mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 00:57:46 +08:00
Added UScopeMutex::lockTry() support (#1777)
* Added UScopeMutex::lockTry() support * lockTry should not be callable on temporary lock * fixing test coverage
This commit is contained in:
@@ -159,28 +159,131 @@ public:
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*
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* @endcode
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*
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* The lock can also be deferred, for example to only try locking it. The destructor
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* then unlocks the mutex only if this object locked it:
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* @code
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* void callback()
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* {
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* UScopeMutex sm(m, false); // not locked yet
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* if(sm.lockTry() == 0)
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* {
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* if(cond1)
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* {
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* return; // automatically unlock the mutex m
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* }
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* ...
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* }
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* // the mutex m is unlocked only if lockTry() succeeded
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* }
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* @endcode
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*
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* The object must be named: a temporary would be destroyed, and the mutex unlocked,
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* at the end of the expression. lock(), lockTry() and unlock() can only be called on
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* a named object, so that `if(UScopeMutex(m, false).lockTry() == 0)` doesn't compile.
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* In C++17, the object can be scoped to an if statement instead:
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* @code
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* if(UScopeMutex sm(m, false); sm.lockTry() == 0)
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* {
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* // locked here
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* } // unlocked here, only if lockTry() succeeded
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* @endcode
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*
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* @see UMutex
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*/
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class UScopeMutex
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{
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public:
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UScopeMutex(const UMutex & mutex) :
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mutex_(mutex)
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/**
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* @param mutex the mutex to lock.
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* @param lockNow if true (default), the mutex is locked here. If false, it is not
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* locked until lock() or lockTry() is called.
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*/
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UScopeMutex(const UMutex & mutex, bool lockNow = true) :
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mutex_(mutex),
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locked_(false)
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{
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mutex_.lock();
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if(lockNow)
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{
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lock();
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}
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}
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// backward compatibility
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UScopeMutex(UMutex * mutex) :
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mutex_(*mutex)
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mutex_(*mutex),
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locked_(false)
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{
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mutex_.lock();
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lock();
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}
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/**
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* Unlock the mutex, only if this object locked it.
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*/
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~UScopeMutex()
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{
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mutex_.unlock();
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unlock();
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}
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/**
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* Lock the mutex, if this object doesn't hold it already.
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* @return 0 on success, an error code otherwise.
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*/
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int lock() &
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{
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if(locked_)
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{
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return 0;
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}
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int r = mutex_.lock();
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locked_ = r == 0;
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return r;
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}
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#if !defined(_WIN32) || (_WIN32_WINNT >= 0x0400)
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/**
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* Try locking the mutex, if this object doesn't hold it already.
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* @return 0 if the mutex is held by this object, EBUSY (or another
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* error code) otherwise.
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*/
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int lockTry() &
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{
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if(locked_)
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{
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return 0;
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}
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int r = mutex_.lockTry();
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locked_ = r == 0;
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return r;
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}
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#endif
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/**
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* Unlock the mutex before this object goes out of scope, only if this object locked it.
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* @return 0 on success (or if this object didn't hold the mutex), an error code otherwise.
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*/
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int unlock() &
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{
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if(!locked_)
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{
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return 0;
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}
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locked_ = false;
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return mutex_.unlock();
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}
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/**
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* @return true if this object currently holds the mutex.
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*/
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bool isLocked() const
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{
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return locked_;
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}
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private:
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UScopeMutex(const UScopeMutex &);
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void operator=(const UScopeMutex &);
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private:
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const UMutex & mutex_;
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bool locked_;
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};
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#endif // UMUTEX_H
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@@ -3,6 +3,8 @@
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#include <thread>
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#include <chrono>
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#include <atomic>
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#include <type_traits>
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#include <utility>
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#include <vector>
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TEST(UMutexTest, Constructor)
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@@ -149,6 +151,144 @@ TEST(UMutexTest, UScopeMutexWithPointer)
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t.join();
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}
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// lock(), lockTry() and unlock() can only be called on a named UScopeMutex: a temporary
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// would unlock the mutex at the end of the expression, before the code it should protect.
