interface adapted
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@ -1,91 +1,95 @@
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#include <framework/osal/FreeRTOS/BinSemaphUsingTask.h>
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#include <framework/osal/FreeRTOS/TaskManagement.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
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handle = TaskManagement::getCurrentTaskHandle();
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if(handle == nullptr) {
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sif::error << "Could not retrieve task handle. Please ensure the"
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"constructor was called inside a task." << std::endl;
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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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ReturnValue_t BinarySemaphoreUsingTask::acquire(uint32_t timeoutMs) {
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TickType_t timeout = SemaphoreIF::POLLING;
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if(timeoutMs == SemaphoreIF::BLOCKING) {
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timeout = SemaphoreIF::BLOCKING;
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}
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else if(timeoutMs > SemaphoreIF::POLLING){
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timeout = pdMS_TO_TICKS(timeoutMs);
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}
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return acquireWithTickTimeout(timeout);
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}
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ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
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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 HasReturnvaluesIF::RETURN_OK;
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}
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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() {
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return release(this->handle);
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}
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ReturnValue_t BinarySemaphoreUsingTask::release(
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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 HasReturnvaluesIF::RETURN_OK;
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}
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else {
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// This should never happen.
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
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return handle;
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}
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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(
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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(
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TaskHandle_t taskHandle, 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 HasReturnvaluesIF::RETURN_OK;
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}
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uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
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TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
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uint32_t notificationValue = 0;
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xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, ¬ificationValue,
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higherPriorityTaskWoken);
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return notificationValue;
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}
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#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
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#include "../../osal/FreeRTOS/TaskManagement.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
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handle = TaskManagement::getCurrentTaskHandle();
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if(handle == nullptr) {
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sif::error << "Could not retrieve task handle. Please ensure the"
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"constructor was called inside a task." << std::endl;
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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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ReturnValue_t BinarySemaphoreUsingTask::acquire(TimeoutType timeoutType,
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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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}
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else if(timeoutType == TimeoutType::WAITING){
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timeout = pdMS_TO_TICKS(timeoutMs);
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}
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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(
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TimeoutType timeoutType, 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 HasReturnvaluesIF::RETURN_OK;
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}
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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() {
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return release(this->handle);
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}
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ReturnValue_t BinarySemaphoreUsingTask::release(
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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 HasReturnvaluesIF::RETURN_OK;
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}
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else {
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// This should never happen.
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
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return handle;
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}
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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(
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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(
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TaskHandle_t taskHandle, 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 HasReturnvaluesIF::RETURN_OK;
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}
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uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
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TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
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uint32_t notificationValue = 0;
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xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, ¬ificationValue,
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higherPriorityTaskWoken);
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return notificationValue;
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}
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@ -1,75 +1,76 @@
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#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
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#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
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#include <framework/returnvalues/HasReturnvaluesIF.h>
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#include <framework/tasks/SemaphoreIF.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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/**
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* @brief Binary Semaphore implementation using the task notification value.
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* 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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*/
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class BinarySemaphoreUsingTask: public SemaphoreIF,
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public HasReturnvaluesIF {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
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//! @brief Default ctor
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BinarySemaphoreUsingTask();
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//! @brief Default dtor
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virtual~ BinarySemaphoreUsingTask();
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ReturnValue_t acquire(uint32_t timeoutMs =
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SemaphoreIF::BLOCKING) override;
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ReturnValue_t release() override;
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uint8_t getSemaphoreCounter() const override;
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static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
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static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
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BaseType_t* higherPriorityTaskWoken);
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/**
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* Same as acquire() with timeout in FreeRTOS ticks.
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* @param timeoutTicks
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* @return - @c RETURN_OK on success
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* - @c RETURN_FAILED on failure
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*/
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ReturnValue_t acquireWithTickTimeout(TickType_t timeoutTicks =
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SemaphoreIF::BLOCKING);
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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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* Wrapper function to give back semaphore from handle
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* @param semaphore
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* @return - @c RETURN_OK on success
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* - @c RETURN_FAILED on failure
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*/
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static ReturnValue_t release(TaskHandle_t taskToNotify);
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/**
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* Wrapper function to give back semaphore from handle when called from an ISR
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* @param semaphore
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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 RETURN_OK on success
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* - @c RETURN_FAILED on failure
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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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protected:
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TaskHandle_t handle;
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};
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#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
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#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
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#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
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#include "../../returnvalues/HasReturnvaluesIF.h"
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#include "../../tasks/SemaphoreIF.h"
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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/**
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* @brief Binary Semaphore implementation using the task notification value.
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* 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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*/
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class BinarySemaphoreUsingTask: public SemaphoreIF,
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public HasReturnvaluesIF {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
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//! @brief Default ctor
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BinarySemaphoreUsingTask();
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//! @brief Default dtor
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virtual~ BinarySemaphoreUsingTask();
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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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ReturnValue_t release() override;
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uint8_t getSemaphoreCounter() const override;
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static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
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static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
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BaseType_t* higherPriorityTaskWoken);
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/**
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* Same as acquire() with timeout in FreeRTOS ticks.
