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include/okapi/api/coreProsAPI.hpp

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