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renormalized files

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Robin Müller 2020-09-18 13:15:14 +02:00
parent 42bfedd36c
commit 386f347574
23 changed files with 3811 additions and 3811 deletions
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4180
contrib/sgp4/sgp4unit.cpp
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234
contrib/sgp4/sgp4unit.h
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@ -1,117 +1,117 @@
#ifndef _sgp4unit_
#define _sgp4unit_
/* ----------------------------------------------------------------
*
* sgp4unit.h
*
* this file contains the sgp4 procedures for analytical propagation
* of a satellite. the code was originally released in the 1980 and 1986
* spacetrack papers. a detailed discussion of the theory and history
* may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
* and kelso.
*
* companion code for
* fundamentals of astrodynamics and applications
* 2007
* by david vallado
*
* (w) 719-573-2600, email dvallado@agi.com
*
* current :
* 20 apr 07 david vallado
* misc fixes for constants
* changes :
* 11 aug 06 david vallado
* chg lyddane choice back to strn3, constants, misc doc
* 15 dec 05 david vallado
* misc fixes
* 26 jul 05 david vallado
* fixes for paper
* note that each fix is preceded by a
* comment with "sgp4fix" and an explanation of
* what was changed
* 10 aug 04 david vallado
* 2nd printing baseline working
* 14 may 01 david vallado
* 2nd edition baseline
* 80 norad
* original baseline
* ---------------------------------------------------------------- */
#include <math.h>
#include <stdio.h>
// -------------------------- structure declarations ----------------------------
typedef enum
{
wgs72old,
wgs72,
wgs84
} gravconsttype;
typedef struct elsetrec
{
long int satnum;
int epochyr, epochtynumrev;
int error;
char init, method;
/* Near Earth */
int isimp;
double aycof , con41 , cc1 , cc4 , cc5 , d2 , d3 , d4 ,
delmo , eta , argpdot, omgcof , sinmao , t , t2cof, t3cof ,
t4cof , t5cof , x1mth2 , x7thm1 , mdot , nodedot, xlcof , xmcof ,
nodecf;
/* Deep Space */
int irez;
double d2201 , d2211 , d3210 , d3222 , d4410 , d4422 , d5220 , d5232 ,
d5421 , d5433 , dedt , del1 , del2 , del3 , didt , dmdt ,
dnodt , domdt , e3 , ee2 , peo , pgho , pho , pinco ,
plo , se2 , se3 , sgh2 , sgh3 , sgh4 , sh2 , sh3 ,
si2 , si3 , sl2 , sl3 , sl4 , gsto , xfact , xgh2 ,
xgh3 , xgh4 , xh2 , xh3 , xi2 , xi3 , xl2 , xl3 ,
xl4 , xlamo , zmol , zmos , atime , xli , xni;
double a , altp , alta , epochdays, jdsatepoch , nddot , ndot ,
bstar , rcse , inclo , nodeo , ecco , argpo , mo ,
no;
} elsetrec;
// --------------------------- function declarations ----------------------------
int sgp4init
(
gravconsttype whichconst, const int satn, const double epoch,
const double xbstar, const double xecco, const double xargpo,
const double xinclo, const double xmo, const double xno,
const double xnodeo,
elsetrec& satrec
);
int sgp4
(
gravconsttype whichconst,
elsetrec& satrec, double tsince,
double r[], double v[]
);
double gstime
(
double
);
void getgravconst
(
gravconsttype,
double&,
double&,
double&,
double&,
double&,
double&,
double&,
double&
);
#endif
#ifndef _sgp4unit_
#define _sgp4unit_
/* ----------------------------------------------------------------
*
* sgp4unit.h
*
* this file contains the sgp4 procedures for analytical propagation
* of a satellite. the code was originally released in the 1980 and 1986
* spacetrack papers. a detailed discussion of the theory and history
* may be found in the 2006 aiaa paper by vallado, crawford, hujsak,
* and kelso.