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* @param timeoutTicks
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* @return - @c RETURN_OK on success
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* - @c RETURN_FAILED on failure
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*/
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ReturnValue_t acquireWithTickTimeout(
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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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* Wrapper function to give back semaphore from handle
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* @param semaphore
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* @return - @c RETURN_OK on success
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* - @c RETURN_FAILED on failure
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*/
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static ReturnValue_t release(TaskHandle_t taskToNotify);
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/**
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* Wrapper function to give back semaphore from handle when called from an ISR
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* @param semaphore
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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 RETURN_OK on success
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* - @c RETURN_FAILED on failure
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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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protected:
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TaskHandle_t handle;
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};
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#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
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@ -1,11 +1,11 @@
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#include <framework/osal/FreeRTOS/BinarySemaphore.h>
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#include <framework/osal/FreeRTOS/TaskManagement.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include "../../osal/FreeRTOS/BinarySemaphore.h"
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#include "../../osal/FreeRTOS/TaskManagement.h"
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#include "../../serviceinterface/ServiceInterfaceStream.h"
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BinarySemaphore::BinarySemaphore() {
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handle = xSemaphoreCreateBinary();
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if(handle == nullptr) {
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sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
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if(handle == nullptr) {
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sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
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}
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// Initiated semaphore must be given before it can be taken.
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xSemaphoreGive(handle);
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@ -35,18 +35,23 @@ BinarySemaphore& BinarySemaphore::operator =(
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return *this;
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}
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ReturnValue_t BinarySemaphore::acquire(uint32_t timeoutMs) {
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TickType_t timeout = SemaphoreIF::POLLING;
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if(timeoutMs == SemaphoreIF::BLOCKING) {
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timeout = SemaphoreIF::BLOCKING;
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ReturnValue_t BinarySemaphore::acquire(TimeoutType timeoutType,
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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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}
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else if(timeoutMs > SemaphoreIF::POLLING){
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else if(timeoutType == TimeoutType::WAITING){
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timeout = pdMS_TO_TICKS(timeoutMs);
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}
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return acquireWithTickTimeout(timeout);
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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 BinarySemaphore::acquireWithTickTimeout(TickType_t timeoutTicks) {
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ReturnValue_t BinarySemaphore::acquireWithTickTimeout(TimeoutType timeoutType,
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TickType_t timeoutTicks) {
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if(handle == nullptr) {
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return SemaphoreIF::SEMAPHORE_INVALID;
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}
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@ -84,7 +89,7 @@ uint8_t BinarySemaphore::getSemaphoreCounter() const {
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SemaphoreHandle_t BinarySemaphore::getSemaphore() {
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return handle;
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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 BinarySemaphore::releaseFromISR(
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@ -100,4 +105,4 @@ ReturnValue_t BinarySemaphore::releaseFromISR(
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else {
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return SemaphoreIF::SEMAPHORE_NOT_OWNED;
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}
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}
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}
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@ -1,8 +1,8 @@
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#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
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#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
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#include <framework/returnvalues/HasReturnvaluesIF.h>
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#include <framework/tasks/SemaphoreIF.h>
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#include "../../returnvalues/HasReturnvaluesIF.h"
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#include "../../tasks/SemaphoreIF.h"
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#include <freertos/FreeRTOS.h>
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#include <freertos/semphr.h>
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@ -52,8 +52,8 @@ public:
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* @return -@c RETURN_OK on success
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* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
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*/
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ReturnValue_t acquire(uint32_t timeoutMs =
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SemaphoreIF::BLOCKING) override;
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ReturnValue_t acquire(TimeoutType timeoutType =
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TimeoutType::BLOCKING, uint32_t timeoutMs = portMAX_DELAY) override;
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/**
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* Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
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@ -61,8 +61,8 @@ public:
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* @return -@c RETURN_OK on success
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* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
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*/
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ReturnValue_t acquireWithTickTimeout(TickType_t timeoutTicks =
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SemaphoreIF::BLOCKING);
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ReturnValue_t acquireWithTickTimeout(TimeoutType timeoutType =
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TimeoutType::BLOCKING, TickType_t timeoutTicks = portMAX_DELAY);
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/**
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* Release the binary semaphore.
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@ -1,110 +1,114 @@
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#include <framework/osal/FreeRTOS/CountingSemaphUsingTask.h>
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#include <framework/osal/FreeRTOS/TaskManagement.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
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uint8_t initCount): maxCount(maxCount) {
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if(initCount > maxCount) {
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sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
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"intial cout. Setting initial count to max count." << std::endl;
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initCount = maxCount;
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}
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handle = TaskManagement::getCurrentTaskHandle();
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if(handle == nullptr) {
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sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
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"handle. Please ensure the constructor was called inside a "
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"task." << std::endl;
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}
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uint32_t oldNotificationValue;
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||||
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
|
||||
&oldNotificationValue);
|
||||
if(oldNotificationValue != 0) {
|
||||
sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but "
|
||||
"current notification value is not 0. Please ensure the "
|
||||
"notification value is not used for other purposes!" << std::endl;
|
||||
}
|
||||
for(int i = 0; i < initCount; i++) {
|
||||
xTaskNotifyGive(handle);
|
||||
}
|
||||
}
|
||||
|
||||
CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
|
||||
// Clear notification value on destruction.
