openmp_mutex.h

Go to the documentation of this file.

// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#ifndef G2O_OPENMP_MUTEX
#define G2O_OPENMP_MUTEX
 
#include "g2o/config.h"
 
#ifdef G2O_OPENMP
#include <omp.h>
#else
#include <cassert>
#endif
 
namespace g2o {
 
#ifdef G2O_OPENMP

class OpenMPMutex {
 public:
  OpenMPMutex() { omp_init_lock(&_lock); }
  ~OpenMPMutex() { omp_destroy_lock(&_lock); }
  void lock() { omp_set_lock(&_lock); }
  void unlock() { omp_unset_lock(&_lock); }
 
 protected:
  omp_lock_t _lock;
};
 
#else
 
/*
 * dummy which does nothing in case we don't have OpenMP support.
 * In debug mode, the mutex allows to verify the correct lock and unlock
 * behavior
 */
class OpenMPMutex {
 public:
#ifdef NDEBUG
  OpenMPMutex() {}
#else
  OpenMPMutex() : _cnt(0) {}
#endif
  ~OpenMPMutex() { assert(_cnt == 0 && "Freeing locked mutex"); }
  void lock() { assert(++_cnt == 1 && "Locking already locked mutex"); }
  void unlock() {
    assert(--_cnt == 0 && "Trying to unlock a mutex which is not locked");
  }
 
 protected:
#ifndef NDEBUG
  char _cnt;
#endif
};
 
#endif

class ScopedOpenMPMutex {
 public:
  explicit ScopedOpenMPMutex(OpenMPMutex* mutex) : _mutex(mutex) {
    _mutex->lock();
  }
  ~ScopedOpenMPMutex() { _mutex->unlock(); }
 
 private:
  OpenMPMutex* const _mutex;
  ScopedOpenMPMutex(const ScopedOpenMPMutex&);
  void operator=(const ScopedOpenMPMutex&);
};
 
}  // namespace g2o
 
#endif