fsfw/osal/FreeRTOS/BinSemaphUsingTask.cpp

92 lines
2.8 KiB
C++

#include <framework/osal/FreeRTOS/BinSemaphUsingTask.h>
#include <framework/osal/FreeRTOS/TaskManagement.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
handle = TaskManagement::getCurrentTaskHandle();
if(handle == nullptr) {
sif::error << "Could not retrieve task handle. Please ensure the"
"constructor was called inside a task." << std::endl;
}
xTaskNotifyGive(handle);
}
BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
// Clear notification value on destruction.
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
}
ReturnValue_t BinarySemaphoreUsingTask::acquire(uint32_t timeoutMs) {
TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
timeout = SemaphoreIF::MAX_TIMEOUT;
}
else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
timeout = pdMS_TO_TICKS(timeoutMs);
}
return acquireWithTickTimeout(timeout);
}
ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
TickType_t timeoutTicks) {
BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphoreUsingTask::release() {
return release(this->handle);
}
ReturnValue_t BinarySemaphoreUsingTask::release(
TaskHandle_t taskHandle) {
if(getSemaphoreCounter(taskHandle) == 1) {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
BaseType_t returncode = xTaskNotifyGive(taskHandle);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
// This should never happen.
return HasReturnvaluesIF::RETURN_FAILED;
}
}
TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
return handle;
}
uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
return getSemaphoreCounter(this->handle);
}
uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(
TaskHandle_t taskHandle) {
uint32_t notificationValue;
xTaskNotifyAndQuery(taskHandle, 0, eNoAction, &notificationValue);
return notificationValue;
}
// Be careful with the stack size here. This is called from an ISR!
ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
if(getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
return HasReturnvaluesIF::RETURN_OK;
}
uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
uint32_t notificationValue = 0;
xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
higherPriorityTaskWoken);
return notificationValue;
}