|
||||
// If this is not desired, don't call the destructor
|
||||
// (or implement a boolean which disables the reset)
|
||||
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
|
||||
}
|
||||
|
||||
ReturnValue_t CountingSemaphoreUsingTask::acquire(uint32_t timeoutMs) {
|
||||
TickType_t timeout = SemaphoreIF::POLLING;
|
||||
if(timeoutMs == SemaphoreIF::BLOCKING) {
|
||||
timeout = SemaphoreIF::BLOCKING;
|
||||
}
|
||||
else if(timeoutMs > SemaphoreIF::POLLING){
|
||||
timeout = pdMS_TO_TICKS(timeoutMs);
|
||||
}
|
||||
return acquireWithTickTimeout(timeout);
|
||||
|
||||
}
|
||||
|
||||
ReturnValue_t CountingSemaphoreUsingTask::acquireWithTickTimeout(
|
||||
TickType_t timeoutTicks) {
|
||||
// Decrement notfication value without resetting it.
|
||||
BaseType_t oldCount = ulTaskNotifyTake(pdFALSE, timeoutTicks);
|
||||
if (getSemaphoreCounter() == oldCount - 1) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
else {
|
||||
return SemaphoreIF::SEMAPHORE_TIMEOUT;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t CountingSemaphoreUsingTask::release() {
|
||||
if(getSemaphoreCounter() == maxCount) {
|
||||
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
|
||||
}
|
||||
return release(handle);
|
||||
}
|
||||
|
||||
ReturnValue_t CountingSemaphoreUsingTask::release(
|
||||
TaskHandle_t taskToNotify) {
|
||||
BaseType_t returncode = xTaskNotifyGive(taskToNotify);
|
||||
if (returncode == pdPASS) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
else {
|
||||
// This should never happen.
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
uint8_t CountingSemaphoreUsingTask::getSemaphoreCounter() const {
|
||||
uint32_t notificationValue = 0;
|
||||
xTaskNotifyAndQuery(handle, 0, eNoAction, ¬ificationValue);
|
||||
return notificationValue;
|
||||
}
|
||||
|
||||
TaskHandle_t CountingSemaphoreUsingTask::getTaskHandle() {
|
||||
return handle;
|
||||
}
|
||||
|
||||
ReturnValue_t CountingSemaphoreUsingTask::releaseFromISR(
|
||||
TaskHandle_t taskToNotify, BaseType_t* higherPriorityTaskWoken) {
|
||||
vTaskNotifyGiveFromISR(taskToNotify, higherPriorityTaskWoken);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
|
||||
TaskHandle_t task, BaseType_t* higherPriorityTaskWoken) {
|
||||
uint32_t notificationValue;
|
||||
xTaskNotifyAndQueryFromISR(task, 0, eNoAction, ¬ificationValue,
|
||||
higherPriorityTaskWoken);
|
||||
return notificationValue;
|
||||
}
|
||||
|
||||
uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
|
||||
return maxCount;
|
||||
}
|
||||
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
|
||||
#include "../../osal/FreeRTOS/TaskManagement.h"
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
|
||||
CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
|
||||
uint8_t initCount): maxCount(maxCount) {
|
||||
if(initCount > maxCount) {
|
||||
sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
|
||||
"intial cout. Setting initial count to max count." << std::endl;
|
||||
initCount = maxCount;
|
||||
}
|
||||
|
||||
handle = TaskManagement::getCurrentTaskHandle();
|
||||
if(handle == nullptr) {
|
||||
sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
|
||||
"handle. Please ensure the constructor was called inside a "
|
||||
"task." << std::endl;
|
||||
}
|
||||
|
||||
uint32_t oldNotificationValue;
|
||||
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
|
||||
&oldNotificationValue);
|
||||
if(oldNotificationValue != 0) {
|
||||
sif::warning << "CountinSemaphoreUsingTask: Semaphore initiated but "
|
||||
"current notification value is not 0. Please ensure the "
|
||||
"notification value is not used for other purposes!" << std::endl;
|
||||
}
|
||||
for(int i = 0; i < initCount; i++) {
|
||||
xTaskNotifyGive(handle);
|
||||
}
|
||||
}
|
||||
|
||||
CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
|
||||
// Clear notification value on destruction.
|
||||
// If this is not desired, don't call the destructor
|
||||
// (or implement a boolean which disables the reset)
|
||||
xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
|
||||
}
|
||||
|
||||
ReturnValue_t CountingSemaphoreUsingTask::acquire(TimeoutType timeoutType,
|
||||
uint32_t timeoutMs) {
|
||||
TickType_t timeout = 0;
|
||||
if(timeoutType == TimeoutType::POLLING) {
|
||||
timeout = 0;
|
||||
}
|
||||
else if(timeoutType == TimeoutType::WAITING){
|
||||
timeout = pdMS_TO_TICKS(timeoutMs);
|
||||
}
|
||||
else {
|
||||
timeout = portMAX_DELAY;
|
||||
}
|
||||
return acquireWithTickTimeout(timeoutType, timeout);
|
||||
|
||||
}
|
||||
|
||||
ReturnValue_t CountingSemaphoreUsingTask::acquireWithTickTimeout(
|
||||
TimeoutType timeoutType, TickType_t timeoutTicks) {
|
||||
// Decrement notfication value without resetting it.
|
||||
BaseType_t oldCount = ulTaskNotifyTake(pdFALSE, timeoutTicks);
|
||||
if (getSemaphoreCounter() == oldCount - 1) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
else {
|
||||
return SemaphoreIF::SEMAPHORE_TIMEOUT;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t CountingSemaphoreUsingTask::release() {
|
||||
if(getSemaphoreCounter() == maxCount) {
|
||||
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
|
||||
}
|
||||
return release(handle);
|
||||
}
|
||||
|
||||
ReturnValue_t CountingSemaphoreUsingTask::release(
|
||||
TaskHandle_t taskToNotify) {
|
||||
BaseType_t returncode = xTaskNotifyGive(taskToNotify);
|
||||
if (returncode == pdPASS) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
else {
|
||||
// This should never happen.