*
* companion code for
* fundamentals of astrodynamics and applications
* 2007
* by david vallado
*
* (w) 719-573-2600, email dvallado@agi.com
*
* current :
* 20 apr 07 david vallado
* misc fixes for constants
* changes :
* 11 aug 06 david vallado
* chg lyddane choice back to strn3, constants, misc doc
* 15 dec 05 david vallado
* misc fixes
* 26 jul 05 david vallado
* fixes for paper
* note that each fix is preceded by a
* comment with "sgp4fix" and an explanation of
* what was changed
* 10 aug 04 david vallado
* 2nd printing baseline working
* 14 may 01 david vallado
* 2nd edition baseline
* 80 norad
* original baseline
* ---------------------------------------------------------------- */
#include <math.h>
#include <stdio.h>
// -------------------------- structure declarations ----------------------------
typedef enum
{
wgs72old,
wgs72,
wgs84
} gravconsttype;
typedef struct elsetrec
{
long int satnum;
int epochyr, epochtynumrev;
int error;
char init, method;
/* Near Earth */
int isimp;
double aycof , con41 , cc1 , cc4 , cc5 , d2 , d3 , d4 ,
delmo , eta , argpdot, omgcof , sinmao , t , t2cof, t3cof ,
t4cof , t5cof , x1mth2 , x7thm1 , mdot , nodedot, xlcof , xmcof ,
nodecf;
/* Deep Space */
int irez;
double d2201 , d2211 , d3210 , d3222 , d4410 , d4422 , d5220 , d5232 ,
d5421 , d5433 , dedt , del1 , del2 , del3 , didt , dmdt ,
dnodt , domdt , e3 , ee2 , peo , pgho , pho , pinco ,
plo , se2 , se3 , sgh2 , sgh3 , sgh4 , sh2 , sh3 ,
si2 , si3 , sl2 , sl3 , sl4 , gsto , xfact , xgh2 ,
xgh3 , xgh4 , xh2 , xh3 , xi2 , xi3 , xl2 , xl3 ,
xl4 , xlamo , zmol , zmos , atime , xli , xni;
double a , altp , alta , epochdays, jdsatepoch , nddot , ndot ,
bstar , rcse , inclo , nodeo , ecco , argpo , mo ,
no;
} elsetrec;
// --------------------------- function declarations ----------------------------
int sgp4init
(
gravconsttype whichconst, const int satn, const double epoch,
const double xbstar, const double xecco, const double xargpo,
const double xinclo, const double xmo, const double xno,
const double xnodeo,
elsetrec& satrec
);
int sgp4
(
gravconsttype whichconst,
elsetrec& satrec, double tsince,
double r[], double v[]
);
double gstime
(
double
);
void getgravconst
(
gravconsttype,
double&,
double&,
double&,
double&,
double&,
double&,
double&,
double&
);
#endif

198
globalfunctions/timevalOperations.cpp
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#include "timevalOperations.h"
timeval& operator+=(timeval& lhs, const timeval& rhs) {
int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
sum += rhs.tv_sec * 1000000. + rhs.tv_usec;
lhs.tv_sec = sum / 1000000;
lhs.tv_usec = sum - lhs.tv_sec * 1000000;
return lhs;
}
timeval operator+(timeval lhs, const timeval& rhs) {
lhs += rhs;
return lhs;
}
timeval& operator-=(timeval& lhs, const timeval& rhs) {
int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
sum -= rhs.tv_sec * 1000000. + rhs.tv_usec;
lhs.tv_sec = sum / 1000000;
lhs.tv_usec = sum - lhs.tv_sec * 1000000;
return lhs;
}
timeval operator-(timeval lhs, const timeval& rhs) {
lhs -= rhs;
return lhs;
}
double operator/(const timeval& lhs, const timeval& rhs) {
double lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
double rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
return lhs64 / rhs64;
}
timeval& operator/=(timeval& lhs, double scalar) {
int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
product /= scalar;
lhs.tv_sec = product / 1000000;
lhs.tv_usec = product - lhs.tv_sec * 1000000;
return lhs;
}
timeval operator/(timeval lhs, double scalar) {
lhs /= scalar;
return lhs;
}
timeval& operator*=(timeval& lhs, double scalar) {
int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
product *= scalar;
lhs.tv_sec = product / 1000000;
lhs.tv_usec = product - lhs.tv_sec * 1000000;
return lhs;
}
timeval operator*(timeval lhs, double scalar) {
lhs *= scalar;
return lhs;
}
timeval operator*(double scalar, timeval rhs) {
rhs *= scalar;
return rhs;
}
bool operator==(const timeval& lhs, const timeval& rhs) {
int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
return lhs64 == rhs64;
}
bool operator!=(const timeval& lhs, const timeval& rhs) {
return !operator==(lhs, rhs);
}
bool operator<(const timeval& lhs, const timeval& rhs) {
