Merge pull request 'Semaphore Initialization - Linux and FreeRTOS' (#89) from KSat/fsfw:mueller_binSemaphoreInit into master

Reviewed-on: fsfw/fsfw#89

osal/FreeRTOS/BinSemaphUsingTask.cpp

@@ -0,0 +1,95 @@
+#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
+	handle = TaskManagement::getCurrentTaskHandle();
+	if(handle == nullptr) {
+		sif::error << "Could not retrieve task handle. Please ensure the"
+				"constructor was called inside a task." << std::endl;
+	}
+	xTaskNotifyGive(handle);
+}
+
+BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
+	// Clear notification value on destruction.
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
+    TickType_t timeout = 0;
+    if(timeoutType == TimeoutType::POLLING) {
+        timeout = 0;
+    }
+    else if(timeoutType == TimeoutType::WAITING){
+        timeout = pdMS_TO_TICKS(timeoutMs);
+    }
+    else {
+        timeout = portMAX_DELAY;
+    }
+	return acquireWithTickTimeout(timeoutType, timeout);
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
+        TimeoutType timeoutType, TickType_t timeoutTicks) {
+	BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	}
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::release() {
+	return release(this->handle);
+}
+
+ReturnValue_t BinarySemaphoreUsingTask::release(
+		TaskHandle_t taskHandle) {
+	if(getSemaphoreCounter(taskHandle) == 1) {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	BaseType_t returncode = xTaskNotifyGive(taskHandle);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		// This should never happen.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
+	return handle;
+}
+
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
+	return getSemaphoreCounter(this->handle);
+}
+
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(
+		TaskHandle_t taskHandle) {
+	uint32_t notificationValue;
+	xTaskNotifyAndQuery(taskHandle, 0, eNoAction, &notificationValue);
+	return notificationValue;
+}
+
+// Be careful with the stack size here. This is called from an ISR!
+ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
+		TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
+	if(getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
+		TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
+	uint32_t notificationValue = 0;
+	xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
+			higherPriorityTaskWoken);
+	return notificationValue;
+}

osal/FreeRTOS/BinSemaphUsingTask.h

@@ -0,0 +1,76 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../tasks/SemaphoreIF.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+/**
+ * @brief 	Binary Semaphore implementation using the task notification value.
+ * 			The notification value should therefore not be used
+ * 			for other purposes.
+ * @details
+ * Additional information: https://www.freertos.org/RTOS-task-notifications.html
+ * and general semaphore documentation.
+ */
+class BinarySemaphoreUsingTask: public SemaphoreIF,
+		public HasReturnvaluesIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+
+	//! @brief Default ctor
+	BinarySemaphoreUsingTask();
+	//! @brief Default dtor
+	virtual~ BinarySemaphoreUsingTask();
+
+	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
+	        uint32_t timeoutMs = portMAX_DELAY) override;
+	ReturnValue_t release() override;
+	uint8_t getSemaphoreCounter() const override;
+	static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
+	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
+			BaseType_t* higherPriorityTaskWoken);
+
+	/**
+	 * Same as acquire() with timeout in FreeRTOS ticks.
+	 * @param timeoutTicks
+	 * @return - @c RETURN_OK on success
+	 *         - @c RETURN_FAILED on failure
+	 */
+	ReturnValue_t acquireWithTickTimeout(
+	        TimeoutType timeoutType = TimeoutType::BLOCKING,
+	        TickType_t timeoutTicks = portMAX_DELAY);
+
+	/**
+	 * Get handle to the task related to the semaphore.
+	 * @return
+	 */
+	TaskHandle_t getTaskHandle();
+
+	 /**
+	 * Wrapper function to give back semaphore from handle
+	 * @param semaphore
+	 * @return - @c RETURN_OK on success
+	 *         - @c RETURN_FAILED on failure
+	 */
+	static ReturnValue_t release(TaskHandle_t taskToNotify);
+
+	/**
+	 * Wrapper function to give back semaphore from handle when called from an ISR
+	 * @param semaphore
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch should be requested
+	 * from an ISR if this is the case (see TaskManagement functions)
+	 * @return - @c RETURN_OK on success
+	 *         - @c RETURN_FAILED on failure
+	 */
+	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
+				BaseType_t * higherPriorityTaskWoken);
+
+protected:
+	TaskHandle_t handle;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */

