104 lines
2.8 KiB
C++
104 lines
2.8 KiB
C++
#include <framework/osal/FreeRTOS/BinarySemaphore.h>
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#include <framework/osal/FreeRTOS/TaskManagement.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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BinarySemaphore::BinarySemaphore() {
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handle = xSemaphoreCreateBinary();
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if(handle == nullptr) {
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sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
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}
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// Initiated semaphore must be given before it can be taken.
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xSemaphoreGive(handle);
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}
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BinarySemaphore::~BinarySemaphore() {
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vSemaphoreDelete(handle);
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}
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BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
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handle = xSemaphoreCreateBinary();
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if(handle == nullptr) {
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sif::error << "Binary semaphore creation failure" << std::endl;
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}
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xSemaphoreGive(handle);
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}
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BinarySemaphore& BinarySemaphore::operator =(
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BinarySemaphore&& s) {
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if(&s != this) {
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handle = xSemaphoreCreateBinary();
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if(handle == nullptr) {
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sif::error << "Binary semaphore creation failure" << std::endl;
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}
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xSemaphoreGive(handle);
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}
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return *this;
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}
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ReturnValue_t BinarySemaphore::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 BinarySemaphore::acquireWithTickTimeout(TickType_t timeoutTicks) {
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if(handle == nullptr) {
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return SemaphoreIF::SEMAPHORE_INVALID;
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}
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BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
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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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return SemaphoreIF::SEMAPHORE_TIMEOUT;
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}
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}
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ReturnValue_t BinarySemaphore::release() {
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return release(handle);
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}
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ReturnValue_t BinarySemaphore::release(SemaphoreHandle_t semaphore) {
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if (semaphore == nullptr) {
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return SemaphoreIF::SEMAPHORE_INVALID;
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}
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BaseType_t returncode = xSemaphoreGive(semaphore);
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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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return SemaphoreIF::SEMAPHORE_NOT_OWNED;
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}
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}
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uint8_t BinarySemaphore::getSemaphoreCounter() const {
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return uxSemaphoreGetCount(handle);
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}
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SemaphoreHandle_t BinarySemaphore::getSemaphore() {
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return handle;
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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 BinarySemaphore::releaseFromISR(
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SemaphoreHandle_t semaphore, BaseType_t * higherPriorityTaskWoken) {
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if (semaphore == nullptr) {
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return SemaphoreIF::SEMAPHORE_INVALID;
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}
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BaseType_t returncode = xSemaphoreGiveFromISR(semaphore,
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higherPriorityTaskWoken);
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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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return SemaphoreIF::SEMAPHORE_NOT_OWNED;
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}
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}
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