| #include <ros/atomic.h> | |
| #include <stdint.h> | |
| #include <parlib/spinlock.h> | |
| static spinlock_t lock = SPINLOCK_INITIALIZER; | |
| #define bool_cas_func(size, type) \ | |
| bool __sync_bool_compare_and_swap_ ## size(type* ptr, type oldval, type newval) \ | |
| { \ | |
| bool success = false; \ | |
| spinlock_lock(&lock); \ | |
| if (*ptr == oldval) \ | |
| { \ | |
| *ptr = newval; \ | |
| success = true; \ | |
| } \ | |
| spinlock_unlock(&lock); \ | |
| return success; \ | |
| } | |
| bool_cas_func(1, uint8_t) | |
| bool_cas_func(2, uint16_t) | |
| bool_cas_func(4, uint32_t) | |
| bool_cas_func(8, uint64_t) |