osal/FreeRTOS/BinarySemaphore.cpp

@@ -0,0 +1,108 @@
+#include "../../osal/FreeRTOS/BinarySemaphore.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+BinarySemaphore::BinarySemaphore() {
+	handle = xSemaphoreCreateBinary();
+	if(handle == nullptr) {
+		sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
+	}
+	// Initiated semaphore must be given before it can be taken.
+	xSemaphoreGive(handle);
+}
+
+BinarySemaphore::~BinarySemaphore() {
+	vSemaphoreDelete(handle);
+}
+
+BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
+    handle = xSemaphoreCreateBinary();
+    if(handle == nullptr) {
+        sif::error << "Binary semaphore creation failure" << std::endl;
+    }
+    xSemaphoreGive(handle);
+}
+
+BinarySemaphore& BinarySemaphore::operator =(
+        BinarySemaphore&& s) {
+    if(&s != this) {
+        handle = xSemaphoreCreateBinary();
+        if(handle == nullptr) {
+            sif::error << "Binary semaphore creation failure" << std::endl;
+        }
+        xSemaphoreGive(handle);
+    }
+    return *this;
+}
+
+ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
+    TickType_t timeout = 0;
+	if(timeoutType == TimeoutType::POLLING) {
+	    timeout = 0;
+	}
+	else if(timeoutType == TimeoutType::WAITING){
+	    timeout = pdMS_TO_TICKS(timeoutMs);
+	}
+	else {
+	    timeout = portMAX_DELAY;
+	}
+	return acquireWithTickTimeout(timeoutType, timeout);
+}
+
+ReturnValue_t BinarySemaphore::acquireWithTickTimeout(TimeoutType timeoutType,
+        TickType_t timeoutTicks) {
+	if(handle == nullptr) {
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	}
+
+	BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	}
+}
+
+ReturnValue_t BinarySemaphore::release() {
+	return release(handle);
+}
+
+ReturnValue_t BinarySemaphore::release(SemaphoreHandle_t semaphore) {
+	if (semaphore == nullptr) {
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	}
+	BaseType_t returncode = xSemaphoreGive(semaphore);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+}
+
+uint8_t BinarySemaphore::getSemaphoreCounter() const {
+	return uxSemaphoreGetCount(handle);
+}
+
+SemaphoreHandle_t BinarySemaphore::getSemaphore() {
+	return handle;
+}
+
+
+// Be careful with the stack size here. This is called from an ISR!
+ReturnValue_t BinarySemaphore::releaseFromISR(
+		SemaphoreHandle_t semaphore, BaseType_t * higherPriorityTaskWoken) {
+	if (semaphore == nullptr) {
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	}
+	BaseType_t returncode = xSemaphoreGiveFromISR(semaphore,
+			higherPriorityTaskWoken);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+}

osal/FreeRTOS/BinarySemaphore.h

@@ -0,0 +1,107 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../tasks/SemaphoreIF.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
+
+/**
+ * @brief 	OS Tool to achieve synchronization of between tasks or between
+ * 			task and ISR. The default semaphore implementation creates a
+ * 			binary semaphore, which can only be taken once.
+ * @details
+ * Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
+ *
+ * Please note that if the semaphore implementation is only related to
+ * the synchronization of one task, the new task notifications can be used,
+ * also see the BinSemaphUsingTask and CountingSemaphUsingTask classes.
+ * These use the task notification value instead of a queue and are
+ * faster and more efficient.
+ *
+ * @author 	R. Mueller
+ * @ingroup osal
+ */
+class BinarySemaphore: public SemaphoreIF,
+		public HasReturnvaluesIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+
+	//! @brief Default ctor
+	BinarySemaphore();
+	//! @brief Copy ctor, deleted explicitely.
+	BinarySemaphore(const BinarySemaphore&) = delete;
+	//! @brief Copy assignment, deleted explicitely.
+	BinarySemaphore& operator=(const BinarySemaphore&) = delete;
+	//! @brief Move ctor
+	BinarySemaphore (BinarySemaphore &&);
+	//! @brief Move assignment
+	BinarySemaphore & operator=(BinarySemaphore &&);
+	//! @brief Destructor
+	virtual ~BinarySemaphore();
+
+	uint8_t getSemaphoreCounter() const override;
+
+	/**
+	 * Take the binary semaphore.
+	 * If the semaphore has already been taken, the task will be blocked
+	 * for a maximum of #timeoutMs or until the semaphore is given back,
+	 * for example by an ISR or another task.
+	 * @param timeoutMs
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquire(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, uint32_t timeoutMs = portMAX_DELAY) override;
+
+	/**
+	 * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
+	 * @param timeoutTicks
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t  acquireWithTickTimeout(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, TickType_t timeoutTicks = portMAX_DELAY);
+
+	/**
+	 * Release the binary semaphore.
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         	already available.
+	 */
+	ReturnValue_t release() override;
+
+	/**
+	 * Get Handle to the semaphore.
+	 * @return
+	 */
+	SemaphoreHandle_t getSemaphore();
+
+	 /**
+	 * Wrapper function to give back semaphore from handle
+	 * @param semaphore
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         	already available.
+	 */
+	static ReturnValue_t release(SemaphoreHandle_t semaphore);
+
+	/**
+	 * Wrapper function to give back semaphore from handle when called from an ISR
+	 * @param semaphore
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch from an ISR should
+	 * then be requested (see TaskManagement functions)
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         	already available.
+	 */
+	static ReturnValue_t releaseFromISR(SemaphoreHandle_t semaphore,
+				BaseType_t * higherPriorityTaskWoken);
+
+protected:
+	SemaphoreHandle_t handle;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

