108 lines
3.5 KiB
C++
108 lines
3.5 KiB
C++
#ifndef FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_
|
|
#define FSFW_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 /* FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
|