132 lines
3.9 KiB
C++
132 lines
3.9 KiB
C++
#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
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#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
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#include <framework/returnvalues/HasReturnvaluesIF.h>
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extern "C" {
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#include <freertos/FreeRTOS.h>
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#include <freertos/semphr.h>
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}
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// TODO: Counting semaphores and implement the new (better)
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// task notifications. However, those use task notifications require
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// the task handle. Maybe it would be better to make a separate class
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// and switch between the classes with #ifdefs.
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// Task Notifications require FreeRTOS V8.2 something..
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/**
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* @brief OS Tool to achieve synchronization of between tasks or between task and ISR
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* @details
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* Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
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*
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* @author R. Mueller
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* @ingroup osal
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*/
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class BinarySemaphore: public HasReturnvaluesIF {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
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//! No block time, poll the semaphore. Can also be used as tick type.
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//! Can be passed as tick type and ms value.
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static constexpr uint32_t NO_BLOCK_TIMEOUT = 0;
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static constexpr TickType_t NO_BLOCK_TICKS = 0;
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//! No block time, poll the semaphore.
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//! Can be passed as tick type and ms value.
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static constexpr TickType_t BLOCK_TIMEOUT_TICKS = portMAX_DELAY;
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static constexpr uint32_t BLOCK_TIMEOUT = portMAX_DELAY;
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//! Semaphore timeout
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static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);
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/** The current semaphore can not be given, because it is not owned */
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static constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
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static constexpr ReturnValue_t SEMAPHORE_NULLPOINTER = MAKE_RETURN_CODE(3);
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BinarySemaphore();
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/**
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* @brief Copy ctor
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*/
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BinarySemaphore(const BinarySemaphore&);
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/**
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* @brief Copy assignment
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*/
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BinarySemaphore& operator=(const BinarySemaphore&);
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/**
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* @brief Move constructor
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*/
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BinarySemaphore (BinarySemaphore &&);
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/**
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* Move assignment
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*/
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BinarySemaphore & operator=(BinarySemaphore &&);
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/**
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* Delete the binary semaphore to prevent a memory leak
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*/
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virtual ~BinarySemaphore();
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/**
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* Take the binary semaphore.
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* If the semaphore has already been taken, the task will be blocked
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* for a maximum of #timeoutMs or until the semaphore is given back,
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* for example by an ISR or another task.
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* @param timeoutMs
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* @return -@c RETURN_OK on success
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* -@c RETURN_FAILED on failure
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*/
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ReturnValue_t takeBinarySemaphore(uint32_t timeoutMs =
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BinarySemaphore::NO_BLOCK_TIMEOUT);
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/**
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* Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
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* @param timeoutTicks
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* @return - @c RETURN_OK on success
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* - @c RETURN_FAILED on failure
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*/
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ReturnValue_t takeBinarySemaphoreTickTimeout(TickType_t timeoutTicks =
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BinarySemaphore::NO_BLOCK_TICKS);
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/**
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* Give back the binary semaphore
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* @return - @c RETURN_OK on success
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* - @c RETURN_FAILED on failure
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*/
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ReturnValue_t giveBinarySemaphore();
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/**
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* Get Handle to the semaphore.
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* @return
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*/
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SemaphoreHandle_t getSemaphore();
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/**
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* Reset the semaphore.
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*/
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void resetSemaphore();
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/**
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* Wrapper function to give back semaphore from handle
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* @param semaphore
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* @return - @c RETURN_OK on success
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* - @c RETURN_FAILED on failure
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*/
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static ReturnValue_t giveBinarySemaphore(SemaphoreHandle_t semaphore);
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/**
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* Wrapper function to give back semaphore from handle when called from an ISR
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* @param semaphore
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* @param higherPriorityTaskWoken This will be set to pdPASS if a task with a higher priority
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* was unblocked
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* @return - @c RETURN_OK on success
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* - @c RETURN_FAILED on failure
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*/
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static ReturnValue_t giveBinarySemaphoreFromISR(SemaphoreHandle_t semaphore,
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BaseType_t * higherPriorityTaskWoken);
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private:
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SemaphoreHandle_t handle;
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};
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#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
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