osal/FreeRTOS/CountingSemaphUsingTask.cpp

@@ -0,0 +1,114 @@
+#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
+		uint8_t initCount): maxCount(maxCount) {
+	if(initCount > maxCount) {
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+				"intial cout. Setting initial count to max count." << std::endl;
+		initCount = maxCount;
+	}
+
+	handle = TaskManagement::getCurrentTaskHandle();
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
+				"handle. Please ensure the constructor was called inside a "
+				"task." << std::endl;
+	}
+
+	uint32_t oldNotificationValue;
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
+			&oldNotificationValue);
+	if(oldNotificationValue != 0) {
+		sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but "
+				"current notification value is not 0. Please ensure the "
+				"notification value is not used for other purposes!" << std::endl;
+	}
+	for(int i = 0; i < initCount; i++) {
+		xTaskNotifyGive(handle);
+	}
+}
+
+CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
+	// Clear notification value on destruction.
+	// If this is not desired, don't call the destructor
+	// (or implement a boolean which disables the reset)
+	xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::acquire(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
+    TickType_t timeout = 0;
+    if(timeoutType == TimeoutType::POLLING) {
+        timeout = 0;
+    }
+    else if(timeoutType == TimeoutType::WAITING){
+        timeout = pdMS_TO_TICKS(timeoutMs);
+    }
+    else {
+        timeout = portMAX_DELAY;
+    }
+    return acquireWithTickTimeout(timeoutType, timeout);
+
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::acquireWithTickTimeout(
+        TimeoutType timeoutType, TickType_t timeoutTicks) {
+	// Decrement notfication value without resetting it.
+	BaseType_t oldCount = ulTaskNotifyTake(pdFALSE, timeoutTicks);
+	if (getSemaphoreCounter() == oldCount - 1) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	}
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::release() {
+	if(getSemaphoreCounter() == maxCount) {
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	return release(handle);
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::release(
+		TaskHandle_t taskToNotify) {
+	BaseType_t returncode = xTaskNotifyGive(taskToNotify);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		// This should never happen.
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+
+uint8_t CountingSemaphoreUsingTask::getSemaphoreCounter() const {
+	uint32_t notificationValue = 0;
+	xTaskNotifyAndQuery(handle, 0, eNoAction, &notificationValue);
+	return notificationValue;
+}
+
+TaskHandle_t CountingSemaphoreUsingTask::getTaskHandle() {
+	return handle;
+}
+
+ReturnValue_t CountingSemaphoreUsingTask::releaseFromISR(
+		TaskHandle_t taskToNotify, BaseType_t* higherPriorityTaskWoken) {
+	vTaskNotifyGiveFromISR(taskToNotify, higherPriorityTaskWoken);
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
+		TaskHandle_t task, BaseType_t* higherPriorityTaskWoken) {
+	uint32_t notificationValue;
+	xTaskNotifyAndQueryFromISR(task, 0, eNoAction, &notificationValue,
+			higherPriorityTaskWoken);
+	return notificationValue;
+}
+
+uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
+	return maxCount;
+}

