99 lines
2.9 KiB
C++
99 lines
2.9 KiB
C++
#include "fsfw/osal/freertos/BinarySemaphore.h"
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#include "fsfw/osal/freertos/TaskManagement.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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BinarySemaphore::BinarySemaphore() {
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handle = xSemaphoreCreateBinary();
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if (handle == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
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#endif
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}
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// Initiated semaphore must be given before it can be taken.
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xSemaphoreGive(handle);
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}
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BinarySemaphore::~BinarySemaphore() { vSemaphoreDelete(handle); }
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BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
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handle = xSemaphoreCreateBinary();
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if (handle == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Binary semaphore creation failure" << std::endl;
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#endif
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}
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xSemaphoreGive(handle);
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}
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BinarySemaphore& BinarySemaphore::operator=(BinarySemaphore&& s) {
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if (&s != this) {
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handle = xSemaphoreCreateBinary();
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if (handle == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Binary semaphore creation failure" << std::endl;
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#endif
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}
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xSemaphoreGive(handle);
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}
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return *this;
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}
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ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType, 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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} else if (timeoutType == TimeoutType::WAITING) {
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timeout = pdMS_TO_TICKS(timeoutMs);
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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 BinarySemaphore::acquireWithTickTimeout(TimeoutType timeoutType,
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TickType_t timeoutTicks) {
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if (handle == nullptr) {
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return SemaphoreIF::SEMAPHORE_INVALID;
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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 SemaphoreIF::SEMAPHORE_TIMEOUT;
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}
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}
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ReturnValue_t BinarySemaphore::release() { return release(handle); }
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ReturnValue_t BinarySemaphore::release(SemaphoreHandle_t semaphore) {
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if (semaphore == nullptr) {
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return SemaphoreIF::SEMAPHORE_INVALID;
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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 SemaphoreIF::SEMAPHORE_NOT_OWNED;
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}
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}
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uint8_t BinarySemaphore::getSemaphoreCounter() const { return uxSemaphoreGetCount(handle); }
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SemaphoreHandle_t BinarySemaphore::getSemaphore() { return handle; }
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// Be careful with the stack size here. This is called from an ISR!
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ReturnValue_t BinarySemaphore::releaseFromISR(SemaphoreHandle_t semaphore,
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BaseType_t* higherPriorityTaskWoken) {
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if (semaphore == nullptr) {
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return SemaphoreIF::SEMAPHORE_INVALID;
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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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return HasReturnvaluesIF::RETURN_OK;
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} else {
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return SemaphoreIF::SEMAPHORE_NOT_OWNED;
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}
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}
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