80 lines
2.6 KiB
C++
80 lines
2.6 KiB
C++
#include "fsfw/osal/rtems/Mutex.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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uint8_t Mutex::count = 0;
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Mutex::Mutex() {
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rtems_name mutexName = ('M' << 24) + ('T' << 16) + ('X' << 8) + count++;
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rtems_status_code status = rtems_semaphore_create(
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mutexName, 1, RTEMS_BINARY_SEMAPHORE | RTEMS_PRIORITY | RTEMS_INHERIT_PRIORITY, 0, &mutexId);
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if (status != RTEMS_SUCCESSFUL) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Mutex::Mutex: Creation with name, id " << mutexName << ", " << mutexId
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<< " failed with " << status << std::endl;
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#else
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sif::printError("Mutex::Mutex: Creation with name, id %s, %d failed with %d\n", mutexName,
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static_cast<int>(mutexId), static_cast<int>(status));
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#endif
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}
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}
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Mutex::~Mutex() {
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rtems_status_code status = rtems_semaphore_delete(mutexId);
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if (status != RTEMS_SUCCESSFUL) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Mutex: deletion for id " << mutexId << " failed with " << status << std::endl;
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#endif
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}
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}
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ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType = TimeoutType::BLOCKING,
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uint32_t timeoutMs) {
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rtems_status_code status = RTEMS_INVALID_ID;
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if (timeoutType == MutexIF::TimeoutType::BLOCKING) {
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status = rtems_semaphore_obtain(mutexId, RTEMS_WAIT, RTEMS_NO_TIMEOUT);
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} else if (timeoutType == MutexIF::TimeoutType::POLLING) {
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timeoutMs = RTEMS_NO_TIMEOUT;
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status = rtems_semaphore_obtain(mutexId, RTEMS_NO_WAIT, 0);
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} else {
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status = rtems_semaphore_obtain(mutexId, RTEMS_WAIT, timeoutMs);
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}
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switch (status) {
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case RTEMS_SUCCESSFUL:
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// semaphore obtained successfully
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return returnvalue::OK;
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case RTEMS_UNSATISFIED:
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// semaphore not available
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return MUTEX_NOT_FOUND;
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case RTEMS_TIMEOUT:
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// timed out waiting for semaphore
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return MUTEX_TIMEOUT;
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case RTEMS_OBJECT_WAS_DELETED:
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// semaphore deleted while waiting
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return MUTEX_DESTROYED_WHILE_WAITING;
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case RTEMS_INVALID_ID:
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// invalid semaphore id
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return MUTEX_INVALID_ID;
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default:
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return returnvalue::FAILED;
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}
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}
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ReturnValue_t Mutex::unlockMutex() {
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rtems_status_code status = rtems_semaphore_release(mutexId);
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switch (status) {
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case RTEMS_SUCCESSFUL:
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// semaphore obtained successfully
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return returnvalue::OK;
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case RTEMS_NOT_OWNER_OF_RESOURCE:
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// semaphore not available
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return CURR_THREAD_DOES_NOT_OWN_MUTEX;
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case RTEMS_INVALID_ID:
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// invalid semaphore id
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return MUTEX_INVALID_ID;
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default:
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return returnvalue::FAILED;
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}
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}
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