int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
return lhs64 < rhs64;
}
bool operator>(const timeval& lhs, const timeval& rhs) {
return operator<(rhs, lhs);
}
bool operator<=(const timeval& lhs, const timeval& rhs) {
return !operator>(lhs, rhs);
}
bool operator>=(const timeval& lhs, const timeval& rhs) {
return !operator<(lhs, rhs);
}
double timevalOperations::toDouble(const timeval timeval) {
double result = timeval.tv_sec * 1000000. + timeval.tv_usec;
return result / 1000000.;
}
timeval timevalOperations::toTimeval(const double seconds) {
timeval tval;
tval.tv_sec = seconds;
tval.tv_usec = seconds *(double) 1e6 - (tval.tv_sec *1e6);
return tval;
}
#include "timevalOperations.h"
timeval& operator+=(timeval& lhs, const timeval& rhs) {
int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
sum += rhs.tv_sec * 1000000. + rhs.tv_usec;
lhs.tv_sec = sum / 1000000;
lhs.tv_usec = sum - lhs.tv_sec * 1000000;
return lhs;
}
timeval operator+(timeval lhs, const timeval& rhs) {
lhs += rhs;
return lhs;
}
timeval& operator-=(timeval& lhs, const timeval& rhs) {
int64_t sum = lhs.tv_sec * 1000000. + lhs.tv_usec;
sum -= rhs.tv_sec * 1000000. + rhs.tv_usec;
lhs.tv_sec = sum / 1000000;
lhs.tv_usec = sum - lhs.tv_sec * 1000000;
return lhs;
}
timeval operator-(timeval lhs, const timeval& rhs) {
lhs -= rhs;
return lhs;
}
double operator/(const timeval& lhs, const timeval& rhs) {
double lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
double rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
return lhs64 / rhs64;
}
timeval& operator/=(timeval& lhs, double scalar) {
int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
product /= scalar;
lhs.tv_sec = product / 1000000;
lhs.tv_usec = product - lhs.tv_sec * 1000000;
return lhs;
}
timeval operator/(timeval lhs, double scalar) {
lhs /= scalar;
return lhs;
}
timeval& operator*=(timeval& lhs, double scalar) {
int64_t product = lhs.tv_sec * 1000000. + lhs.tv_usec;
product *= scalar;
lhs.tv_sec = product / 1000000;
lhs.tv_usec = product - lhs.tv_sec * 1000000;
return lhs;
}
timeval operator*(timeval lhs, double scalar) {
lhs *= scalar;
return lhs;
}
timeval operator*(double scalar, timeval rhs) {
rhs *= scalar;
return rhs;
}
bool operator==(const timeval& lhs, const timeval& rhs) {
int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
return lhs64 == rhs64;
}
bool operator!=(const timeval& lhs, const timeval& rhs) {
return !operator==(lhs, rhs);
}
bool operator<(const timeval& lhs, const timeval& rhs) {
int64_t lhs64 = lhs.tv_sec * 1000000. + lhs.tv_usec;
int64_t rhs64 = rhs.tv_sec * 1000000. + rhs.tv_usec;
return lhs64 < rhs64;
}
bool operator>(const timeval& lhs, const timeval& rhs) {
return operator<(rhs, lhs);
}
bool operator<=(const timeval& lhs, const timeval& rhs) {
return !operator>(lhs, rhs);
}
bool operator>=(const timeval& lhs, const timeval& rhs) {
return !operator<(lhs, rhs);
}
double timevalOperations::toDouble(const timeval timeval) {
double result = timeval.tv_sec * 1000000. + timeval.tv_usec;
return result / 1000000.;
}
timeval timevalOperations::toTimeval(const double seconds) {
timeval tval;
tval.tv_sec = seconds;
tval.tv_usec = seconds *(double) 1e6 - (tval.tv_sec *1e6);
return tval;
}

190
osal/FreeRTOS/BinSemaphUsingTask.cpp
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@ -1,95 +1,95 @@
#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "../../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(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 BinarySemaphoreUsingTask::acquireWithTickTimeout(
TimeoutType timeoutType, 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;
}
#include "../../osal/FreeRTOS/BinSemaphUsingTask.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "../../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(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 BinarySemaphoreUsingTask::acquireWithTickTimeout(
TimeoutType timeoutType, 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;
}

152
osal/FreeRTOS/BinSemaphUsingTask.h
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@ -1,76 +1,76 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
/**
* @brief Binary Semaphore implementation using the task notification value.
