Merge pull request 'Semaphore Initialization - Linux and FreeRTOS' (#89) from KSat/fsfw:mueller_binSemaphoreInit into master

Reviewed-on: fsfw/fsfw#89
This commit is contained in:
Steffen Gaisser 2020-08-28 13:25:05 +02:00
commit ce4d010b5c
16 changed files with 1210 additions and 0 deletions

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#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
handle = TaskManagement::getCurrentTaskHandle();
if(handle == nullptr) {
sif::error << "Could not retrieve task handle. Please ensure the"
"constructor was called inside a task." << std::endl;
}
xTaskNotifyGive(handle);
}
BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
// Clear notification value on destruction.
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
}
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 HasReturnvaluesIF::RETURN_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 HasReturnvaluesIF::RETURN_OK;
}
else {
// This should never happen.
return HasReturnvaluesIF::RETURN_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 HasReturnvaluesIF::RETURN_OK;
}
uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
uint32_t notificationValue = 0;
xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
higherPriorityTaskWoken);
return notificationValue;
}

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#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
/**
* @brief Binary Semaphore implementation using the task notification value.
* The notification value should therefore not be used
* for other purposes.
* @details
* Additional information: https://www.freertos.org/RTOS-task-notifications.html
* and general semaphore documentation.
*/
class BinarySemaphoreUsingTask: public SemaphoreIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphoreUsingTask();
//! @brief Default dtor
virtual~ BinarySemaphoreUsingTask();
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = portMAX_DELAY) override;
ReturnValue_t release() override;
uint8_t getSemaphoreCounter() const override;
static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
BaseType_t* higherPriorityTaskWoken);
/**
* Same as acquire() with timeout in FreeRTOS ticks.
* @param timeoutTicks
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
ReturnValue_t acquireWithTickTimeout(
TimeoutType timeoutType = TimeoutType::BLOCKING,
TickType_t timeoutTicks = portMAX_DELAY);
/**
* Get handle to the task related to the semaphore.
* @return
*/
TaskHandle_t getTaskHandle();
/**
* Wrapper function to give back semaphore from handle
* @param semaphore
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t release(TaskHandle_t taskToNotify);
/**
* Wrapper function to give back semaphore from handle when called from an ISR
* @param semaphore
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
* a higher priority was unblocked. A context switch should be requested
* from an ISR if this is the case (see TaskManagement functions)
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
BaseType_t * higherPriorityTaskWoken);
protected:
TaskHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */

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#include "../../osal/FreeRTOS/BinarySemaphore.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
BinarySemaphore::BinarySemaphore() {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
}
// Initiated semaphore must be given before it can be taken.
xSemaphoreGive(handle);
}
BinarySemaphore::~BinarySemaphore() {
vSemaphoreDelete(handle);
}
BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Binary semaphore creation failure" << std::endl;
}
xSemaphoreGive(handle);
}
BinarySemaphore& BinarySemaphore::operator =(
BinarySemaphore&& s) {
if(&s != this) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Binary semaphore creation failure" << std::endl;
}
xSemaphoreGive(handle);
}
return *this;
}
ReturnValue_t BinarySemaphore::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 BinarySemaphore::acquireWithTickTimeout(TimeoutType timeoutType,
TickType_t timeoutTicks) {
if(handle == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphore::release() {
return release(handle);
}
ReturnValue_t BinarySemaphore::release(SemaphoreHandle_t semaphore) {
if (semaphore == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreGive(semaphore);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
}
uint8_t BinarySemaphore::getSemaphoreCounter() const {
return uxSemaphoreGetCount(handle);
}
SemaphoreHandle_t BinarySemaphore::getSemaphore() {
return handle;
}
// Be careful with the stack size here. This is called from an ISR!
ReturnValue_t BinarySemaphore::releaseFromISR(
SemaphoreHandle_t semaphore, BaseType_t * higherPriorityTaskWoken) {
if (semaphore == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreGiveFromISR(semaphore,
higherPriorityTaskWoken);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
}