osal/FreeRTOS/CountingSemaphUsingTask.h

@@ -0,0 +1,102 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
+#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
+
+#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "../../tasks/SemaphoreIF.h"
+
+extern "C" {
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+}
+
+/**
+ * @brief 	Couting Semaphore implementation which uses the notification value
+ * 			of the task. The notification value should therefore not be used
+ * 			for other purposes.
+ * @details
+ *  Additional information: https://www.freertos.org/RTOS-task-notifications.html
+ *  and general semaphore documentation.
+ */
+class CountingSemaphoreUsingTask: public SemaphoreIF {
+public:
+	CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount);
+	virtual ~CountingSemaphoreUsingTask();
+
+	/**
+	 * Acquire the counting semaphore.
+	 * If no semaphores are available, the task will be blocked
+	 * for a maximum of #timeoutMs or until one is given back,
+	 * for example by an ISR or another task.
+	 * @param timeoutMs
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
+	        uint32_t timeoutMs = portMAX_DELAY) override;
+
+	/**
+	 * Release a semaphore, increasing the number of available counting
+	 * semaphores up to the #maxCount value.
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         	already available.
+	 */
+	ReturnValue_t release() override;
+
+	uint8_t getSemaphoreCounter() const override;
+	/**
+	 * Get the semaphore counter from an ISR.
+	 * @param task
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch should be requested
+	 * from an ISR if this is the case (see TaskManagement functions)
+	 * @return
+	 */
+	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t task,
+			BaseType_t* higherPriorityTaskWoken);
+
+	/**
+	 * Acquire with a timeout value in ticks
+	 * @param timeoutTicks
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquireWithTickTimeout(
+	        TimeoutType timeoutType = TimeoutType::BLOCKING,
+			TickType_t timeoutTicks = portMAX_DELAY);
+
+	/**
+	 * Get handle to the task related to the semaphore.
+	 * @return
+	 */
+	TaskHandle_t getTaskHandle();
+
+	/**
+	 * Release semaphore of task by supplying task handle
+	 * @param taskToNotify
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         	already available.
+	 */
+	static ReturnValue_t release(TaskHandle_t taskToNotify);
+	/**
+	 * Release seamphore of a task from an ISR.
+	 * @param taskToNotify
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch should be requested
+	 * from an ISR if this is the case (see TaskManagement functions)
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
+	 *         	already available.
+	 */
+	static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
+			BaseType_t* higherPriorityTaskWoken);
+
+	uint8_t getMaxCount() const;
+
+private:
+	TaskHandle_t handle;
+	const uint8_t maxCount;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */

osal/FreeRTOS/CountingSemaphore.cpp

@@ -0,0 +1,43 @@
+#include "../../osal/FreeRTOS/CountingSemaphore.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+#include "../../osal/FreeRTOS/TaskManagement.h"
+
+#include <freertos/semphr.h>
+
+// Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in
+// free FreeRTOSConfig.h file.
+CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
+		maxCount(maxCount), initCount(initCount) {
+	if(initCount > maxCount) {
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+				"intial cout. Setting initial count to max count." << std::endl;
+		initCount = maxCount;
+	}
+
+	handle = xSemaphoreCreateCounting(maxCount, initCount);
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+	}
+}
+
+CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
+		maxCount(other.maxCount), initCount(other.initCount) {
+	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+	}
+}
+
+CountingSemaphore& CountingSemaphore::operator =(
+		CountingSemaphore&& other) {
+	handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
+	if(handle == nullptr) {
+		sif::error << "CountingSemaphore: Creation failure" << std::endl;
+	}
+	return * this;
+}
+
+
+uint8_t CountingSemaphore::getMaxCount() const {
+	return maxCount;
+}

osal/FreeRTOS/CountingSemaphore.h

@@ -0,0 +1,34 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
+#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
+#include "../../osal/FreeRTOS/BinarySemaphore.h"
+
+/**
+ * @brief 	Counting semaphores, which can be acquire more than once.
+ * @details
+ * See: https://www.freertos.org/CreateCounting.html
+ * API of counting semaphores is almost identical to binary semaphores,
+ * so we just inherit from binary semaphore and provide the respective
+ * constructors.
+ */
+class CountingSemaphore: public BinarySemaphore {
+public:
+	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
+	//! @brief Copy ctor, disabled
+	CountingSemaphore(const CountingSemaphore&) = delete;
+	//! @brief Copy assignment, disabled
+	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
+	//! @brief Move ctor
+	CountingSemaphore (CountingSemaphore &&);
+	//! @brief Move assignment
+	CountingSemaphore & operator=(CountingSemaphore &&);
+
+	/* Same API as binary semaphore otherwise. acquire() can be called
+	 * until there are not semaphores left and release() can be called
+	 * until maxCount is reached. */
+	uint8_t getMaxCount() const;
+private:
+	const uint8_t maxCount;
+	uint8_t initCount = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */

