110 lines
3.1 KiB
C++
110 lines
3.1 KiB
C++
#include <framework/osal/FreeRTOS/CountingSemaphUsingTask.h>
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#include <framework/osal/FreeRTOS/TaskManagement.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
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uint8_t initCount): maxCount(maxCount) {
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if(initCount > maxCount) {
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sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
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"intial cout. Setting initial count to max count." << std::endl;
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initCount = maxCount;
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}
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handle = TaskManagement::getCurrentTaskHandle();
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while(currentCount != initCount) {
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xTaskNotifyGive(handle);
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currentCount++;
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}
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}
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ReturnValue_t CountingSemaphoreUsingTask::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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BaseType_t returncode = ulTaskNotifyTake(pdFALSE, timeout);
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if (returncode == pdPASS) {
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currentCount--;
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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 CountingSemaphoreUsingTask::acquireWithTickTimeout(
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TickType_t timeoutTicks) {
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BaseType_t returncode = ulTaskNotifyTake(pdFALSE, timeoutTicks);
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if (returncode == pdPASS) {
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currentCount--;
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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 CountingSemaphoreUsingTask::release() {
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if(currentCount == maxCount) {
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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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currentCount++;
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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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uint8_t CountingSemaphoreUsingTask::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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TaskHandle_t CountingSemaphoreUsingTask::getTaskHandle() {
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return handle;
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}
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uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
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TaskHandle_t task) {
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uint32_t notificationValue;
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BaseType_t higherPriorityTaskWoken = 0;
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xTaskNotifyAndQueryFromISR(task, 0, eNoAction, ¬ificationValue,
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&higherPriorityTaskWoken);
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if(higherPriorityTaskWoken == pdTRUE) {
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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 CountingSemaphoreUsingTask::release(
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TaskHandle_t taskToNotify) {
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BaseType_t returncode = xTaskNotifyGive(taskToNotify);
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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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ReturnValue_t CountingSemaphoreUsingTask::releaseFromISR(
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TaskHandle_t taskToNotify, BaseType_t* higherPriorityTaskWoken) {
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vTaskNotifyGiveFromISR(taskToNotify, 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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