 205</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00206" name = "l00206" ></ a >< span class = "lineno" > 206</ span > </ div >
< div class = "line" >< a id = "l00211" name = "l00211" ></ a >< span class = "lineno" > 211</ span >< span class = "preprocessor" > #ifdef _WIN32</ span ></ div >
< div class = "line" >< a id = "l00212" name = "l00212" ></ a >< span class = "lineno" > 212</ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classUSemaphore.html#a840fadefd8bc873c8bdf34c90d180a3b" > value</ a > ()< span class = "keyword" > const</ span ></ div >
< div class = "line" >< a id = "l00213" name = "l00213" ></ a >< span class = "lineno" > 213</ span >< span class = "keyword" > </ span > {</ div >
< div class = "line" >< a id = "l00214" name = "l00214" ></ a >< span class = "lineno" > 214</ span > < span class = "comment" > // ReleaseSemaphore(S, 0, & V) returns FALSE on Windows (release count</ span ></ div >
< div class = "line" >< a id = "l00215" name = "l00215" ></ a >< span class = "lineno" > 215</ span > < span class = "comment" > // must be > = 1) and never writes V, so we mirror the count in an atomic</ span ></ div >
< div class = "line" >< a id = "l00216" name = "l00216" ></ a >< span class = "lineno" > 216</ span > < span class = "comment" > // instead. The value is eventually-consistent under concurrent</ span ></ div >
< div class = "line" >< a id = "l00217" name = "l00217" ></ a >< span class = "lineno" > 217</ span > < span class = "comment" > // acquire/release but accurate at quiescence.</ span ></ div >
< div class = "line" >< a id = "l00218" name = "l00218" ></ a >< span class = "lineno" > 218</ span > < span class = "keywordflow" > return</ span > (< span class = "keywordtype" > int</ span > )_count.load();</ div >
< div class = "line" >< a id = "l00219" name = "l00219" ></ a >< span class = "lineno" > 219</ span > }</ div >
< div class = "line" >< a id = "l00220" name = "l00220" ></ a >< span class = "lineno" > 220</ span >< span class = "preprocessor" > #else</ span ></ div >
< div class = "foldopen" id = "foldopen00221" data-start = "{" data-end = "}" >
< div class = "line" >< a id = "l00221" name = "l00221" ></ a >< span class = "lineno" >< a class = "line" href = "classUSemaphore.html#a840fadefd8bc873c8bdf34c90d180a3b" > 221</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classUSemaphore.html#a840fadefd8bc873c8bdf34c90d180a3b" > value</ a > ()</ div >
< div class = "line" >< a id = "l00222" name = "l00222" ></ a >< span class = "lineno" > 222</ span > {</ div >
< div class = "line" >< a id = "l00223" name = "l00223" ></ a >< span class = "lineno" > 223</ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classUSemaphore.html#a840fadefd8bc873c8bdf34c90d180a3b" > value</ a > = 0;</ div >
< div class = "line" >< a id = "l00224" name = "l00224" ></ a >< span class = "lineno" > 224</ span > pthread_mutex_lock(& _waitMutex);</ div >
< div class = "line" >< a id = "l00225" name = "l00225" ></ a >< span class = "lineno" > 225</ span > < a class = "code hl_function" href = "classUSemaphore.html#a840fadefd8bc873c8bdf34c90d180a3b" > value</ a > = _available;</ div >
< div class = "line" >< a id = "l00226" name = "l00226" ></ a >< span class = "lineno" > 226</ span > pthread_mutex_unlock(& _waitMutex);</ div >
< div class = "line" >< a id = "l00227" name = "l00227" ></ a >< span class = "lineno" > 227</ span > < span class = "keywordflow" > return</ span > < a class = "code hl_function" href = "classUSemaphore.html#a840fadefd8bc873c8bdf34c90d180a3b" > value</ a > ;</ div >
< div class = "line" >< a id = "l00228" name = "l00228" ></ a >< span class = "lineno" > 228</ span > }</ div >
</ div >
< div class = "line" >< a id = "l00229" name = "l00229" ></ a >< span class = "lineno" > 229</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00230" name = "l00230" ></ a >< span class = "lineno" > 230</ span > </ div >