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#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
/**
* @brief OS Tool to achieve synchronization of between tasks or between
* task and ISR. The default semaphore implementation creates a
* binary semaphore, which can only be taken once.
* @details
* Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
*
* Please note that if the semaphore implementation is only related to
* the synchronization of one task, the new task notifications can be used,
* also see the BinSemaphUsingTask and CountingSemaphUsingTask classes.
* These use the task notification value instead of a queue and are
* faster and more efficient.
*
* @author R. Mueller
* @ingroup osal
*/
class BinarySemaphore: public SemaphoreIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphore();
//! @brief Copy ctor, deleted explicitely.
BinarySemaphore(const BinarySemaphore&) = delete;
//! @brief Copy assignment, deleted explicitely.
BinarySemaphore& operator=(const BinarySemaphore&) = delete;
//! @brief Move ctor
BinarySemaphore (BinarySemaphore &&);
//! @brief Move assignment
BinarySemaphore & operator=(BinarySemaphore &&);
//! @brief Destructor
virtual ~BinarySemaphore();
uint8_t getSemaphoreCounter() const override;
/**
* Take the binary semaphore.
* If the semaphore has already been taken, the task will be blocked
* for a maximum of #timeoutMs or until the semaphore is given back,
* for example by an ISR or another task.
* @param timeoutMs
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquire(TimeoutType timeoutType =
TimeoutType::BLOCKING, uint32_t timeoutMs = portMAX_DELAY) override;
/**
* Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
* @param timeoutTicks
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquireWithTickTimeout(TimeoutType timeoutType =
TimeoutType::BLOCKING, TickType_t timeoutTicks = portMAX_DELAY);
/**
* Release the binary semaphore.
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
ReturnValue_t release() override;
/**
* Get Handle to the semaphore.
* @return
*/
SemaphoreHandle_t getSemaphore();
/**
* Wrapper function to give back semaphore from handle
* @param semaphore
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
static ReturnValue_t release(SemaphoreHandle_t semaphore);
/**
* Wrapper function to give back semaphore from handle when called from an ISR
* @param semaphore
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
* a higher priority was unblocked. A context switch from an ISR should
* then be requested (see TaskManagement functions)
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
static ReturnValue_t releaseFromISR(SemaphoreHandle_t semaphore,
BaseType_t * higherPriorityTaskWoken);
protected:
SemaphoreHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

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

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#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
#include "../../tasks/SemaphoreIF.h"
extern "C" {
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
}
/**
* @brief Couting Semaphore implementation which uses the notification value
* of the task. The notification value should therefore not be used
* for other purposes.
* @details
* Additional information: https://www.freertos.org/RTOS-task-notifications.html
* and general semaphore documentation.
*/
class CountingSemaphoreUsingTask: public SemaphoreIF {
public:
CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount);
virtual ~CountingSemaphoreUsingTask();
/**
* Acquire the counting semaphore.
* If no semaphores are available, the task will be blocked
* for a maximum of #timeoutMs or until one is given back,
* for example by an ISR or another task.
* @param timeoutMs
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = portMAX_DELAY) override;
/**
* Release a semaphore, increasing the number of available counting
* semaphores up to the #maxCount value.
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
* already available.
*/
ReturnValue_t release() override;
uint8_t getSemaphoreCounter() const override;
/**
* Get the semaphore counter from an ISR.
* @param task
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
* a higher priority was unblocked. A context switch should be requested
* from an ISR if this is the case (see TaskManagement functions)
* @return
*/
static uint8_t getSemaphoreCounterFromISR(TaskHandle_t task,
BaseType_t* higherPriorityTaskWoken);
/**
* Acquire with a timeout value in ticks
* @param timeoutTicks
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquireWithTickTimeout(
TimeoutType timeoutType = TimeoutType::BLOCKING,
TickType_t timeoutTicks = portMAX_DELAY);
/**
* Get handle to the task related to the semaphore.
* @return
*/
TaskHandle_t getTaskHandle();
/**
* Release semaphore of task by supplying task handle
* @param taskToNotify
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
* already available.
*/
static ReturnValue_t release(TaskHandle_t taskToNotify);
/**
* Release seamphore of a task from an ISR.
* @param taskToNotify
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
* a higher priority was unblocked. A context switch should be requested
* from an ISR if this is the case (see TaskManagement functions)
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
* already available.
*/
static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
BaseType_t* higherPriorityTaskWoken);
uint8_t getMaxCount() const;
private:
TaskHandle_t handle;
const uint8_t maxCount;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */

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#include "../../osal/FreeRTOS/CountingSemaphore.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include <freertos/semphr.h>
// Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in
// free FreeRTOSConfig.h file.
CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
maxCount(maxCount), initCount(initCount) {
if(initCount > maxCount) {
sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count." << std::endl;
initCount = maxCount;
}
handle = xSemaphoreCreateCounting(maxCount, initCount);
if(handle == nullptr) {
sif::error << "CountingSemaphore: Creation failure" << std::endl;
}
}
CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
maxCount(other.maxCount), initCount(other.initCount) {
handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
if(handle == nullptr) {
sif::error << "CountingSemaphore: Creation failure" << std::endl;
}
}
CountingSemaphore& CountingSemaphore::operator =(
CountingSemaphore&& other) {
handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
if(handle == nullptr) {
sif::error << "CountingSemaphore: Creation failure" << std::endl;
}
return * this;
}
uint8_t CountingSemaphore::getMaxCount() const {
return maxCount;
}

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#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
#include "../../osal/FreeRTOS/BinarySemaphore.h"
/**
* @brief Counting semaphores, which can be acquire more than once.
* @details
* See: https://www.freertos.org/CreateCounting.html
* API of counting semaphores is almost identical to binary semaphores,
* so we just inherit from binary semaphore and provide the respective
* constructors.
*/
class CountingSemaphore: public BinarySemaphore {
public:
CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
//! @brief Copy ctor, disabled
CountingSemaphore(const CountingSemaphore&) = delete;
//! @brief Copy assignment, disabled
CountingSemaphore& operator=(const CountingSemaphore&) = delete;
//! @brief Move ctor
CountingSemaphore (CountingSemaphore &&);
//! @brief Move assignment
CountingSemaphore & operator=(CountingSemaphore &&);
/* Same API as binary semaphore otherwise. acquire() can be called
* until there are not semaphores left and release() can be called
* until maxCount is reached. */
uint8_t getMaxCount() const;
private:
const uint8_t maxCount;
uint8_t initCount = 0;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */

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#include "../../osal/FreeRTOS/BinarySemaphore.h"
#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
#include "../../osal/FreeRTOS/CountingSemaphore.h"
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
#include "../../tasks/SemaphoreFactory.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
static const uint32_t USE_REGULAR_SEMAPHORES = 0;
static const uint32_t USE_TASK_NOTIFICATIONS = 1;
SemaphoreFactory::SemaphoreFactory() {
}
SemaphoreFactory::~SemaphoreFactory() {
delete factoryInstance;
}
SemaphoreFactory* SemaphoreFactory::instance() {
if (factoryInstance == nullptr){
factoryInstance = new SemaphoreFactory();
}
return SemaphoreFactory::factoryInstance;
}
SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
if(argument == USE_REGULAR_SEMAPHORES) {
return new BinarySemaphore();
}
else if(argument == USE_TASK_NOTIFICATIONS) {
return new BinarySemaphoreUsingTask();
}
else {
sif::warning << "SemaphoreFactory: Invalid argument, return regular"
"binary semaphore" << std::endl;
return new BinarySemaphore();
}
}
SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
uint8_t initCount, uint32_t argument) {
if(argument == USE_REGULAR_SEMAPHORES) {
return new CountingSemaphore(maxCount, initCount);
}
else if(argument == USE_TASK_NOTIFICATIONS) {
return new CountingSemaphoreUsingTask(maxCount, initCount);
}
else {
sif::warning << "SemaphoreFactory: Invalid argument, return regular"
"binary semaphore" << std::endl;
return new CountingSemaphore(maxCount, initCount);
}
}
void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
delete semaphore;
}

