97 lines
3.3 KiB
C++
97 lines
3.3 KiB
C++
#include "fsfw/osal/freertos/BinSemaphUsingTask.h"
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#include "fsfw/osal/freertos/TaskManagement.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || tskKERNEL_VERSION_MAJOR > 8
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BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
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handle = TaskManagement::getCurrentTaskHandle();
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if (handle == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Could not retrieve task handle. Please ensure the"
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"constructor was called inside a task."
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<< std::endl;
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#endif
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}
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xTaskNotifyGive(handle);
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}
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BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
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// Clear notification value on destruction.
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xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
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}
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void BinarySemaphoreUsingTask::refreshTaskHandle() {
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handle = TaskManagement::getCurrentTaskHandle();
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}
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ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType, uint32_t timeoutMs) {
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TickType_t timeout = 0;
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if (timeoutType == TimeoutType::POLLING) {
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timeout = 0;
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} else if (timeoutType == TimeoutType::WAITING) {
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timeout = pdMS_TO_TICKS(timeoutMs);
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} else {
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timeout = portMAX_DELAY;
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}
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return acquireWithTickTimeout(timeoutType, timeout);
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}
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ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(TimeoutType timeoutType,
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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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return returnvalue::OK;
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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() { return release(this->handle); }
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ReturnValue_t BinarySemaphoreUsingTask::release(TaskHandle_t taskHandle) {
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if (getSemaphoreCounter(taskHandle) == 1) {
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return SemaphoreIF::SEMAPHORE_NOT_OWNED;
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}
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BaseType_t returncode = xTaskNotifyGive(taskHandle);
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if (returncode == pdPASS) {
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return returnvalue::OK;
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} else {
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// This should never happen.
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return returnvalue::FAILED;
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}
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}
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TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() { return handle; }
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uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
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return getSemaphoreCounter(this->handle);
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}
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uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(TaskHandle_t taskHandle) {
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uint32_t notificationValue;
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xTaskNotifyAndQuery(taskHandle, 0, eNoAction, ¬ificationValue);
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return notificationValue;
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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(TaskHandle_t taskHandle,
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BaseType_t* higherPriorityTaskWoken) {
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if (getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
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return SemaphoreIF::SEMAPHORE_NOT_OWNED;
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}
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vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
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return returnvalue::OK;
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}
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uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
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BaseType_t* higherPriorityTaskWoken) {
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uint32_t notificationValue = 0;
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xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, ¬ificationValue, higherPriorityTaskWoken);
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return notificationValue;
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}
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#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
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tskKERNEL_VERSION_MAJOR > 8 */
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