Robin.Mueller
e0e1e64a09
Semaphore: Some bugfixes, some constructors added Stopwatch: First implementation, can measure in ms(double) and ms(normal)
131 lines
3.6 KiB
C++
131 lines
3.6 KiB
C++
/**
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* @file BinarySempahore.h
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*
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* @date 25.02.2020
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*/
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#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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#include <FreeRTOS.h>
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#include "semphr.h"
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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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* @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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/**
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* Create a binary semaphore
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*/
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BinarySemaphore();
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/**
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* Copy ctor
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* @param
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*/
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BinarySemaphore(const BinarySemaphore&);
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/**
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* Copy assignment
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*/
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BinarySemaphore& operator=(const BinarySemaphore&);
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/**
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* 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 for a maximum
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* 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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