< div class = "line" >< a id = "l00231" name = "l00231" ></ a >< span class = "lineno" > 231</ span >< span class = "preprocessor" > #ifdef _WIN32</ span ></ div >
< div class = "line" >< a id = "l00232" name = "l00232" ></ a >< span class = "lineno" > 232</ span > < span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00233" name = "l00233" ></ a >< span class = "lineno" > 233</ span >< span class = "comment" > * Reset the semaphore count.</ span ></ div >
< div class = "line" >< a id = "l00234" name = "l00234" ></ a >< span class = "lineno" > 234</ span >< span class = "comment" > * @param init the initial value</ span ></ div >
< div class = "line" >< a id = "l00235" name = "l00235" ></ a >< span class = "lineno" > 235</ span >< span class = "comment" > * TODO implement on posix ?</ span ></ div >
< div class = "line" >< a id = "l00236" name = "l00236" ></ a >< span class = "lineno" > 236</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00237" name = "l00237" ></ a >< span class = "lineno" > 237</ span > < span class = "keywordtype" > void</ span > reset( < span class = "keywordtype" > int</ span > init = 0 )</ div >
< div class = "line" >< a id = "l00238" name = "l00238" ></ a >< span class = "lineno" > 238</ span > {</ div >
< div class = "line" >< a id = "l00239" name = "l00239" ></ a >< span class = "lineno" > 239</ span > CloseHandle(S);</ div >
< div class = "line" >< a id = "l00240" name = "l00240" ></ a >< span class = "lineno" > 240</ span > S = CreateSemaphore(0,init,SEM_VALUE_MAX,0);</ div >
< div class = "line" >< a id = "l00241" name = "l00241" ></ a >< span class = "lineno" > 241</ span > _count = init;</ div >
< div class = "line" >< a id = "l00242" name = "l00242" ></ a >< span class = "lineno" > 242</ span > }</ div >
< div class = "line" >< a id = "l00243" name = "l00243" ></ a >< span class = "lineno" > 243</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00244" name = "l00244" ></ a >< span class = "lineno" > 244</ span > </ div >
< div class = "line" >< a id = "l00245" name = "l00245" ></ a >< span class = "lineno" > 245</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00246" name = "l00246" ></ a >< span class = "lineno" > 246</ span > < span class = "keywordtype" > void</ span > operator=(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classUSemaphore.html" > USemaphore</ a > & ){}</ div >
< div class = "line" >< a id = "l00247" name = "l00247" ></ a >< span class = "lineno" > 247</ span >< span class = "preprocessor" > #ifdef _WIN32</ span ></ div >
< div class = "line" >< a id = "l00248" name = "l00248" ></ a >< span class = "lineno" > 248</ span > < a class = "code hl_class" href = "classUSemaphore.html" > USemaphore</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classUSemaphore.html" > USemaphore</ a > & S){}</ div >
< div class = "line" >< a id = "l00249" name = "l00249" ></ a >< span class = "lineno" > 249</ span > HANDLE S;</ div >
< div class = "line" >< a id = "l00250" name = "l00250" ></ a >< span class = "lineno" > 250</ span > < span class = "keyword" > mutable</ span > std::atomic< long> _count;</ div >
< div class = "line" >< a id = "l00251" name = "l00251" ></ a >< span class = "lineno" > 251</ span >< span class = "preprocessor" > #else</ span ></ div >
< div class = "line" >< a id = "l00252" name = "l00252" ></ a >< span class = "lineno" > 252</ span > < a class = "code hl_class" href = "classUSemaphore.html" > USemaphore</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classUSemaphore.html" > USemaphore</ a > & ):_available(0){}</ div >
< div class = "line" >< a id = "l00253" name = "l00253" ></ a >< span class = "lineno" > 253</ span > pthread_mutex_t _waitMutex;</ div >
< div class = "line" >< a id = "l00254" name = "l00254" ></ a >< span class = "lineno" > 254</ span > pthread_cond_t _cond;</ div >
