110 lines
3.0 KiB
C++
110 lines
3.0 KiB
C++
/**
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* @file BinarySemaphore.cpp
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*
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* @date 25.02.2020
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*/
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#include <framework/osal/FreeRTOS/BinarySemaphore.h>
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#include <framework/osal/FreeRTOS/TaskManagement.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include "portmacro.h"
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#include "task.h"
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BinarySemaphore::BinarySemaphore() {
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xSemaphoreCreateBinary(handle);
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if(handle == nullptr) {
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error << "Binary semaphore creation failure" << std::endl;
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}
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}
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BinarySemaphore::~BinarySemaphore() {
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vSemaphoreDelete(handle);
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}
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ReturnValue_t BinarySemaphore::takeBinarySemaphore(uint32_t timeoutMs) {
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if(handle == nullptr) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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TickType_t timeout = portMAX_DELAY;
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if(timeoutMs != 0) {
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timeout = pdMS_TO_TICKS(timeoutMs);
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}
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BaseType_t returncode = xSemaphoreTake(handle, timeout);
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if (returncode == pdPASS) {
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return HasReturnvaluesIF::RETURN_OK;
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} else {
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return SEMAPHORE_NOT_FOUND;
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}
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}
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ReturnValue_t BinarySemaphore::takeBinarySemaphoreTickTimeout(TickType_t timeoutTicks) {
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if(handle == nullptr) {
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return SEMAPHORE_NOT_FOUND;
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}
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BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
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if (returncode == pdPASS) {
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return HasReturnvaluesIF::RETURN_OK;
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} else {
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return SEMAPHORE_TIMEOUT;
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}
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}
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ReturnValue_t BinarySemaphore::giveBinarySemaphore() {
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if (handle == nullptr) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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BaseType_t returncode = xSemaphoreGive(handle);
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if (returncode == pdPASS) {
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return HasReturnvaluesIF::RETURN_OK;
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} else {
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return SEMAPHORE_NOT_OWNED;
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}
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}
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SemaphoreHandle_t BinarySemaphore::getSemaphore() {
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return handle;
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}
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ReturnValue_t BinarySemaphore::giveBinarySemaphore(SemaphoreHandle_t semaphore) {
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if (semaphore == nullptr) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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BaseType_t returncode = xSemaphoreGive(semaphore);
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if (returncode == pdPASS) {
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return HasReturnvaluesIF::RETURN_OK;
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} else {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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void BinarySemaphore::resetSemaphore() {
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if(handle != nullptr) {
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vSemaphoreDelete(handle);
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xSemaphoreCreateBinary(handle);
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}
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}
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// Be careful with the stack size here. This is called from an ISR!
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ReturnValue_t BinarySemaphore::giveBinarySemaphoreFromISR(SemaphoreHandle_t semaphore,
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BaseType_t * higherPriorityTaskWoken) {
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if (semaphore == nullptr) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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BaseType_t returncode = xSemaphoreGiveFromISR(semaphore, higherPriorityTaskWoken);
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if (returncode == pdPASS) {
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if(*higherPriorityTaskWoken == pdPASS) {
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// Request context switch
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// TODO: I don't know if this will ever happen but if it does,
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// I want to to know in case this causes issues. If it doesn't
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// we should remove this.
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TRACE_INFO("Binary Semaphore: Higher priority task unblocked!");
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TaskManagement::requestContextSwitch(CallContext::isr);
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}
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return HasReturnvaluesIF::RETURN_OK;
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} else {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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