fsfw/osal/FreeRTOS/BinSemaphUsingTask.h

87 lines
2.4 KiB
C++

#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/tasks/SemaphoreIF.h>
extern "C" {
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
}
class BinarySemaphoreUsingTask: public SemaphoreIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphoreUsingTask();
ReturnValue_t acquire(uint32_t timeoutMs =
SemaphoreIF::NO_TIMEOUT) override;
ReturnValue_t release() override;
uint8_t getSemaphoreCounter() override;
/**
* Take the binary semaphore.
* If the semaphore has already been taken, the task will be blocked
* for a maximum of #timeoutMs or until the semaphore is given back,
* for example by an ISR or another task.
* @param timeoutMs
* @return -@c RETURN_OK on success
* -@c RETURN_FAILED on failure
*/
ReturnValue_t takeBinarySemaphore(uint32_t timeoutMs =
SemaphoreIF::NO_TIMEOUT);
/**
* Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
* @param timeoutTicks
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
ReturnValue_t takeBinarySemaphoreTickTimeout(TickType_t timeoutTicks =
SemaphoreIF::NO_TIMEOUT);
/**
* Give back the binary semaphore
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
ReturnValue_t giveBinarySemaphore();
/**
* Get handle to the task related to the semaphore.
* @return
*/
TaskHandle_t getTaskHandle();
/**
* Wrapper function to give back semaphore from handle
* @param semaphore
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t giveBinarySemaphore(TaskHandle_t taskToNotify);
/**
* Wrapper function to give back semaphore from handle when called from an ISR
* @param semaphore
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with a higher priority
* was unblocked
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t giveBinarySemaphoreFromISR(TaskHandle_t taskToNotify,
BaseType_t * higherPriorityTaskWoken);
static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle);
protected:
TaskHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */