fsfw/osal/FreeRTOS/BinSemaphUsingTask.cpp

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#include <framework/osal/FreeRTOS/BinSemaphUsingTask.h>
#include <framework/osal/FreeRTOS/TaskManagement.h>
BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
handle = TaskManagement::getCurrentTaskHandle();
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xTaskNotifyGive(handle);
locked = false;
}
ReturnValue_t BinarySemaphoreUsingTask::acquire(uint32_t timeoutMs) {
return takeBinarySemaphore(timeoutMs);
}
ReturnValue_t BinarySemaphoreUsingTask::release() {
return giveBinarySemaphore();
}
ReturnValue_t BinarySemaphoreUsingTask::takeBinarySemaphore(uint32_t timeoutMs) {
TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
timeout = SemaphoreIF::MAX_TIMEOUT;
}
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else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
timeout = pdMS_TO_TICKS(timeoutMs);
}
BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeout);
if (returncode == pdPASS) {
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locked = true;
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphoreUsingTask::takeBinarySemaphoreTickTimeout(
TickType_t timeoutTicks) {
BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
if (returncode == pdPASS) {
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locked = true;
return HasReturnvaluesIF::RETURN_OK;
} else {
return SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphoreUsingTask::giveBinarySemaphore() {
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if(not locked) {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
BaseType_t returncode = xTaskNotifyGive(handle);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
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// This should never happen
return HasReturnvaluesIF::RETURN_FAILED;
}
}
TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
return handle;
}
uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() {
uint32_t notificationValue;
xTaskNotifyAndQuery(handle, 0, eNoAction, &notificationValue);
return notificationValue;
}
uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(TaskHandle_t taskHandle) {
uint32_t notificationValue;
BaseType_t higherPriorityTaskWoken;
xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
&higherPriorityTaskWoken);
if(higherPriorityTaskWoken) {
TaskManagement::requestContextSwitch(CallContext::isr);
}
return notificationValue;
}
ReturnValue_t BinarySemaphoreUsingTask::giveBinarySemaphore(TaskHandle_t taskHandle) {
BaseType_t returncode = xTaskNotifyGive(taskHandle);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
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}
else {
// This should never happen.
return HasReturnvaluesIF::RETURN_FAILED;
}
}
// Be careful with the stack size here. This is called from an ISR!
ReturnValue_t BinarySemaphoreUsingTask::giveBinarySemaphoreFromISR(
TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
if(*higherPriorityTaskWoken == pdPASS) {
// Request context switch because unblocking the semaphore
// caused a high priority task unblock.
TaskManagement::requestContextSwitch(CallContext::isr);
}
return HasReturnvaluesIF::RETURN_OK;
}