93 lines
2.6 KiB
C++
93 lines
2.6 KiB
C++
#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
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#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
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#include <framework/returnvalues/HasReturnvaluesIF.h>
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#include <framework/tasks/SemaphoreIF.h>
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extern "C" {
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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}
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/**
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* @brief Binary Semaphore implementation using Task Notifications
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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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*/
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class BinarySemaphoreUsingTask: public SemaphoreIF,
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public HasReturnvaluesIF {
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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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ReturnValue_t acquire(uint32_t timeoutMs =
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SemaphoreIF::NO_TIMEOUT) override;
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ReturnValue_t release() override;
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uint8_t getSemaphoreCounter() 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 RETURN_OK on success
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* -@c RETURN_FAILED on failure
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*/
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ReturnValue_t takeBinarySemaphore(uint32_t timeoutMs =
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SemaphoreIF::NO_TIMEOUT);
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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 RETURN_OK on success
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* - @c RETURN_FAILED on failure
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*/
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ReturnValue_t takeBinarySemaphoreTickTimeout(TickType_t timeoutTicks =
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SemaphoreIF::NO_TIMEOUT);
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/**
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* Give back the binary semaphore
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* @return - @c RETURN_OK on success
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* - @c RETURN_FAILED on failure
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*/
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ReturnValue_t giveBinarySemaphore();
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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 RETURN_OK on success
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* - @c RETURN_FAILED on failure
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*/
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static ReturnValue_t giveBinarySemaphore(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 a higher priority
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* was unblocked
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* @return - @c RETURN_OK on success
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* - @c RETURN_FAILED on failure
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*/
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static ReturnValue_t giveBinarySemaphoreFromISR(TaskHandle_t taskToNotify,
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BaseType_t * higherPriorityTaskWoken);
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static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle);
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protected:
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TaskHandle_t handle;
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};
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#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
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