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
uint8_t CountingSemaphoreUsingTask::getSemaphoreCounter() const {
|
||||
uint32_t notificationValue = 0;
|
||||
xTaskNotifyAndQuery(handle, 0, eNoAction, ¬ificationValue);
|
||||
return notificationValue;
|
||||
}
|
||||
|
||||
TaskHandle_t CountingSemaphoreUsingTask::getTaskHandle() {
|
||||
return handle;
|
||||
}
|
||||
|
||||
ReturnValue_t CountingSemaphoreUsingTask::releaseFromISR(
|
||||
TaskHandle_t taskToNotify, BaseType_t* higherPriorityTaskWoken) {
|
||||
vTaskNotifyGiveFromISR(taskToNotify, higherPriorityTaskWoken);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
|
||||
TaskHandle_t task, BaseType_t* higherPriorityTaskWoken) {
|
||||
uint32_t notificationValue;
|
||||
xTaskNotifyAndQueryFromISR(task, 0, eNoAction, ¬ificationValue,
|
||||
higherPriorityTaskWoken);
|
||||
return notificationValue;
|
||||
}
|
||||
|
||||
uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
|
||||
return maxCount;
|
||||
}
|
||||
|
||||
@ -1,100 +1,102 @@
|
||||
#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
|
||||
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
|
||||
|
||||
#include <framework/osal/FreeRTOS/CountingSemaphUsingTask.h>
|
||||
#include <framework/tasks/SemaphoreIF.h>
|
||||
|
||||
extern "C" {
|
||||
#include <freertos/FreeRTOS.h>
|
||||
#include <freertos/task.h>
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Couting Semaphore implementation which uses the notification value
|
||||
* of the task. The notification value should therefore not be used
|
||||
* for other purposes.
|
||||
* @details
|
||||
* Additional information: https://www.freertos.org/RTOS-task-notifications.html
|
||||
* and general semaphore documentation.
|
||||
*/
|
||||
class CountingSemaphoreUsingTask: public SemaphoreIF {
|
||||
public:
|
||||
CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount);
|
||||
virtual ~CountingSemaphoreUsingTask();
|
||||
|
||||
/**
|
||||
* Acquire the counting semaphore.
|
||||
* If no semaphores are available, the task will be blocked
|
||||
* for a maximum of #timeoutMs or until one is given back,
|
||||
* for example by an ISR or another task.
|
||||
* @param timeoutMs
|
||||
* @return -@c RETURN_OK on success
|
||||
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
|
||||
*/
|
||||
ReturnValue_t acquire(uint32_t timeoutMs = SemaphoreIF::BLOCKING) override;
|
||||
|
||||
/**
|
||||
* Release a semaphore, increasing the number of available counting
|
||||
* semaphores up to the #maxCount value.
|
||||
* @return -@c RETURN_OK on success
|
||||
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
|
||||
* already available.
|
||||
*/
|
||||
ReturnValue_t release() override;
|
||||
|
||||
uint8_t getSemaphoreCounter() const override;
|
||||
/**
|
||||
* Get the semaphore counter from an ISR.
|
||||
* @param task
|
||||
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
|
||||
* a higher priority was unblocked. A context switch should be requested
|
||||
* from an ISR if this is the case (see TaskManagement functions)
|
||||
* @return
|
||||
*/
|
||||
static uint8_t getSemaphoreCounterFromISR(TaskHandle_t task,
|
||||
BaseType_t* higherPriorityTaskWoken);
|
||||
|
||||
/**
|
||||
* Acquire with a timeout value in ticks
|
||||
* @param timeoutTicks
|
||||
* @return -@c RETURN_OK on success
|
||||
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
|
||||
*/
|
||||
ReturnValue_t acquireWithTickTimeout(
|
||||
TickType_t timeoutTicks = SemaphoreIF::BLOCKING);
|
||||
|
||||
/**
|
||||
* Get handle to the task related to the semaphore.
|
||||
* @return
|
||||
*/
|
||||
TaskHandle_t getTaskHandle();
|
||||
|
||||
/**
|
||||
* Release semaphore of task by supplying task handle
|
||||
* @param taskToNotify
|
||||
* @return -@c RETURN_OK on success
|
||||
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
|
||||
* already available.
|
||||
*/
|
||||
static ReturnValue_t release(TaskHandle_t taskToNotify);
|
||||
/**
|
||||
* Release seamphore of a task from an ISR.
|
||||
* @param taskToNotify
|
||||
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
|
||||
* a higher priority was unblocked. A context switch should be requested
|
||||
* from an ISR if this is the case (see TaskManagement functions)
|
||||
* @return -@c RETURN_OK on success
|
||||
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
|
||||
* already available.
|
||||
*/
|
||||
static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
|
||||
BaseType_t* higherPriorityTaskWoken);
|
||||
|
||||
uint8_t getMaxCount() const;
|
||||
|
||||
private:
|
||||
TaskHandle_t handle;
|
||||
const uint8_t maxCount;
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
|
||||
#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
|
||||
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_
|
||||
|
||||
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
|
||||
#include "../../tasks/SemaphoreIF.h"
|
||||
|
||||
extern "C" {
|
||||
#include <freertos/FreeRTOS.h>
|
||||
#include <freertos/task.h>
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Couting Semaphore implementation which uses the notification value
|
||||
* of the task. The notification value should therefore not be used
|
||||
* for other purposes.
