106 lines
3.6 KiB
C++
106 lines
3.6 KiB
C++
#ifndef FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_
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#define FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_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 "semphr.h"
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/**
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* @brief OS Tool to achieve synchronization of between tasks or between
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* task and ISR. The default semaphore implementation creates a
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* binary semaphore, which can only be taken once.
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* @details
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* Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
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*
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* Please note that if the semaphore implementation is only related to
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* the synchronization of one task, the new task notifications can be used,
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* also see the BinSemaphUsingTask and CountingSemaphUsingTask classes.
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* These use the task notification value instead of a queue and are
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* faster and more efficient.
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*
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* @author R. Mueller
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* @ingroup osal
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*/
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class BinarySemaphore : 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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BinarySemaphore();
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//! @brief Copy ctor, deleted explicitely.
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BinarySemaphore(const BinarySemaphore &) = delete;
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//! @brief Copy assignment, deleted explicitely.
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BinarySemaphore &operator=(const BinarySemaphore &) = delete;
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//! @brief Move ctor
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BinarySemaphore(BinarySemaphore &&);
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//! @brief Move assignment
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BinarySemaphore &operator=(BinarySemaphore &&);
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//! @brief Destructor
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virtual ~BinarySemaphore();
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uint8_t getSemaphoreCounter() const override;
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/**
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* Take the binary semaphore.
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* If the semaphore has already been taken, the task will be blocked
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* for a maximum of #timeoutMs or until the semaphore is given back,
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* for example by an ISR or another task.
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* @param timeoutMs
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* @return -@c returnvalue::OK on success
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* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
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*/
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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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/**
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* Same as lockBinarySemaphore() 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 SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
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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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* Release the binary semaphore.
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* @return -@c returnvalue::OK on success
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* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
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* already available.
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*/
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ReturnValue_t release() override;
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/**
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* Get Handle to the semaphore.
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* @return
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*/
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SemaphoreHandle_t getSemaphore();
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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 SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
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* already available.
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*/
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static ReturnValue_t release(SemaphoreHandle_t semaphore);
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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 from an ISR should
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* then be requested (see TaskManagement functions)
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* @return -@c returnvalue::OK on success
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* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
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* already available.
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*/
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static ReturnValue_t releaseFromISR(SemaphoreHandle_t semaphore,
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BaseType_t *higherPriorityTaskWoken);
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protected:
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SemaphoreHandle_t handle;
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};
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#endif /* FSFW_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
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