osal/FreeRTOS/SemaphoreFactory.cpp

@@ -0,0 +1,59 @@
+#include "../../osal/FreeRTOS/BinarySemaphore.h"
+#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
+#include "../../osal/FreeRTOS/CountingSemaphore.h"
+#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
+#include "../../tasks/SemaphoreFactory.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+
+static const uint32_t USE_REGULAR_SEMAPHORES = 0;
+static const uint32_t USE_TASK_NOTIFICATIONS = 1;
+
+SemaphoreFactory::SemaphoreFactory() {
+}
+
+SemaphoreFactory::~SemaphoreFactory() {
+	delete factoryInstance;
+}
+
+SemaphoreFactory* SemaphoreFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new SemaphoreFactory();
+	}
+	return SemaphoreFactory::factoryInstance;
+}
+
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
+	if(argument == USE_REGULAR_SEMAPHORES) {
+		return new BinarySemaphore();
+	}
+	else if(argument == USE_TASK_NOTIFICATIONS) {
+		return new BinarySemaphoreUsingTask();
+	}
+	else {
+		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
+				"binary semaphore" << std::endl;
+		return new BinarySemaphore();
+	}
+}
+
+SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
+		uint8_t initCount, uint32_t argument) {
+	if(argument == USE_REGULAR_SEMAPHORES) {
+		return new CountingSemaphore(maxCount, initCount);
+	}
+	else if(argument == USE_TASK_NOTIFICATIONS) {
+		return new CountingSemaphoreUsingTask(maxCount, initCount);
+	}
+	else {
+		sif::warning << "SemaphoreFactory: Invalid argument, return regular"
+						"binary semaphore" << std::endl;
+		return new CountingSemaphore(maxCount, initCount);
+	}
+
+}
+
+void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
+	delete semaphore;
+}

osal/linux/BinarySemaphore.cpp

@@ -0,0 +1,149 @@
+#include "../../osal/linux/BinarySemaphore.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+extern "C" {
+#include <errno.h>
+#include <string.h>
+}
+
+BinarySemaphore::BinarySemaphore() {
+	// Using unnamed semaphores for now
+	initSemaphore();
+}
+
+BinarySemaphore::~BinarySemaphore() {
+	sem_destroy(&handle);
+}
+
+BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
+	initSemaphore();
+}
+
+BinarySemaphore& BinarySemaphore::operator =(
+        BinarySemaphore&& s) {
+	initSemaphore();
+	return * this;
+}
+
+ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
+		 uint32_t timeoutMs) {
+	int result = 0;
+	if(timeoutType == TimeoutType::POLLING) {
+		result = sem_trywait(&handle);
+	}
+	else if(timeoutType == TimeoutType::BLOCKING) {
+	    result = sem_wait(&handle);
+	}
+	else if(timeoutType == TimeoutType::WAITING){
+		timespec timeOut;
+		clock_gettime(CLOCK_REALTIME, &timeOut);
+		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
+		nseconds += timeoutMs * 1000000;
+		timeOut.tv_sec = nseconds / 1000000000;
+		timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
+	    result = sem_timedwait(&handle, &timeOut);
+	    if(result != 0 and errno == EINVAL) {
+	    	sif::debug << "BinarySemaphore::acquire: Invalid time value possible"
+	    			<< std::endl;
+	    }
+	}
+	if(result == 0) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	switch(errno) {
+	case(EAGAIN):
+		// Operation could not be performed without blocking (for sem_trywait)
+	case(ETIMEDOUT):
+		// Semaphore is 0
+		return SemaphoreIF::SEMAPHORE_TIMEOUT;
+	case(EINVAL):
+		// Semaphore invalid
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	case(EINTR):
+		// Call was interrupted by signal handler
+		sif::debug << "BinarySemaphore::acquire: Signal handler interrupted."
+				"Code " << strerror(errno) << std::endl;
+		/* No break */
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+ReturnValue_t BinarySemaphore::release() {
+	return BinarySemaphore::release(&this->handle);
+}
+
+ReturnValue_t BinarySemaphore::release(sem_t *handle) {
+	ReturnValue_t countResult = checkCount(handle, 1);
+	if(countResult != HasReturnvaluesIF::RETURN_OK) {
+		return countResult;
+	}
+
+	int result = sem_post(handle);
+	if(result == 0) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	switch(errno) {
+	case(EINVAL):
+		// Semaphore invalid
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	case(EOVERFLOW):
+		// SEM_MAX_VALUE overflow. This should never happen
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+uint8_t BinarySemaphore::getSemaphoreCounter() const {
+	// And another ugly cast :-D
+	return getSemaphoreCounter(const_cast<sem_t*>(&this->handle));
+}
+
+uint8_t BinarySemaphore::getSemaphoreCounter(sem_t *handle) {
+	int value = 0;
+	int result = sem_getvalue(handle, &value);
+	if (result == 0) {
+		return value;
+	}
+	else if(result != 0 and errno == EINVAL) {
+		// Could be called from interrupt, use lightweight printf
+		printf("BinarySemaphore::getSemaphoreCounter: Invalid semaphore\n");
+		return 0;
+	}
+	else {
+		// This should never happen.
+		return 0;
+	}
+}
+
+void BinarySemaphore::initSemaphore(uint8_t initCount) {
+	auto result = sem_init(&handle, true, initCount);
+	if(result == -1) {
+		switch(errno) {
+		case(EINVAL):
+			// Value exceeds SEM_VALUE_MAX
+		case(ENOSYS):
+		// System does not support process-shared semaphores
+		sif::error << "BinarySemaphore: Init failed with" << strerror(errno)
+				<< std::endl;
+		}
+	}
+}
+
+ReturnValue_t BinarySemaphore::checkCount(sem_t* handle, uint8_t maxCount) {
+	int value = getSemaphoreCounter(handle);
+	if(value >= maxCount) {
+		if(maxCount == 1 and value > 1) {
+			// Binary Semaphore special case.
+			// This is a config error use lightweight printf is this is called
+			// from an interrupt
+			printf("BinarySemaphore::release: Value of binary semaphore greater"
+					" than 1!\n");
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}

