void init_setup(){
wiringPiSetup();
pinMode(RED_LED, OUTPUT);
pinMode(GREEN_LED, OUTPUT);
pinMode(TRACK_SENS1, INPUT);
pinMode(TRACK_SENS2, INPUT);
setupBarrier();
}
void ThreadPool::sync()
{
Lock lock(this->thread_management);
std::shared_ptr<Barrier> barrier;
std::size_t num_workers = setupBarrier(barrier);
synchronizeWorkers(num_workers, barrier);
lock.unlock();
}
void ThreadPool::safeJoin(bool remove_workers)
{
Lock lock(this->thread_management);
// don't allow a join from a worker thread
if (this->unsafeIsCurrentThreadInPool())
{
lock.unlock();
return;
}
// if a barrier already exists, just wait for that barrier to open
// copy the shared_ptr so it doesn't get reset while waiting on it
if (std::shared_ptr<Barrier> barrier = this->join_barrier)
{
lock.unlock();
barrier->wait();
return;
}
if (std::size_t num_workers = setupBarrier(this->join_barrier))
{ // don't setup a barrier if there are no workers
if (remove_workers)
unsafeRemoveWorkersLater(num_workers, nullptr);
else
synchronizeWorkers(num_workers, this->join_barrier);
lock.unlock();
// wait for the barrier to open, then destroy it
this->join_barrier->wait();
this->join_barrier.reset();
}
else
lock.unlock();
}