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#include "../../osal/linux/BinarySemaphore.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
extern "C" {
#include <errno.h>
#include <string.h>
}
BinarySemaphore::BinarySemaphore() {
// Using unnamed semaphores for now
initSemaphore();
}
BinarySemaphore::~BinarySemaphore() {
sem_destroy(&handle);
}
BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
initSemaphore();
}
BinarySemaphore& BinarySemaphore::operator =(
BinarySemaphore&& s) {
initSemaphore();
return * this;
}
ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
uint32_t timeoutMs) {
int result = 0;
if(timeoutType == TimeoutType::POLLING) {
result = sem_trywait(&handle);
}
else if(timeoutType == TimeoutType::BLOCKING) {
result = sem_wait(&handle);
}
else if(timeoutType == TimeoutType::WAITING){
timespec timeOut;
clock_gettime(CLOCK_REALTIME, &timeOut);
uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
nseconds += timeoutMs * 1000000;
timeOut.tv_sec = nseconds / 1000000000;
timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
result = sem_timedwait(&handle, &timeOut);
if(result != 0 and errno == EINVAL) {
sif::debug << "BinarySemaphore::acquire: Invalid time value possible"
<< std::endl;
}
}
if(result == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
switch(errno) {
case(EAGAIN):
// Operation could not be performed without blocking (for sem_trywait)
case(ETIMEDOUT):
// Semaphore is 0
return SemaphoreIF::SEMAPHORE_TIMEOUT;
case(EINVAL):
// Semaphore invalid
return SemaphoreIF::SEMAPHORE_INVALID;
case(EINTR):
// Call was interrupted by signal handler
sif::debug << "BinarySemaphore::acquire: Signal handler interrupted."
"Code " << strerror(errno) << std::endl;
/* No break */
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t BinarySemaphore::release() {
return BinarySemaphore::release(&this->handle);
}
ReturnValue_t BinarySemaphore::release(sem_t *handle) {
ReturnValue_t countResult = checkCount(handle, 1);
if(countResult != HasReturnvaluesIF::RETURN_OK) {
return countResult;
}
int result = sem_post(handle);
if(result == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
switch(errno) {
case(EINVAL):
// Semaphore invalid
return SemaphoreIF::SEMAPHORE_INVALID;
case(EOVERFLOW):
// SEM_MAX_VALUE overflow. This should never happen
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t BinarySemaphore::getSemaphoreCounter() const {
// And another ugly cast :-D
return getSemaphoreCounter(const_cast<sem_t*>(&this->handle));
}
uint8_t BinarySemaphore::getSemaphoreCounter(sem_t *handle) {
int value = 0;
int result = sem_getvalue(handle, &value);
if (result == 0) {
return value;
}
else if(result != 0 and errno == EINVAL) {
// Could be called from interrupt, use lightweight printf
printf("BinarySemaphore::getSemaphoreCounter: Invalid semaphore\n");
return 0;
}
else {
// This should never happen.
return 0;
}
}
void BinarySemaphore::initSemaphore(uint8_t initCount) {
auto result = sem_init(&handle, true, initCount);
if(result == -1) {
switch(errno) {
case(EINVAL):
// Value exceeds SEM_VALUE_MAX
case(ENOSYS):
// System does not support process-shared semaphores
sif::error << "BinarySemaphore: Init failed with" << strerror(errno)
<< std::endl;
}
}
}
ReturnValue_t BinarySemaphore::checkCount(sem_t* handle, uint8_t maxCount) {
int value = getSemaphoreCounter(handle);
if(value >= maxCount) {
if(maxCount == 1 and value > 1) {
// Binary Semaphore special case.
// This is a config error use lightweight printf is this is called
// from an interrupt
printf("BinarySemaphore::release: Value of binary semaphore greater"
" than 1!\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
return HasReturnvaluesIF::RETURN_OK;
}