osal/linux/BinarySemaphore.h

@@ -0,0 +1,81 @@
+#ifndef FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
+#define FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
+#include "../../tasks/SemaphoreIF.h"
+
+extern "C" {
+#include <semaphore.h>
+}
+
+/**
+ * @brief 	OS Tool to achieve synchronization of between tasks or between
+ * 			task and ISR. The default semaphore implementation creates a
+ * 			binary semaphore, which can only be taken once.
+ * @details
+ * See: http://www.man7.org/linux/man-pages/man7/sem_overview.7.html
+ * @author 	R. Mueller
+ * @ingroup osal
+ */
+class BinarySemaphore: public SemaphoreIF,
+		public HasReturnvaluesIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+
+	//! @brief Default ctor
+	BinarySemaphore();
+	//! @brief Copy ctor, deleted explicitely.
+	BinarySemaphore(const BinarySemaphore&) = delete;
+	//! @brief Copy assignment, deleted explicitely.
+	BinarySemaphore& operator=(const BinarySemaphore&) = delete;
+	//! @brief Move ctor
+	BinarySemaphore (BinarySemaphore &&);
+	//! @brief Move assignment
+	BinarySemaphore & operator=(BinarySemaphore &&);
+	//! @brief Destructor
+	virtual ~BinarySemaphore();
+
+	void initSemaphore(uint8_t initCount = 1);
+
+	uint8_t getSemaphoreCounter() const override;
+	static uint8_t getSemaphoreCounter(sem_t* handle);
+
+	/**
+	 * Take the binary semaphore.
+	 * If the semaphore has already been taken, the task will be blocked
+	 * for a maximum of #timeoutMs or until the semaphore is given back,
+	 * for example by an ISR or another task.
+	 * @param timeoutMs
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
+	 */
+	ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
+			uint32_t timeoutMs = 0) override;
+
+	/**
+	 * Release the binary semaphore.
+	 * @return -@c RETURN_OK on success
+	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
+	 *         	already available.
+	 */
+	virtual ReturnValue_t release() override;
+	/**
+	 * This static function can be used to release a semaphore  by providing
+	 * its handle.
+	 * @param handle
+	 * @return
+	 */
+	static ReturnValue_t release(sem_t* handle);
+
+	/** Checks the validity of the semaphore count against a specified
+	 * known maxCount
+	 * @param handle
+	 * @param maxCount
+	 * @return
+	 */
+	static ReturnValue_t checkCount(sem_t* handle, uint8_t maxCount);
+protected:
+	sem_t handle;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