* 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 BinarySemaphoreUsingTask: public SemaphoreIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphoreUsingTask();
//! @brief Default dtor
virtual~ BinarySemaphoreUsingTask();
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = portMAX_DELAY) override;
ReturnValue_t release() override;
uint8_t getSemaphoreCounter() const override;
static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
BaseType_t* higherPriorityTaskWoken);
/**
* Same as acquire() with timeout in FreeRTOS ticks.
* @param timeoutTicks
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
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();
/**
* Wrapper function to give back semaphore from handle
* @param semaphore
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t release(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. A context switch should be requested
* from an ISR if this is the case (see TaskManagement functions)
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
BaseType_t * higherPriorityTaskWoken);
protected:
TaskHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
/**
* @brief Binary Semaphore implementation using the task notification value.
* 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 BinarySemaphoreUsingTask: public SemaphoreIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphoreUsingTask();
//! @brief Default dtor
virtual~ BinarySemaphoreUsingTask();
ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
uint32_t timeoutMs = portMAX_DELAY) override;
ReturnValue_t release() override;
uint8_t getSemaphoreCounter() const override;
static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
BaseType_t* higherPriorityTaskWoken);
/**
* Same as acquire() with timeout in FreeRTOS ticks.
* @param timeoutTicks
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
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();
/**
* Wrapper function to give back semaphore from handle
* @param semaphore
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t release(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. A context switch should be requested
* from an ISR if this is the case (see TaskManagement functions)
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
BaseType_t * higherPriorityTaskWoken);
protected:
TaskHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */

216
osal/FreeRTOS/BinarySemaphore.cpp
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@ -1,108 +1,108 @@
#include "../../osal/FreeRTOS/BinarySemaphore.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
BinarySemaphore::BinarySemaphore() {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
}
// Initiated semaphore must be given before it can be taken.
xSemaphoreGive(handle);
}
BinarySemaphore::~BinarySemaphore() {
vSemaphoreDelete(handle);
}
BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Binary semaphore creation failure" << std::endl;
}
xSemaphoreGive(handle);
}
BinarySemaphore& BinarySemaphore::operator =(
BinarySemaphore&& s) {
if(&s != this) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Binary semaphore creation failure" << std::endl;
}
xSemaphoreGive(handle);
}
return *this;
}
ReturnValue_t BinarySemaphore::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 BinarySemaphore::acquireWithTickTimeout(TimeoutType timeoutType,
TickType_t timeoutTicks) {
if(handle == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphore::release() {
return release(handle);
}
ReturnValue_t BinarySemaphore::release(SemaphoreHandle_t semaphore) {
if (semaphore == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreGive(semaphore);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
}
uint8_t BinarySemaphore::getSemaphoreCounter() const {
return uxSemaphoreGetCount(handle);
}
SemaphoreHandle_t BinarySemaphore::getSemaphore() {
return handle;
}
// Be careful with the stack size here. This is called from an ISR!