< div class = "line" >< a id = "l00255" name = "l00255" ></ a >< span class = "lineno" > 255</ span > < span class = "keywordtype" > int</ span > _available;</ div >
< div class = "line" >< a id = "l00256" name = "l00256" ></ a >< span class = "lineno" > 256</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00257" name = "l00257" ></ a >< span class = "lineno" > 257</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00258" name = "l00258" ></ a >< span class = "lineno" > 258</ span > </ div >
< div class = "line" >< a id = "l00259" name = "l00259" ></ a >< span class = "lineno" > 259</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > // USEMAPHORE_H</ span ></ div >
< div class = "ttc" id = "aclassUSemaphore_html" >< div class = "ttname" >< a href = "classUSemaphore.html" > USemaphore</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "USemaphore_8h_source.html#l00055" > USemaphore.h:56</ a ></ div ></ div >
< div class = "ttc" id = "aclassUSemaphore_html_a1128f81a47324e6de3946a7719c24223" >< div class = "ttname" >< a href = "classUSemaphore.html#a1128f81a47324e6de3946a7719c24223" > USemaphore::acquire</ a ></ div >< div class = "ttdeci" > bool acquire(int n=1, int ms=0)</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "USemaphore_8h_source.html#l00108" > USemaphore.h:108</ a ></ div ></ div >
< div class = "ttc" id = "aclassUSemaphore_html_a51a925279a04a54aea3583c4399a744b" >< div class = "ttname" >< a href = "classUSemaphore.html#a51a925279a04a54aea3583c4399a744b" > USemaphore::acquireTry</ a ></ div >< div class = "ttdeci" > int acquireTry(int n)</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "USemaphore_8h_source.html#l00164" > USemaphore.h:164</ a ></ div ></ div >
< div class = "ttc" id = "aclassUSemaphore_html_a693b35a08fd5363b14f3a220081814b5" >< div class = "ttname" >< a href = "classUSemaphore.html#a693b35a08fd5363b14f3a220081814b5" > USemaphore::release</ a ></ div >< div class = "ttdeci" > int release(int n=1)</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "USemaphore_8h_source.html#l00197" > USemaphore.h:197</ a ></ div ></ div >
< div class = "ttc" id = "aclassUSemaphore_html_a840fadefd8bc873c8bdf34c90d180a3b" >< div class = "ttname" >< a href = "classUSemaphore.html#a840fadefd8bc873c8bdf34c90d180a3b" > USemaphore::value</ a ></ div >< div class = "ttdeci" > int value()</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "USemaphore_8h_source.html#l00221" > USemaphore.h:221</ a ></ div ></ div >
< div class = "ttc" id = "aclassUSemaphore_html_ad991738e68e0a2baaec46ab27296cbe6" >< div class = "ttname" >< a href = "classUSemaphore.html#ad991738e68e0a2baaec46ab27296cbe6" > USemaphore::USemaphore</ a ></ div >< div class = "ttdeci" > USemaphore(int initValue=0)</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "USemaphore_8h_source.html#l00062" > USemaphore.h:62</ a ></ div ></ div >
</ div > <!-- fragment --> </ div > <!-- contents -->
</ div > <!-- doc-content -->
<!-- start footer part -->
< div id = "nav-path" class = "navpath" > <!-- id is needed for treeview function! -->
< ul >
< li class = "navelem" >< a class = "el" href = "dir_7c77c469ef71e5893c1567cf621a9d83.html" > utilite</ a ></ li >< li class = "navelem" >< a class = "el" href = "dir_5807fd1f37f21884b665e4f5337b2441.html" > include</ a ></ li >< li class = "navelem" >< a class = "el" href = "dir_d5b9494e18cb3ada3ef427a965bb34ab.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "dir_85e098119c0e838040cd00f42e29c3c2.html" > utilite</ a ></ li >< li class = "navelem" >< b > USemaphore.h</ b ></ li >
< li class = "footer" > Generated by < a href = "https://www.doxygen.org/index.html" >< img class = "footer" src = "doxygen.svg" width = "104" height = "31" alt = "doxygen" /></ a > 1.9.8 </ li >
</ ul >
</ div >
</ body >
</ html >