osal/linux/CountingSemaphore.cpp

@@ -0,0 +1,54 @@
+#include "../../osal/linux/CountingSemaphore.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
+		maxCount(maxCount), initCount(initCount) {
+	if(initCount > maxCount) {
+		sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
+				"intial cout. Setting initial count to max count." << std::endl;
+		initCount = maxCount;
+	}
+
+	initSemaphore(initCount);
+}
+
+CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
+		maxCount(other.maxCount), initCount(other.initCount) {
+	initSemaphore(initCount);
+}
+
+CountingSemaphore& CountingSemaphore::operator =(
+		CountingSemaphore&& other) {
+	initSemaphore(other.initCount);
+	return * this;
+}
+
+ReturnValue_t CountingSemaphore::release() {
+	ReturnValue_t result = checkCount(&handle, maxCount);
+	if(result != HasReturnvaluesIF::RETURN_OK) {
+		return result;
+	}
+	return CountingSemaphore::release(&this->handle);
+}
+
+ReturnValue_t CountingSemaphore::release(sem_t* handle) {
+	int result = sem_post(handle);
+	if(result == 0) {
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+
+	switch(errno) {
+	case(EINVAL):
+		// Semaphore invalid
+		return SemaphoreIF::SEMAPHORE_INVALID;
+	case(EOVERFLOW):
+		// SEM_MAX_VALUE overflow. This should never happen
+	default:
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+uint8_t CountingSemaphore::getMaxCount() const {
+	return maxCount;
+}
+

osal/linux/CountingSemaphore.h

@@ -0,0 +1,37 @@
+#ifndef FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
+#define FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
+#include "../../osal/linux/BinarySemaphore.h"
+
+/**
+ * @brief 	Counting semaphores, which can be acquired more than once.
+ * @details
+ * See: https://www.freertos.org/CreateCounting.html
+ * API of counting semaphores is almost identical to binary semaphores,
+ * so we just inherit from binary semaphore and provide the respective
+ * constructors.
+ */
+class CountingSemaphore: public BinarySemaphore {
+public:
+	CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
+	//! @brief Copy ctor, disabled
+	CountingSemaphore(const CountingSemaphore&) = delete;
+	//! @brief Copy assignment, disabled
+	CountingSemaphore& operator=(const CountingSemaphore&) = delete;
+	//! @brief Move ctor
+	CountingSemaphore (CountingSemaphore &&);
+	//! @brief Move assignment
+	CountingSemaphore & operator=(CountingSemaphore &&);
+
+	ReturnValue_t release() override;
+	static ReturnValue_t release(sem_t* sem);
+	/* Same API as binary semaphore otherwise. acquire() can be called
+	 * until there are not semaphores left and release() can be called
+	 * until maxCount is reached. */
+
+	uint8_t getMaxCount() const;
+private:
+	const uint8_t maxCount;
+	uint8_t initCount = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */

osal/linux/SemaphoreFactory.cpp

@@ -0,0 +1,33 @@
+#include "../../tasks/SemaphoreFactory.h"
+#include "BinarySemaphore.h"
+#include "CountingSemaphore.h"
+#include "../../serviceinterface/ServiceInterfaceStream.h"
+
+SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
+
+SemaphoreFactory::SemaphoreFactory() {
+}
+
+SemaphoreFactory::~SemaphoreFactory() {
+	delete factoryInstance;
+}
+
+SemaphoreFactory* SemaphoreFactory::instance() {
+	if (factoryInstance == nullptr){
+		factoryInstance = new SemaphoreFactory();
+	}
+	return SemaphoreFactory::factoryInstance;
+}
+
+SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
+	return new BinarySemaphore();
+}
+
+SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
+		uint8_t initCount, uint32_t arguments) {
+	return new CountingSemaphore(maxCount, initCount);
+}
+
+void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
+	delete semaphore;
+}

