Replace NOTHREADS macro with _POSIX_THREADS

AprilRobotics · Oct 3, 2024 · ff1d9c3 · ff1d9c3
1 parent 5d2dea8
commit ff1d9c3
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Showing 2 changed files with 29 additions and 7 deletions.
diff --git a/common/pthreads_cross.c b/common/pthreads_cross.c
@@ -246,9 +246,8 @@ unsigned int pcthread_get_num_procs()
     return sysinfo.dwNumberOfProcessors;
 }
 
-#else
+#elif !defined(_POSIX_THREADS) /* Not _WIN32. */
 
-#ifdef NOTHREADS
 int pthread_create(pthread_t *thread, pthread_attr_t *attr, void *(*start_routine)(void *), void *arg) { return 0; }
 int pthread_join(pthread_t thread, void **value_ptr) { return 0; }
 int pthread_detach(pthread_t thread) { return 0; }
@@ -267,12 +266,13 @@ int pthread_cond_broadcast(pthread_cond_t *cond) { return 0; }
 
 int sched_yield(void) { return 0; }
 unsigned int pcthread_get_num_procs() { return 1; }
-#else
+
+#else /* Not _WIN32 and _POSIX_THREADS is defined. */
+
 #include <unistd.h>
 unsigned int pcthread_get_num_procs()
 {
     return (unsigned int)sysconf(_SC_NPROCESSORS_ONLN);
 }
-#endif
 
 #endif
diff --git a/common/pthreads_cross.h b/common/pthreads_cross.h
@@ -23,15 +23,14 @@ SOFTWARE.
 #ifndef __CPTHREAD_H__
 #define __CPTHREAD_H__
 
-#ifndef NOTHREADS
 #ifdef _WIN32
 #include <stdbool.h>
 #include <windows.h>
 #else
+#include <unistd.h>
 #include <pthread.h>
 #include <sched.h>
 #endif
-#endif
 
 #include <time.h>
 
@@ -68,9 +67,28 @@ int sched_yield(void);
 #ifdef __cplusplus
 }
 #endif
+
+#elif !defined(_POSIX_THREADS) /* _WIN32 not defined */
+/*
+ * If _WIN32 and _POSIX_THREADS are not defined then we dont support threads of
+ * any other kind. So in this case we define 'noop' pthread_* functions and
+ * types to resolve the symbols and in workerpool.c we make sure these noop
+ * functions arent expected to do thread related operations.
+ */
+
+#if __POSIX_VISIBLE < 199506
+typedef int pthread_mutex_t;
+typedef int pthread_mutexattr_t;
+typedef int pthread_attr_t;
+typedef int pthread_condattr_t;
+typedef int pthread_rwlockattr_t;
+typedef int pthread_t;
+typedef int pthread_cond_t;
 #endif
 
-#ifdef NOTHREADS
+#ifdef __cplusplus
+extern "C" {
+#endif
 int pthread_create(pthread_t *thread, pthread_attr_t *attr, void *(*start_routine)(void *), void *arg);
 int pthread_join(pthread_t thread, void **value_ptr);
 int pthread_detach(pthread_t thread);
@@ -88,8 +106,12 @@ int pthread_cond_signal(pthread_cond_t *cond);
 int pthread_cond_broadcast(pthread_cond_t *cond);
 
 int sched_yield(void);
+#ifdef __cplusplus
+}
 #endif
 
+#endif /* !defined(_POSIX_THREADS) */
+
 #ifdef __cplusplus
 extern "C" {
 #endif