fsfw/src/fsfw/osal/freertos/BinSemaphUsingTask.cpp

#include "fsfw/osal/freertos/BinSemaphUsingTask.h"

#include "fsfw/osal/freertos/TaskManagement.h"
#include "fsfw/serviceinterface/ServiceInterface.h"

#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || tskKERNEL_VERSION_MAJOR > 8

BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
  handle = TaskManagement::getCurrentTaskHandle();
  if (handle == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "Could not retrieve task handle. Please ensure the"
                  "constructor was called inside a task."
               << std::endl;
#endif
  }
  xTaskNotifyGive(handle);
}

BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
  // Clear notification value on destruction.
  xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
}

void BinarySemaphoreUsingTask::refreshTaskHandle() {
  handle = TaskManagement::getCurrentTaskHandle();
}

ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType, uint32_t timeoutMs) {
  TickType_t timeout = 0;
  if (timeoutType == TimeoutType::POLLING) {
    timeout = 0;
  } else if (timeoutType == TimeoutType::WAITING) {
    timeout = pdMS_TO_TICKS(timeoutMs);
  } else {
    timeout = portMAX_DELAY;
  }
  return acquireWithTickTimeout(timeoutType, timeout);
}

ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(TimeoutType timeoutType,
                                                               TickType_t timeoutTicks) {
  BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
  if (returncode == pdPASS) {
    return returnvalue::OK;
  } else {
    return SemaphoreIF::SEMAPHORE_TIMEOUT;
  }
}

ReturnValue_t BinarySemaphoreUsingTask::release() { return release(this->handle); }

ReturnValue_t BinarySemaphoreUsingTask::release(TaskHandle_t taskHandle) {
  if (getSemaphoreCounter(taskHandle) == 1) {
    return SemaphoreIF::SEMAPHORE_NOT_OWNED;
  }
  BaseType_t returncode = xTaskNotifyGive(taskHandle);
  if (returncode == pdPASS) {
    return returnvalue::OK;
  } else {
    // This should never happen.
    return returnvalue::FAILED;
  }
}

TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() { return handle; }

uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
  return getSemaphoreCounter(this->handle);
}

uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(TaskHandle_t taskHandle) {
  uint32_t notificationValue;
  xTaskNotifyAndQuery(taskHandle, 0, eNoAction, &notificationValue);
  return notificationValue;
}

// Be careful with the stack size here. This is called from an ISR!
ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(TaskHandle_t taskHandle,
                                                       BaseType_t* higherPriorityTaskWoken) {
  if (getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
    return SemaphoreIF::SEMAPHORE_NOT_OWNED;
  }
  vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
  return returnvalue::OK;
}

uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
                                                             BaseType_t* higherPriorityTaskWoken) {
  uint32_t notificationValue = 0;
  xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue, higherPriorityTaskWoken);
  return notificationValue;
}

#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
    tskKERNEL_VERSION_MAJOR > 8 */