tasks/SemaphoreFactory.h

@@ -0,0 +1,50 @@
+#ifndef FSFW_TASKS_SEMAPHOREFACTORY_H_
+#define FSFW_TASKS_SEMAPHOREFACTORY_H_
+
+#include "../tasks/SemaphoreIF.h"
+
+/**
+ * Creates Semaphore.
+ * This class is a "singleton" interface, i.e. it provides an
+ * interface, but also is the base class for a singleton.
+ */
+class SemaphoreFactory {
+public:
+	virtual ~SemaphoreFactory();
+	/**
+	 * Returns the single instance of SemaphoreFactory.
+	 * The implementation of #instance is found in its subclasses.
+	 * Thus, we choose link-time variability of the  instance.
+	 */
+	static SemaphoreFactory* instance();
+
+	/**
+	 * Create a binary semaphore.
+	 * Creator function for a binary semaphore which may only be acquired once
+	 * @param argument Can be used to pass implementation specific information.
+	 * @return Pointer to newly created semaphore class instance.
+	 */
+	SemaphoreIF* createBinarySemaphore(uint32_t arguments = 0);
+	/**
+	 * Create a counting semaphore.
+	 * Creator functons for a counting semaphore which may be acquired multiple
+	 * times.
+	 * @param count Semaphore can be taken count times.
+	 * @param initCount Initial count value.
+	 * @param argument Can be used to pass implementation specific information.
+	 * @return
+	 */
+	SemaphoreIF* createCountingSemaphore(const uint8_t maxCount,
+			uint8_t initCount, uint32_t arguments = 0);
+
+	void deleteSemaphore(SemaphoreIF* semaphore);
+
+private:
+	/**
+	 * External instantiation is not allowed.
+	 */
+	SemaphoreFactory();
+	static SemaphoreFactory* factoryInstance;
+};
+
+#endif /* FSFW_TASKS_SEMAPHOREFACTORY_H_ */

tasks/SemaphoreIF.h

@@ -0,0 +1,68 @@
+#ifndef FRAMEWORK_TASKS_SEMAPHOREIF_H_
+#define FRAMEWORK_TASKS_SEMAPHOREIF_H_
+#include "../returnvalues/FwClassIds.h"
+#include "../returnvalues/HasReturnvaluesIF.h"
+#include <cstdint>
+
+/**
+ * @brief 	Generic interface for semaphores, which can be used to achieve
+ * 			task synchronization. This is a generic interface which can be
+ * 			used for both binary semaphores and counting semaphores.
+ * @details
+ * A semaphore is a synchronization primitive.
+ * See: https://en.wikipedia.org/wiki/Semaphore_(programming)
+ * A semaphore can be used to achieve task synchonization and track the
+ * availability of resources by using either the binary or the counting
+ * semaphore types.
+ *
+ * If mutual exlcusion of a resource is desired, a mutex should be used,
+ * which is a special form of a semaphore and has an own interface.
+ */
+class SemaphoreIF {
+public:
+    /**
+     * Different types of timeout for the mutex lock.
+     */
+    enum TimeoutType {
+        POLLING, //!< If mutex is not available, return immediately
+        WAITING, //!< Wait a specified time for the mutex to become available
+        BLOCKING //!< Block indefinitely until the mutex becomes available.
+    };
+
+	virtual~ SemaphoreIF() {};
+
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+	//! Semaphore timeout
+	static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);
+	//! The current semaphore can not be given, because it is not owned
+	static constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
+	static constexpr ReturnValue_t SEMAPHORE_INVALID = MAKE_RETURN_CODE(3);
+
+	/**
+	 * Generic call to acquire a semaphore.
+	 * If there are no more semaphores to be taken (for a counting semaphore,
+	 * a semaphore may be taken more than once), the taks will block
+	 * for a maximum of timeoutMs while trying to acquire the semaphore.
+	 * This can be used to achieve task synchrnization.
+	 * @param timeoutMs
+	 * @return - c RETURN_OK for successfull acquisition
+	 */
+	virtual ReturnValue_t acquire(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, uint32_t timeoutMs = 0) = 0;
+
+	/**
+	 * Corrensponding call to release a semaphore.
+	 * @return -@c RETURN_OK for successfull release
+	 */
+	virtual ReturnValue_t release() = 0;
+
+	/**
+	 * If the semaphore is a counting semaphore then the semaphores current
+	 * count value is returned. If the semaphore is a binary semaphore then 1
+	 * is returned if the semaphore is available, and 0 is returned if the
+	 * semaphore is not available.
+	 */
+	virtual uint8_t getSemaphoreCounter() const = 0;
+};
+
+#endif /* FRAMEWORK_TASKS_SEMAPHOREIF_H_ */