92 lines
2.6 KiB
C++
92 lines
2.6 KiB
C++
#include <framework/osal/FreeRTOS/BinSemaphUsingTask.h>
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#include <framework/osal/FreeRTOS/TaskManagement.h>
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BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
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handle = TaskManagement::getCurrentTaskHandle();
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xTaskNotifyGive(handle);
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locked = false;
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}
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ReturnValue_t BinarySemaphoreUsingTask::acquire(uint32_t timeoutMs) {
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TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
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if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
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timeout = SemaphoreIF::MAX_TIMEOUT;
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}
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else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
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timeout = pdMS_TO_TICKS(timeoutMs);
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}
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return acquireWithTickTimeout(timeout);
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}
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ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
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TickType_t timeoutTicks) {
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BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
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if (returncode == pdPASS) {
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locked = true;
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return HasReturnvaluesIF::RETURN_OK;
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}
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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 BinarySemaphoreUsingTask::release() {
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if(not locked) {
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return SemaphoreIF::SEMAPHORE_NOT_OWNED;
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}
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BaseType_t returncode = xTaskNotifyGive(handle);
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if (returncode == pdPASS) {
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return HasReturnvaluesIF::RETURN_OK;
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} else {
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// This should never happen
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
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return handle;
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}
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uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
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uint32_t notificationValue;
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xTaskNotifyAndQuery(handle, 0, eNoAction, ¬ificationValue);
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return notificationValue;
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}
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uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
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TaskHandle_t taskHandle) {
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uint32_t notificationValue;
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BaseType_t higherPriorityTaskWoken;
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xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, ¬ificationValue,
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&higherPriorityTaskWoken);
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if(higherPriorityTaskWoken) {
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TaskManagement::requestContextSwitch(CallContext::isr);
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}
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return notificationValue;
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}
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ReturnValue_t BinarySemaphoreUsingTask::release(
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TaskHandle_t taskHandle) {
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BaseType_t returncode = xTaskNotifyGive(taskHandle);
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if (returncode == pdPASS) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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else {
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// This should never happen.
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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// Be careful with the stack size here. This is called from an ISR!
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ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
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TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
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vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
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if(*higherPriorityTaskWoken == pdPASS) {
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// Request context switch because unblocking the semaphore
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// caused a high priority task unblock.
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TaskManagement::requestContextSwitch(CallContext::isr);
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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