106 lines
3.8 KiB
C++
106 lines
3.8 KiB
C++
#ifndef FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
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#define FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
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#include "CountingSemaphUsingTask.h"
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#include "FreeRTOS.h"
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#include "fsfw/tasks/SemaphoreIF.h"
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#include "task.h"
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#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || tskKERNEL_VERSION_MAJOR > 8
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/**
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* @brief Couting Semaphore implementation which uses the notification value
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* of the task. The notification value should therefore not be used
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* for other purposes.
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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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* This semaphore is bound to the task it is created in!
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* Take care of calling this function with the correct executing task,
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* (for example in the initializeAfterTaskCreation() function).
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*/
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class CountingSemaphoreUsingTask : public SemaphoreIF {
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public:
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CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount);
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virtual ~CountingSemaphoreUsingTask();
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/**
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* Acquire the counting semaphore.
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* If no semaphores are available, the task will be blocked
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* for a maximum of #timeoutMs or until one 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 returnvalue::OK on success
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* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
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*/
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ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
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uint32_t timeoutMs = portMAX_DELAY) override;
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/**
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* Release a semaphore, increasing the number of available counting
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* semaphores up to the #maxCount value.
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* @return -@c returnvalue::OK on success
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* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
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* already available.
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*/
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ReturnValue_t release() override;
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uint8_t getSemaphoreCounter() const override;
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/**
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* Get the semaphore counter from an ISR.
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* @param task
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* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
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* a higher priority was unblocked. A context switch should be requested
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* from an ISR if this is the case (see TaskManagement functions)
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* @return
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*/
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static uint8_t getSemaphoreCounterFromISR(TaskHandle_t task, BaseType_t* higherPriorityTaskWoken);
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/**
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* Acquire with a timeout value in ticks
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* @param timeoutTicks
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* @return -@c returnvalue::OK on success
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* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
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*/
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ReturnValue_t acquireWithTickTimeout(TimeoutType timeoutType = TimeoutType::BLOCKING,
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TickType_t timeoutTicks = portMAX_DELAY);
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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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* Release semaphore of task by supplying task handle
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* @param taskToNotify
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* @return -@c returnvalue::OK on success
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* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
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* already available.
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*/
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static ReturnValue_t release(TaskHandle_t taskToNotify);
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/**
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* Release seamphore of a task from an ISR.
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* @param taskToNotify
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* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
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* a higher priority was unblocked. A context switch should be requested
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* from an ISR if this is the case (see TaskManagement functions)
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* @return -@c returnvalue::OK on success
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* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
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* already available.
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*/
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static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
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BaseType_t* higherPriorityTaskWoken);
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uint8_t getMaxCount() const;
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private:
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TaskHandle_t handle;
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const uint8_t maxCount;
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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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#endif /* FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
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