|
||||
* @details
|
||||
* Additional information: https://www.freertos.org/RTOS-task-notifications.html
|
||||
* and general semaphore documentation.
|
||||
*/
|
||||
class CountingSemaphoreUsingTask: public SemaphoreIF {
|
||||
public:
|
||||
CountingSemaphoreUsingTask(const uint8_t maxCount, uint8_t initCount);
|
||||
virtual ~CountingSemaphoreUsingTask();
|
||||
|
||||
/**
|
||||
* Acquire the counting semaphore.
|
||||
* If no semaphores are available, the task will be blocked
|
||||
* for a maximum of #timeoutMs or until one is given back,
|
||||
* for example by an ISR or another task.
|
||||
* @param timeoutMs
|
||||
* @return -@c RETURN_OK on success
|
||||
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
|
||||
*/
|
||||
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
|
||||
uint32_t timeoutMs = portMAX_DELAY) override;
|
||||
|
||||
/**
|
||||
* Release a semaphore, increasing the number of available counting
|
||||
* semaphores up to the #maxCount value.
|
||||
* @return -@c RETURN_OK on success
|
||||
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
|
||||
* already available.
|
||||
*/
|
||||
ReturnValue_t release() override;
|
||||
|
||||
uint8_t getSemaphoreCounter() const override;
|
||||
/**
|
||||
* Get the semaphore counter from an ISR.
|
||||
* @param task
|
||||
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
|
||||
* a higher priority was unblocked. A context switch should be requested
|
||||
* from an ISR if this is the case (see TaskManagement functions)
|
||||
* @return
|
||||
*/
|
||||
static uint8_t getSemaphoreCounterFromISR(TaskHandle_t task,
|
||||
BaseType_t* higherPriorityTaskWoken);
|
||||
|
||||
/**
|
||||
* Acquire with a timeout value in ticks
|
||||
* @param timeoutTicks
|
||||
* @return -@c RETURN_OK on success
|
||||
* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
|
||||
*/
|
||||
ReturnValue_t acquireWithTickTimeout(
|
||||
TimeoutType timeoutType = TimeoutType::BLOCKING,
|
||||
TickType_t timeoutTicks = portMAX_DELAY);
|
||||
|
||||
/**
|
||||
* Get handle to the task related to the semaphore.
|
||||
* @return
|
||||
*/
|
||||
TaskHandle_t getTaskHandle();
|
||||
|
||||
/**
|
||||
* Release semaphore of task by supplying task handle
|
||||
* @param taskToNotify
|
||||
* @return -@c RETURN_OK on success
|
||||
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
|
||||
* already available.
|
||||
*/
|
||||
static ReturnValue_t release(TaskHandle_t taskToNotify);
|
||||
/**
|
||||
* Release seamphore of a task from an ISR.
|
||||
* @param taskToNotify
|
||||
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
|
||||
* a higher priority was unblocked. A context switch should be requested
|
||||
* from an ISR if this is the case (see TaskManagement functions)
|
||||
* @return -@c RETURN_OK on success
|
||||
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if #maxCount semaphores are
|
||||
* already available.
|
||||
*/
|
||||
static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
|
||||
BaseType_t* higherPriorityTaskWoken);
|
||||
|
||||
uint8_t getMaxCount() const;
|
||||
|
||||
private:
|
||||
TaskHandle_t handle;
|
||||
const uint8_t maxCount;
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */
|
||||
|
||||
@ -1,43 +1,43 @@
|
||||
#include <framework/osal/FreeRTOS/CountingSemaphore.h>
|
||||
#include <framework/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <framework/osal/FreeRTOS/TaskManagement.h>
|
||||
|
||||
#include <freertos/semphr.h>
|
||||
|
||||
// Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in
|
||||
// free FreeRTOSConfig.h file.
|
||||
CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
|
||||
maxCount(maxCount), initCount(initCount) {
|
||||
if(initCount > maxCount) {
|
||||
sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
|
||||
"intial cout. Setting initial count to max count." << std::endl;
|
||||
initCount = maxCount;
|
||||
}
|
||||
|
||||
handle = xSemaphoreCreateCounting(maxCount, initCount);
|
||||
if(handle == nullptr) {
|
||||
sif::error << "CountingSemaphore: Creation failure" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
|
||||
maxCount(other.maxCount), initCount(other.initCount) {
|
||||
handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
|
||||
if(handle == nullptr) {
|
||||
sif::error << "CountingSemaphore: Creation failure" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
CountingSemaphore& CountingSemaphore::operator =(
|
||||
CountingSemaphore&& other) {
|
||||
handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
|
||||
if(handle == nullptr) {
|
||||
sif::error << "CountingSemaphore: Creation failure" << std::endl;
|
||||
}
|
||||
return * this;
|
||||
}
|
||||
|
||||
|
||||
uint8_t CountingSemaphore::getMaxCount() const {
|
||||
return maxCount;
|
||||
}
|
||||
#include "../../osal/FreeRTOS/CountingSemaphore.h"
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../../osal/FreeRTOS/TaskManagement.h"
|
||||
|
||||
#include <freertos/semphr.h>
|
||||
|
||||
// Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in
|
||||
// free FreeRTOSConfig.h file.