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#ifndef FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
#define FRAMEWORK_OSAL_LINUX_BINARYSEMPAHORE_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
extern "C" {
#include <semaphore.h>
}
/**
* @brief OS Tool to achieve synchronization of between tasks or between
* task and ISR. The default semaphore implementation creates a
* binary semaphore, which can only be taken once.
* @details
* See: http://www.man7.org/linux/man-pages/man7/sem_overview.7.html
* @author R. Mueller
* @ingroup osal
*/
class BinarySemaphore: public SemaphoreIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphore();
//! @brief Copy ctor, deleted explicitely.
BinarySemaphore(const BinarySemaphore&) = delete;
//! @brief Copy assignment, deleted explicitely.
BinarySemaphore& operator=(const BinarySemaphore&) = delete;
//! @brief Move ctor
BinarySemaphore (BinarySemaphore &&);
//! @brief Move assignment
BinarySemaphore & operator=(BinarySemaphore &&);
//! @brief Destructor
virtual ~BinarySemaphore();
void initSemaphore(uint8_t initCount = 1);
uint8_t getSemaphoreCounter() const override;
static uint8_t getSemaphoreCounter(sem_t* handle);
/**
* Take the binary semaphore.
* If the semaphore has already been taken, the task will be blocked
* for a maximum of #timeoutMs or until the semaphore is given back,
* for example by an ISR or another task.
* @param timeoutMs
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = 0) override;
/**
* Release the binary semaphore.
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
virtual ReturnValue_t release() override;
/**
* This static function can be used to release a semaphore by providing
* its handle.
* @param handle
* @return
*/
static ReturnValue_t release(sem_t* handle);
/** Checks the validity of the semaphore count against a specified
* known maxCount
* @param handle
* @param maxCount
* @return
*/
static ReturnValue_t checkCount(sem_t* handle, uint8_t maxCount);
protected:
sem_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

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#include "../../osal/linux/CountingSemaphore.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
maxCount(maxCount), initCount(initCount) {
if(initCount > maxCount) {
sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
"intial cout. Setting initial count to max count." << std::endl;
initCount = maxCount;
}
initSemaphore(initCount);
}
CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
maxCount(other.maxCount), initCount(other.initCount) {
initSemaphore(initCount);
}
CountingSemaphore& CountingSemaphore::operator =(
CountingSemaphore&& other) {
initSemaphore(other.initCount);
return * this;
}
ReturnValue_t CountingSemaphore::release() {
ReturnValue_t result = checkCount(&handle, maxCount);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return CountingSemaphore::release(&this->handle);
}
ReturnValue_t CountingSemaphore::release(sem_t* handle) {
int result = sem_post(handle);
if(result == 0) {
return HasReturnvaluesIF::RETURN_OK;
}
switch(errno) {
case(EINVAL):
// Semaphore invalid
return SemaphoreIF::SEMAPHORE_INVALID;
case(EOVERFLOW):
// SEM_MAX_VALUE overflow. This should never happen
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
uint8_t CountingSemaphore::getMaxCount() const {
return maxCount;
}

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#ifndef FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
#define FRAMEWORK_OSAL_LINUX_COUNTINGSEMAPHORE_H_
#include "../../osal/linux/BinarySemaphore.h"
/**
* @brief Counting semaphores, which can be acquired more than once.
* @details
* See: https://www.freertos.org/CreateCounting.html
* API of counting semaphores is almost identical to binary semaphores,
* so we just inherit from binary semaphore and provide the respective
* constructors.
*/
class CountingSemaphore: public BinarySemaphore {
public:
CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
//! @brief Copy ctor, disabled
CountingSemaphore(const CountingSemaphore&) = delete;
//! @brief Copy assignment, disabled
CountingSemaphore& operator=(const CountingSemaphore&) = delete;
//! @brief Move ctor
CountingSemaphore (CountingSemaphore &&);
//! @brief Move assignment
CountingSemaphore & operator=(CountingSemaphore &&);
ReturnValue_t release() override;
static ReturnValue_t release(sem_t* sem);
/* Same API as binary semaphore otherwise. acquire() can be called
* until there are not semaphores left and release() can be called
* until maxCount is reached. */
uint8_t getMaxCount() const;
private:
const uint8_t maxCount;
uint8_t initCount = 0;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */

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#include "../../tasks/SemaphoreFactory.h"
#include "BinarySemaphore.h"
#include "CountingSemaphore.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
SemaphoreFactory::SemaphoreFactory() {
}
SemaphoreFactory::~SemaphoreFactory() {
delete factoryInstance;
}
SemaphoreFactory* SemaphoreFactory::instance() {
if (factoryInstance == nullptr){
factoryInstance = new SemaphoreFactory();
}
return SemaphoreFactory::factoryInstance;
}
SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t arguments) {
return new BinarySemaphore();
}
SemaphoreIF* SemaphoreFactory::createCountingSemaphore(const uint8_t maxCount,
uint8_t initCount, uint32_t arguments) {
return new CountingSemaphore(maxCount, initCount);
}
void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
delete semaphore;
}

