LibXR::Mutex Class Reference

互斥锁类，提供线程同步机制 (Mutex class providing thread synchronization mechanisms). More...

#include <mutex.hpp>

Data Structures
class	LockGuard
	互斥锁的 RAII 机制封装 (RAII-style mechanism for automatic mutex management). More...
class	LockGuardInCallback
	回调（ISR）上下文中的互斥锁管理类 (Lock management class for ISR context). More...

Public Member Functions
	Mutex ()
	构造函数，初始化互斥锁 (Constructor to initialize the mutex).
	~Mutex ()
	析构函数，销毁互斥锁 (Destructor to destroy the mutex).
ErrorCode	Lock ()
	加锁，如果锁已被占用，则阻塞等待 (Lock the mutex, blocking if it is already locked).
ErrorCode	TryLock ()
	尝试加锁，如果锁已被占用，则立即返回失败 (Attempt to lock the mutex, returning immediately if already locked).
void	Unlock ()
	解锁互斥锁 (Unlock the mutex).
ErrorCode	TryLockInCallback (bool in_isr)
	在回调（ISR）中尝试加锁 (Attempt to lock the mutex inside an interrupt service routine (ISR)).
void	UnlockFromCallback (bool in_isr)
	在回调（ISR）中解锁 (Unlock the mutex inside an interrupt service routine (ISR)).

Private Attributes
libxr_mutex_handle	mutex_handle_
	互斥锁句柄 (Handle for the mutex).

Detailed Description

互斥锁类，提供线程同步机制 (Mutex class providing thread synchronization mechanisms).

This class implements a mutex for thread-safe operations, supporting locking, unlocking, and special handling for interrupt service routines (ISR). 该类实现了一个互斥锁，用于确保多线程环境下的线程安全，支持加锁、解锁，并对中断服务程序（ISR）进行特殊处理。

Definition at line 17 of file mutex.hpp.

Constructor & Destructor Documentation

Mutex()

Mutex::Mutex

(

)

构造函数，初始化互斥锁 (Constructor to initialize the mutex).

Definition at line 9 of file mutex.cpp.

: mutex_handle_(xSemaphoreCreateBinary()) { Unlock(); }

~Mutex()

Mutex::~Mutex

(

)

析构函数，销毁互斥锁 (Destructor to destroy the mutex).

Definition at line 11 of file mutex.cpp.

{ vSemaphoreDelete(mutex_handle_); }

Member Function Documentation

Lock()

ErrorCode Mutex::Lock

(

)

加锁，如果锁已被占用，则阻塞等待 (Lock the mutex, blocking if it is already locked).

Returns

操作结果 (Operation result):

• ErrorCode::OK 表示成功 (ErrorCode::OK on success).

Definition at line 13 of file mutex.cpp.

                      {
  if (xSemaphoreTake(mutex_handle_, UINT32_MAX)) {
    return ErrorCode::BUSY;
  }
  return ErrorCode::OK;
}

TryLock()

ErrorCode Mutex::TryLock

(

)

尝试加锁，如果锁已被占用，则立即返回失败 (Attempt to lock the mutex, returning immediately if already locked).

Returns

操作结果 (Operation result):

• ErrorCode::OK 表示成功 (ErrorCode::OK on success).
• ErrorCode::BUSY 表示锁已被占用 (ErrorCode::BUSY if the mutex is already locked).

Definition at line 20 of file mutex.cpp.

                         {
  if (xSemaphoreTake(mutex_handle_, 0)) {
    return ErrorCode::BUSY;
  }
  return ErrorCode::OK;
}

TryLockInCallback()

ErrorCode Mutex::TryLockInCallback

(

bool

in_isr

)

在回调（ISR）中尝试加锁 (Attempt to lock the mutex inside an interrupt service routine (ISR)).

Parameters

in_isr

指示当前是否处于中断上下文 (Indicates whether the function is called inside an ISR).

Returns

操作结果 (Operation result):

• ErrorCode::OK 表示成功 (ErrorCode::OK on success).
• ErrorCode::BUSY 表示锁已被占用 (ErrorCode::BUSY if the mutex is already locked).

Definition at line 29 of file mutex.cpp.

                                              {
  if (in_isr) {
    BaseType_t px_higher_priority_task_woken = 0;
    BaseType_t ans =
        xSemaphoreTakeFromISR(mutex_handle_, &px_higher_priority_task_woken);
 
    if (ans == pdPASS) {
      if (px_higher_priority_task_woken != pdFALSE) {
        portYIELD();  // NOLINT
      }
 
      return ErrorCode::OK;
    } else {
      return ErrorCode::BUSY;
    }
  } else {
    return TryLock();
  }
}

Unlock()

void Mutex::Unlock

(

)

解锁互斥锁 (Unlock the mutex).

Definition at line 27 of file mutex.cpp.

{ xSemaphoreGive(mutex_handle_); }

UnlockFromCallback()

void Mutex::UnlockFromCallback

(

bool

in_isr

)

在回调（ISR）中解锁 (Unlock the mutex inside an interrupt service routine (ISR)).

Parameters

in_isr

指示当前是否处于中断上下文 (Indicates whether the function is called inside an ISR).

Definition at line 49 of file mutex.cpp.

                                          {
  if (in_isr) {
    BaseType_t px_higher_priority_task_woken = 0;
    xSemaphoreGiveFromISR(mutex_handle_, &px_higher_priority_task_woken);
    if (px_higher_priority_task_woken != pdFALSE) {
      portYIELD();  // NOLINT
    }
  } else {
    Unlock();
  }
}

Field Documentation

mutex_handle_

libxr_mutex_handle LibXR::Mutex::mutex_handle_

private

互斥锁句柄 (Handle for the mutex).

Definition at line 164 of file mutex.hpp.

---

The documentation for this class was generated from the following files:

• src/system/mutex.hpp
• system/FreeRTOS/mutex.cpp
• system/Linux/mutex.cpp
• system/None/mutex.cpp
• system/Webots/mutex.cpp