|
||||
CountingSemaphore::CountingSemaphore(const uint8_t maxCount, uint8_t initCount):
|
||||
maxCount(maxCount), initCount(initCount) {
|
||||
if(initCount > maxCount) {
|
||||
sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
|
||||
"intial cout. Setting initial count to max count." << std::endl;
|
||||
initCount = maxCount;
|
||||
}
|
||||
|
||||
handle = xSemaphoreCreateCounting(maxCount, initCount);
|
||||
if(handle == nullptr) {
|
||||
sif::error << "CountingSemaphore: Creation failure" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
CountingSemaphore::CountingSemaphore(CountingSemaphore&& other):
|
||||
maxCount(other.maxCount), initCount(other.initCount) {
|
||||
handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
|
||||
if(handle == nullptr) {
|
||||
sif::error << "CountingSemaphore: Creation failure" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
CountingSemaphore& CountingSemaphore::operator =(
|
||||
CountingSemaphore&& other) {
|
||||
handle = xSemaphoreCreateCounting(other.maxCount, other.initCount);
|
||||
if(handle == nullptr) {
|
||||
sif::error << "CountingSemaphore: Creation failure" << std::endl;
|
||||
}
|
||||
return * this;
|
||||
}
|
||||
|
||||
|
||||
uint8_t CountingSemaphore::getMaxCount() const {
|
||||
return maxCount;
|
||||
}
|
||||
|
||||
@ -1,34 +1,34 @@
|
||||
#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
|
||||
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
|
||||
#include <framework/osal/FreeRTOS/BinarySemaphore.h>
|
||||
|
||||
/**
|
||||
* @brief Counting semaphores, which can be acquire more than once.
|
||||
* @details
|
||||
* See: https://www.freertos.org/CreateCounting.html
|
||||
* API of counting semaphores is almost identical to binary semaphores,
|
||||
* so we just inherit from binary semaphore and provide the respective
|
||||
* constructors.
|
||||
*/
|
||||
class CountingSemaphore: public BinarySemaphore {
|
||||
public:
|
||||
CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
|
||||
//! @brief Copy ctor, disabled
|
||||
CountingSemaphore(const CountingSemaphore&) = delete;
|
||||
//! @brief Copy assignment, disabled
|
||||
CountingSemaphore& operator=(const CountingSemaphore&) = delete;
|
||||
//! @brief Move ctor
|
||||
CountingSemaphore (CountingSemaphore &&);
|
||||
//! @brief Move assignment
|
||||
CountingSemaphore & operator=(CountingSemaphore &&);
|
||||
|
||||
/* Same API as binary semaphore otherwise. acquire() can be called
|
||||
* until there are not semaphores left and release() can be called
|
||||
* until maxCount is reached. */
|
||||
uint8_t getMaxCount() const;
|
||||
private:
|
||||
const uint8_t maxCount;
|
||||
uint8_t initCount = 0;
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */
|
||||
#ifndef FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
|
||||
#define FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_
|
||||
#include "../../osal/FreeRTOS/BinarySemaphore.h"
|
||||
|
||||
/**
|
||||
* @brief Counting semaphores, which can be acquire more than once.
|
||||
* @details
|
||||
* See: https://www.freertos.org/CreateCounting.html
|
||||
* API of counting semaphores is almost identical to binary semaphores,
|
||||
* so we just inherit from binary semaphore and provide the respective
|
||||
* constructors.
|
||||
*/
|
||||
class CountingSemaphore: public BinarySemaphore {
|
||||
public:
|
||||
CountingSemaphore(const uint8_t maxCount, uint8_t initCount);
|
||||
//! @brief Copy ctor, disabled
|
||||
CountingSemaphore(const CountingSemaphore&) = delete;
|
||||
//! @brief Copy assignment, disabled
|
||||
CountingSemaphore& operator=(const CountingSemaphore&) = delete;
|
||||
//! @brief Move ctor
|
||||
CountingSemaphore (CountingSemaphore &&);
|
||||
//! @brief Move assignment
|
||||
CountingSemaphore & operator=(CountingSemaphore &&);
|
||||
|
||||
/* Same API as binary semaphore otherwise. acquire() can be called
|
||||
* until there are not semaphores left and release() can be called
|
||||
* until maxCount is reached. */
|
||||
uint8_t getMaxCount() const;
|
||||
private:
|
||||
const uint8_t maxCount;
|
||||
uint8_t initCount = 0;
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHORE_H_ */
|
||||
|
||||
@ -1,61 +1,59 @@
|
||||
#include <framework/osal/FreeRTOS/BinarySemaphore.h>
|
||||
#include <framework/osal/FreeRTOS/BinSemaphUsingTask.h>
|
||||
#include <framework/osal/FreeRTOS/CountingSemaphore.h>
|
||||
#include <framework/osal/FreeRTOS/CountingSemaphUsingTask.h>
|
||||
#include <framework/tasks/SemaphoreFactory.h>
|
||||
#include <framework/serviceinterface/ServiceInterfaceStream.h>
|
||||
|
||||
SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
|