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template<typename T, typename = void>
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struct CanLockTry : std::false_type {};
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template<typename T>
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struct CanLockTry<T, decltype(void(std::declval<T>().lockTry()))> : std::true_type {};
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static_assert(CanLockTry<UScopeMutex &>::value, "lockTry() must be callable on a named UScopeMutex");
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static_assert(!CanLockTry<UScopeMutex>::value, "lockTry() must not be callable on a temporary UScopeMutex");
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TEST(UMutexTest, UScopeMutexDeferredIsNotLocked)
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{
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UMutex mutex;
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{
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UScopeMutex scopeMutex(mutex, false);
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EXPECT_FALSE(scopeMutex.isLocked());
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std::thread t([&mutex]() {
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EXPECT_EQ(mutex.lockTry(), 0); // Not locked by the scope mutex
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mutex.unlock();
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});
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t.join();
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}
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// The destructor must not unlock a mutex the scope mutex didn't lock
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mutex.lock();
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std::thread t([&mutex]() {
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EXPECT_NE(mutex.lockTry(), 0); // Still locked by this thread
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});
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t.join();
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mutex.unlock();
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}
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TEST(UMutexTest, UScopeMutexDeferredLock)
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{
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UMutex mutex;
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{
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UScopeMutex scopeMutex(mutex, false);
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EXPECT_EQ(scopeMutex.lock(), 0);
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EXPECT_TRUE(scopeMutex.isLocked());
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std::thread t([&mutex]() {
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EXPECT_NE(mutex.lockTry(), 0); // Should fail
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});
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t.join();
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}
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std::thread t([&mutex]() {
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EXPECT_EQ(mutex.lockTry(), 0); // Unlocked by the destructor
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mutex.unlock();
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});
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t.join();
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}
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TEST(UMutexTest, UScopeMutexLockWhenHeld)
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{
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UMutex mutex;
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{
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UScopeMutex scopeMutex(mutex); // locked by the constructor
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EXPECT_EQ(scopeMutex.lock(), 0); // Already held: not locked a second time
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EXPECT_TRUE(scopeMutex.isLocked());
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}
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std::thread t([&mutex]() {
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EXPECT_EQ(mutex.lockTry(), 0); // Unlocked once by the destructor, and free
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mutex.unlock();
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});
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t.join();
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}
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TEST(UMutexTest, UScopeMutexLockTrySucceeds)
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{
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UMutex mutex;
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{
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UScopeMutex scopeMutex(mutex, false);
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EXPECT_EQ(scopeMutex.lockTry(), 0);
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EXPECT_TRUE(scopeMutex.isLocked());
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EXPECT_EQ(scopeMutex.lockTry(), 0); // Already held: not locked a second time
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}
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std::thread t([&mutex]() {
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EXPECT_EQ(mutex.lockTry(), 0); // Unlocked once by the destructor, and free
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mutex.unlock();
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});
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t.join();
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}
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TEST(UMutexTest, UScopeMutexLockTryFails)
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{
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UMutex mutex;
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std::atomic<bool> locked(false);
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std::atomic<bool> release(false);
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std::thread owner([&]() {
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mutex.lock();
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locked = true;
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while(!release) { std::this_thread::yield(); }
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mutex.unlock();
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});
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while(!locked) { std::this_thread::yield(); }
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{
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UScopeMutex scopeMutex(mutex, false);
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EXPECT_NE(scopeMutex.lockTry(), 0); // Held by the other thread
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EXPECT_FALSE(scopeMutex.isLocked());
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}
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// The destructor didn't unlock the other thread's lock
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std::thread t([&mutex]() {
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EXPECT_NE(mutex.lockTry(), 0);
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});
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t.join();
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release = true;
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owner.join();
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EXPECT_EQ(mutex.lockTry(), 0);
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mutex.unlock();
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}
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TEST(UMutexTest, UScopeMutexEarlyUnlock)
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{
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UMutex mutex;
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{
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UScopeMutex scopeMutex(mutex);
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EXPECT_TRUE(scopeMutex.isLocked());
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EXPECT_EQ(scopeMutex.unlock(), 0);
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EXPECT_FALSE(scopeMutex.isLocked());
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EXPECT_EQ(scopeMutex.unlock(), 0); // Nothing to unlock anymore
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std::thread t([&mutex]() {
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EXPECT_EQ(mutex.lockTry(), 0); // Released before the end of the scope
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mutex.unlock();
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});
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t.join();
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mutex.lock(); // Locked by this thread, not by the scope mutex
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}
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// The destructor must not unlock it
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std::thread t([&mutex]() {
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EXPECT_NE(mutex.lockTry(), 0);
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});
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t.join();
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mutex.unlock();
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}
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TEST(UMutexTest, MultipleMutexes)
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{
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UMutex mutex1;
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