93 lines
3.3 KiB
C++
93 lines
3.3 KiB
C++
#ifndef FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
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#define FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
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#include "FreeRTOS.h"
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#include "fsfw/returnvalues/returnvalue.h"
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#include "fsfw/tasks/SemaphoreIF.h"
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#include "task.h"
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#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || tskKERNEL_VERSION_MAJOR > 8
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/**
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* @brief Binary Semaphore implementation using the task notification value.
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* The notification value should therefore not be used
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* for other purposes!
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* @details
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* Additional information: https://www.freertos.org/RTOS-task-notifications.html
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* and general semaphore documentation.
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* This semaphore is bound to the task it is created in!
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* Take care of building this class with the correct executing task,
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* (for example in the initializeAfterTaskCreation() function) or
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* by calling refreshTaskHandle() with the correct executing task.
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*/
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class BinarySemaphoreUsingTask : public SemaphoreIF {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
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//! @brief Default ctor
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BinarySemaphoreUsingTask();
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//! @brief Default dtor
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virtual ~BinarySemaphoreUsingTask();
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/**
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* This function can be used to get the correct task handle from the
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* currently executing task.
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*
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* This is required because the task notification value will be used
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* as a binary semaphore, and the semaphore might be created by another
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* task.
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*/
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void refreshTaskHandle();
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ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
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uint32_t timeoutMs = portMAX_DELAY) override;
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ReturnValue_t release() override;
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uint8_t getSemaphoreCounter() const override;
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static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
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static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
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BaseType_t* higherPriorityTaskWoken);
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/**
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* Same as acquire() with timeout in FreeRTOS ticks.
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* @param timeoutTicks
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* @return - @c returnvalue::OK on success
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* - @c returnvalue::FAILED on failure
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*/
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ReturnValue_t acquireWithTickTimeout(TimeoutType timeoutType = TimeoutType::BLOCKING,
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TickType_t timeoutTicks = portMAX_DELAY);
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/**
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* Get handle to the task related to the semaphore.
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* @return
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*/
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TaskHandle_t getTaskHandle();
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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 returnvalue::OK on success
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* - @c returnvalue::FAILED on failure
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*/
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static ReturnValue_t release(TaskHandle_t taskToNotify);
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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
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* a higher priority was unblocked. A context switch should be requested
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* from an ISR if this is the case (see TaskManagement functions)
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* @return - @c returnvalue::OK on success
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* - @c returnvalue::FAILED on failure
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*/
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static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
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BaseType_t* higherPriorityTaskWoken);
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protected:
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TaskHandle_t handle;
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};
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#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
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tskKERNEL_VERSION_MAJOR > 8 */
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#endif /* FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
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