||||
const uint32_t SemaphoreIF::POLLING = 0;
|
||||
const uint32_t SemaphoreIF::BLOCKING = portMAX_DELAY;
|
||||
|
||||
static const uint32_t USE_REGULAR_SEMAPHORES = 0;
|
||||
static const uint32_t USE_TASK_NOTIFICATIONS = 1;
|
||||
|
||||
SemaphoreFactory::SemaphoreFactory() {
|
||||
}
|
||||
|
||||
SemaphoreFactory::~SemaphoreFactory() {
|
||||
delete factoryInstance;
|
||||
}
|
||||
|
||||
SemaphoreFactory* SemaphoreFactory::instance() {
|
||||
if (factoryInstance == nullptr){
|
||||
factoryInstance = new SemaphoreFactory();
|
||||
}
|
||||
return SemaphoreFactory::factoryInstance;
|
||||
}
|
||||
|
||||
SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
|
||||
if(argument == USE_REGULAR_SEMAPHORES) {
|
||||
return new BinarySemaphore();
|
||||
}
|
||||
else if(argument == USE_TASK_NOTIFICATIONS) {
|
||||
return new BinarySemaphoreUsingTask();
|
||||
}
|
||||
else {
|
||||
sif::warning << "SemaphoreFactory: Invalid argument, return regular"
|
||||
"binary semaphore" << std::endl;
|
||||
return new BinarySemaphore();
|
||||
}
|
||||
}
|
||||
|
||||
SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
|
||||
uint8_t initCount, uint32_t argument) {
|
||||
if(argument == USE_REGULAR_SEMAPHORES) {
|
||||
return new CountingSemaphore(maxCount, initCount);
|
||||
}
|
||||
else if(argument == USE_TASK_NOTIFICATIONS) {
|
||||
return new CountingSemaphoreUsingTask(maxCount, initCount);
|
||||
}
|
||||
else {
|
||||
sif::warning << "SemaphoreFactory: Invalid argument, return regular"
|
||||
"binary semaphore" << std::endl;
|
||||
return new CountingSemaphore(maxCount, initCount);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
|
||||
delete semaphore;
|
||||
}
|
||||
#include "../../osal/FreeRTOS/BinarySemaphore.h"
|
||||
#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
|
||||
#include "../../osal/FreeRTOS/CountingSemaphore.h"
|
||||
#include "../../osal/FreeRTOS/CountingSemaphUsingTask.h"
|
||||
#include "../../tasks/SemaphoreFactory.h"
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
|
||||
SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
|
||||
|
||||
static const uint32_t USE_REGULAR_SEMAPHORES = 0;
|
||||
static const uint32_t USE_TASK_NOTIFICATIONS = 1;
|
||||
|
||||
SemaphoreFactory::SemaphoreFactory() {
|
||||
}
|
||||
|
||||
SemaphoreFactory::~SemaphoreFactory() {
|
||||
delete factoryInstance;
|
||||
}
|
||||
|
||||
SemaphoreFactory* SemaphoreFactory::instance() {
|
||||
if (factoryInstance == nullptr){
|
||||
factoryInstance = new SemaphoreFactory();
|
||||
}
|
||||
return SemaphoreFactory::factoryInstance;
|
||||
}
|
||||
|
||||
SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
|
||||
if(argument == USE_REGULAR_SEMAPHORES) {
|
||||
return new BinarySemaphore();
|
||||
}
|
||||
else if(argument == USE_TASK_NOTIFICATIONS) {
|
||||
return new BinarySemaphoreUsingTask();
|
||||
}
|
||||
else {
|
||||
sif::warning << "SemaphoreFactory: Invalid argument, return regular"
|
||||
"binary semaphore" << std::endl;
|
||||
return new BinarySemaphore();
|
||||
}
|
||||
}
|
||||
|
||||
SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t maxCount,
|
||||
uint8_t initCount, uint32_t argument) {
|
||||
if(argument == USE_REGULAR_SEMAPHORES) {
|
||||
return new CountingSemaphore(maxCount, initCount);
|
||||
}
|
||||
else if(argument == USE_TASK_NOTIFICATIONS) {
|
||||
return new CountingSemaphoreUsingTask(maxCount, initCount);
|
||||
}
|
||||
else {
|
||||
sif::warning << "SemaphoreFactory: Invalid argument, return regular"
|
||||
"binary semaphore" << std::endl;
|
||||
return new CountingSemaphore(maxCount, initCount);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
|
||||
delete semaphore;
|
||||
}
|
||||
|
||||
@ -1,72 +1,68 @@
|
||||
#ifndef FRAMEWORK_TASKS_SEMAPHOREIF_H_
|
||||
#define FRAMEWORK_TASKS_SEMAPHOREIF_H_
|
||||
#include <framework/returnvalues/FwClassIds.h>
|
||||
#include <framework/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <cstdint>
|
||||
|
||||
/**
|
||||
* @brief Generic interface for semaphores, which can be used to achieve
|
||||
* task synchronization. This is a generic interface which can be
|
||||
* used for both binary semaphores and counting semaphores.
|
||||
* @details
|
||||
* A semaphore is a synchronization primitive.
|
||||
* See: https://en.wikipedia.org/wiki/Semaphore_(programming)
|
||||
* A semaphore can be used to achieve task synchonization and track the
|
||||
* availability of resources by using either the binary or the counting
|
||||
* semaphore types.
|
||||
*
|
||||
* If mutual exlcusion of a resource is desired, a mutex should be used,
|
||||
* which is a special form of a semaphore and has an own interface.
