// 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
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#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

/**
 * \brief Mutex realized via 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

/**
 * \brief lock a mutex within a scope
 */
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
