fsfw/osal/FreeRTOS/BinarySemaphore.cpp

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#include <framework/osal/FreeRTOS/BinarySemaphore.h>
#include <framework/osal/FreeRTOS/TaskManagement.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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BinarySemaphore::BinarySemaphore() {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
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}
xSemaphoreGive(handle);
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}
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BinarySemaphore::~BinarySemaphore() {
vSemaphoreDelete(handle);
}
// This copy ctor is important as it prevents the assignment to a ressource
// (other.handle) variable which is later deleted!
BinarySemaphore::BinarySemaphore(const BinarySemaphore& other) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
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sif::error << "Binary semaphore creation failure" << std::endl;
}
xSemaphoreGive(handle);
}
BinarySemaphore& BinarySemaphore::operator =(const BinarySemaphore& s) {
if(this != &s) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
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sif::error << "Binary semaphore creation failure" << std::endl;
}
xSemaphoreGive(handle);
}
return *this;
}
BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
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sif::error << "Binary semaphore creation failure" << std::endl;
}
xSemaphoreGive(handle);
}
BinarySemaphore& BinarySemaphore::operator =(
BinarySemaphore&& s) {
if(&s != this) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
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sif::error << "Binary semaphore creation failure" << std::endl;
}
xSemaphoreGive(handle);
}
return *this;
}
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ReturnValue_t BinarySemaphore::takeBinarySemaphore(uint32_t timeoutMs) {
if(handle == nullptr) {
return SEMAPHORE_NULLPOINTER;
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}
TickType_t timeout = BinarySemaphore::NO_BLOCK_TICKS;
if(timeoutMs == BinarySemaphore::BLOCK_TIMEOUT) {
timeout = BinarySemaphore::BLOCK_TIMEOUT_TICKS;
}
else if(timeoutMs > BinarySemaphore::NO_BLOCK_TIMEOUT){
timeout = pdMS_TO_TICKS(timeoutMs);
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}
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BaseType_t returncode = xSemaphoreTake(handle, timeout);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SEMAPHORE_TIMEOUT;
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}
}
ReturnValue_t BinarySemaphore::takeBinarySemaphoreTickTimeout(
TickType_t timeoutTicks) {
if(handle == nullptr) {
return SEMAPHORE_NULLPOINTER;
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}
BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
return SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphore::giveBinarySemaphore() {
if (handle == nullptr) {
return SEMAPHORE_NULLPOINTER;
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}
BaseType_t returncode = xSemaphoreGive(handle);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
return SEMAPHORE_NOT_OWNED;
}
}
SemaphoreHandle_t BinarySemaphore::getSemaphore() {
return handle;
}
ReturnValue_t BinarySemaphore::giveBinarySemaphore(SemaphoreHandle_t semaphore) {
if (semaphore == nullptr) {
return SEMAPHORE_NULLPOINTER;
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}
BaseType_t returncode = xSemaphoreGive(semaphore);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
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void BinarySemaphore::resetSemaphore() {
if(handle != nullptr) {
vSemaphoreDelete(handle);
handle = xSemaphoreCreateBinary();
xSemaphoreGive(handle);
}
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}
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ReturnValue_t BinarySemaphore::acquire(uint32_t timeoutMs) {
return takeBinarySemaphore(timeoutMs);
}
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ReturnValue_t BinarySemaphore::release() {
return giveBinarySemaphore();
}
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uint8_t BinarySemaphore::getSemaphoreCounter() {
return uxSemaphoreGetCount(handle);
}
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// Be careful with the stack size here. This is called from an ISR!
ReturnValue_t BinarySemaphore::giveBinarySemaphoreFromISR(SemaphoreHandle_t semaphore,
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BaseType_t * higherPriorityTaskWoken) {
if (semaphore == nullptr) {
return SEMAPHORE_NULLPOINTER;
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}
BaseType_t returncode = xSemaphoreGiveFromISR(semaphore, higherPriorityTaskWoken);
if (returncode == pdPASS) {
if(*higherPriorityTaskWoken == pdPASS) {
// Request context switch because unblocking the semaphore
// caused a high priority task unblock.
TaskManagement::requestContextSwitch(CallContext::isr);
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}
return HasReturnvaluesIF::RETURN_OK;
} else {
return SEMAPHORE_NOT_OWNED;
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}
}