|
||||
*/
|
||||
class SemaphoreIF {
|
||||
public:
|
||||
virtual~ SemaphoreIF() {};
|
||||
/**
|
||||
* @brief Timeout value used for polling lock attempt.
|
||||
* @details
|
||||
* If the lock is not successfull, MUTEX_TIMEOUT will be returned
|
||||
* immediately. Value needs to be defined in implementation.
|
||||
*/
|
||||
static const uint32_t POLLING;
|
||||
/**
|
||||
* @brief Timeout value used for permanent blocking lock attempt.
|
||||
* @details
|
||||
* The task will be blocked (indefinitely) until the mutex is unlocked.
|
||||
* Value needs to be defined in implementation.
|
||||
*/
|
||||
static const uint32_t BLOCKING;
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
|
||||
//! Semaphore timeout
|
||||
static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);
|
||||
//! The current semaphore can not be given, because it is not owned
|
||||
static constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
|
||||
static constexpr ReturnValue_t SEMAPHORE_INVALID = MAKE_RETURN_CODE(3);
|
||||
|
||||
/**
|
||||
* Generic call to acquire a semaphore.
|
||||
* If there are no more semaphores to be taken (for a counting semaphore,
|
||||
* a semaphore may be taken more than once), the taks will block
|
||||
* for a maximum of timeoutMs while trying to acquire the semaphore.
|
||||
* This can be used to achieve task synchrnization.
|
||||
* @param timeoutMs
|
||||
* @return - c RETURN_OK for successfull acquisition
|
||||
*/
|
||||
virtual ReturnValue_t acquire(uint32_t timeoutMs) = 0;
|
||||
|
||||
/**
|
||||
* Corrensponding call to release a semaphore.
|
||||
* @return -@c RETURN_OK for successfull release
|
||||
*/
|
||||
virtual ReturnValue_t release() = 0;
|
||||
|
||||
/**
|
||||
* If the semaphore is a counting semaphore then the semaphores current
|
||||
* count value is returned. If the semaphore is a binary semaphore then 1
|
||||
* is returned if the semaphore is available, and 0 is returned if the
|
||||
* semaphore is not available.
|
||||
*/
|
||||
virtual uint8_t getSemaphoreCounter() const = 0;
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_TASKS_SEMAPHOREIF_H_ */
|
||||
#ifndef FRAMEWORK_TASKS_SEMAPHOREIF_H_
|
||||
#define FRAMEWORK_TASKS_SEMAPHOREIF_H_
|
||||
#include "../returnvalues/FwClassIds.h"
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include <cstdint>
|
||||
|
||||
/**
|
||||
* @brief Generic interface for semaphores, which can be used to achieve
|
||||
* task synchronization. This is a generic interface which can be
|
||||
* used for both binary semaphores and counting semaphores.
|
||||
* @details
|
||||
* A semaphore is a synchronization primitive.
|
||||
* See: https://en.wikipedia.org/wiki/Semaphore_(programming)
|
||||
* A semaphore can be used to achieve task synchonization and track the
|
||||
* availability of resources by using either the binary or the counting
|
||||
* semaphore types.
|
||||
*
|
||||
* If mutual exlcusion of a resource is desired, a mutex should be used,
|
||||
* which is a special form of a semaphore and has an own interface.
|
||||
*/
|
||||
class SemaphoreIF {
|
||||
public:
|
||||
/**
|
||||
* Different types of timeout for the mutex lock.
|
||||
*/
|
||||
enum TimeoutType {
|
||||
POLLING, //!< If mutex is not available, return immediately
|
||||
WAITING, //!< Wait a specified time for the mutex to become available
|
||||
BLOCKING //!< Block indefinitely until the mutex becomes available.
|
||||
};
|
||||
|
||||
virtual~ SemaphoreIF() {};
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
|
||||
//! Semaphore timeout
|
||||
static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);
|
||||
//! The current semaphore can not be given, because it is not owned
|
||||
static constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
|
||||
static constexpr ReturnValue_t SEMAPHORE_INVALID = MAKE_RETURN_CODE(3);
|
||||
|
||||
/**
|
||||
* Generic call to acquire a semaphore.
|
||||
* If there are no more semaphores to be taken (for a counting semaphore,
|
||||
* a semaphore may be taken more than once), the taks will block
|
||||
* for a maximum of timeoutMs while trying to acquire the semaphore.
|
||||
* This can be used to achieve task synchrnization.
|
||||
* @param timeoutMs
|
||||
* @return - c RETURN_OK for successfull acquisition
|
||||
*/
|
||||
virtual ReturnValue_t acquire(TimeoutType timeoutType =
|
||||
TimeoutType::BLOCKING, uint32_t timeoutMs = 0) = 0;
|
||||
|
||||
/**
|
||||
* Corrensponding call to release a semaphore.
|
||||
* @return -@c RETURN_OK for successfull release
|
||||
*/
|
||||
virtual ReturnValue_t release() = 0;
|
||||
|
||||
/**
|
||||
* If the semaphore is a counting semaphore then the semaphores current
|
||||
* count value is returned. If the semaphore is a binary semaphore then 1
|
||||
* is returned if the semaphore is available, and 0 is returned if the
|
||||
* semaphore is not available.
|
||||
*/
|
||||
virtual uint8_t getSemaphoreCounter() const = 0;
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_TASKS_SEMAPHOREIF_H_ */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user