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#ifndef FSFW_TASKS_SEMAPHOREFACTORY_H_
#define FSFW_TASKS_SEMAPHOREFACTORY_H_
#include "../tasks/SemaphoreIF.h"
/**
* Creates Semaphore.
* This class is a "singleton" interface, i.e. it provides an
* interface, but also is the base class for a singleton.
*/
class SemaphoreFactory {
public:
virtual ~SemaphoreFactory();
/**
* Returns the single instance of SemaphoreFactory.
* The implementation of #instance is found in its subclasses.
* Thus, we choose link-time variability of the instance.
*/
static SemaphoreFactory* instance();
/**
* Create a binary semaphore.
* Creator function for a binary semaphore which may only be acquired once
* @param argument Can be used to pass implementation specific information.
* @return Pointer to newly created semaphore class instance.
*/
SemaphoreIF* createBinarySemaphore(uint32_t arguments = 0);
/**
* Create a counting semaphore.
* Creator functons for a counting semaphore which may be acquired multiple
* times.
* @param count Semaphore can be taken count times.
* @param initCount Initial count value.
* @param argument Can be used to pass implementation specific information.
* @return
*/
SemaphoreIF* createCountingSemaphore(const uint8_t maxCount,
uint8_t initCount, uint32_t arguments = 0);
void deleteSemaphore(SemaphoreIF* semaphore);
private:
/**
* External instantiation is not allowed.
*/
SemaphoreFactory();
static SemaphoreFactory* factoryInstance;
};
#endif /* FSFW_TASKS_SEMAPHOREFACTORY_H_ */

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#ifndef FRAMEWORK_TASKS_SEMAPHOREIF_H_
#define FRAMEWORK_TASKS_SEMAPHOREIF_H_
#include "../returnvalues/FwClassIds.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <cstdint>
/**
* @brief Generic interface for semaphores, which can be used to achieve
* task synchronization. This is a generic interface which can be
* used for both binary semaphores and counting semaphores.
* @details
* A semaphore is a synchronization primitive.
* See: https://en.wikipedia.org/wiki/Semaphore_(programming)
* A semaphore can be used to achieve task synchonization and track the
* availability of resources by using either the binary or the counting
* semaphore types.
*
* If mutual exlcusion of a resource is desired, a mutex should be used,
* which is a special form of a semaphore and has an own interface.
*/
class SemaphoreIF {
public:
/**
* Different types of timeout for the mutex lock.
*/
enum TimeoutType {
POLLING, //!< If mutex is not available, return immediately
WAITING, //!< Wait a specified time for the mutex to become available
BLOCKING //!< Block indefinitely until the mutex becomes available.
};
virtual~ SemaphoreIF() {};
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! Semaphore timeout
static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);
//! The current semaphore can not be given, because it is not owned
static constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
static constexpr ReturnValue_t SEMAPHORE_INVALID = MAKE_RETURN_CODE(3);
/**
* Generic call to acquire a semaphore.
* If there are no more semaphores to be taken (for a counting semaphore,
* a semaphore may be taken more than once), the taks will block
* for a maximum of timeoutMs while trying to acquire the semaphore.
* This can be used to achieve task synchrnization.
* @param timeoutMs
* @return - c RETURN_OK for successfull acquisition
*/
virtual ReturnValue_t acquire(TimeoutType timeoutType =
TimeoutType::BLOCKING, uint32_t timeoutMs = 0) = 0;
/**
* Corrensponding call to release a semaphore.
* @return -@c RETURN_OK for successfull release
*/
virtual ReturnValue_t release() = 0;
/**
* If the semaphore is a counting semaphore then the semaphores current
* count value is returned. If the semaphore is a binary semaphore then 1
* is returned if the semaphore is available, and 0 is returned if the
* semaphore is not available.
*/
virtual uint8_t getSemaphoreCounter() const = 0;
};
#endif /* FRAMEWORK_TASKS_SEMAPHOREIF_H_ */