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