ReturnValue_t BinarySemaphore::releaseFromISR(
SemaphoreHandle_t semaphore, BaseType_t * higherPriorityTaskWoken) {
if (semaphore == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreGiveFromISR(semaphore,
higherPriorityTaskWoken);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
}
#include "../../osal/FreeRTOS/BinarySemaphore.h"
#include "../../osal/FreeRTOS/TaskManagement.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
BinarySemaphore::BinarySemaphore() {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
}
// Initiated semaphore must be given before it can be taken.
xSemaphoreGive(handle);
}
BinarySemaphore::~BinarySemaphore() {
vSemaphoreDelete(handle);
}
BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Binary semaphore creation failure" << std::endl;
}
xSemaphoreGive(handle);
}
BinarySemaphore& BinarySemaphore::operator =(
BinarySemaphore&& s) {
if(&s != this) {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
sif::error << "Binary semaphore creation failure" << std::endl;
}
xSemaphoreGive(handle);
}
return *this;
}
ReturnValue_t BinarySemaphore::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 BinarySemaphore::acquireWithTickTimeout(TimeoutType timeoutType,
TickType_t timeoutTicks) {
if(handle == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphore::release() {
return release(handle);
}
ReturnValue_t BinarySemaphore::release(SemaphoreHandle_t semaphore) {
if (semaphore == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreGive(semaphore);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
}
uint8_t BinarySemaphore::getSemaphoreCounter() const {
return uxSemaphoreGetCount(handle);
}
SemaphoreHandle_t BinarySemaphore::getSemaphore() {
return handle;
}
// Be careful with the stack size here. This is called from an ISR!
ReturnValue_t BinarySemaphore::releaseFromISR(
SemaphoreHandle_t semaphore, BaseType_t * higherPriorityTaskWoken) {
if (semaphore == nullptr) {
return SemaphoreIF::SEMAPHORE_INVALID;
}
BaseType_t returncode = xSemaphoreGiveFromISR(semaphore,
higherPriorityTaskWoken);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_NOT_OWNED;
}
}

214
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@ -1,107 +1,107 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
/**
* @brief OS Tool to achieve synchronization of between tasks or between
* task and ISR. The default semaphore implementation creates a
* binary semaphore, which can only be taken once.
* @details
* Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
*
* Please note that if the semaphore implementation is only related to
* the synchronization of one task, the new task notifications can be used,
* also see the BinSemaphUsingTask and CountingSemaphUsingTask classes.
* These use the task notification value instead of a queue and are
* faster and more efficient.
*
* @author R. Mueller
* @ingroup osal
*/
class BinarySemaphore: public SemaphoreIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphore();
//! @brief Copy ctor, deleted explicitely.
BinarySemaphore(const BinarySemaphore&) = delete;
//! @brief Copy assignment, deleted explicitely.
BinarySemaphore& operator=(const BinarySemaphore&) = delete;
//! @brief Move ctor
BinarySemaphore (BinarySemaphore &&);
//! @brief Move assignment
BinarySemaphore & operator=(BinarySemaphore &&);
//! @brief Destructor
virtual ~BinarySemaphore();
uint8_t getSemaphoreCounter() const 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 SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquire(TimeoutType timeoutType =
TimeoutType::BLOCKING, uint32_t timeoutMs = portMAX_DELAY) override;
/**
* Same as lockBinarySemaphore() with timeout in FreeRTOS 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);
/**
* Release the binary semaphore.
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
ReturnValue_t release() override;
/**
* Get Handle to the semaphore.
* @return
*/
SemaphoreHandle_t getSemaphore();
/**
* Wrapper function to give back semaphore from handle
* @param semaphore
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
static ReturnValue_t release(SemaphoreHandle_t semaphore);
/**
* 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. A context switch from an ISR should
* then be requested (see TaskManagement functions)
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
static ReturnValue_t releaseFromISR(SemaphoreHandle_t semaphore,
BaseType_t * higherPriorityTaskWoken);
protected:
SemaphoreHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#include "../../returnvalues/HasReturnvaluesIF.h"
#include "../../tasks/SemaphoreIF.h"
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
/**
* @brief OS Tool to achieve synchronization of between tasks or between
* task and ISR. The default semaphore implementation creates a
* binary semaphore, which can only be taken once.
* @details
* Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
*
* Please note that if the semaphore implementation is only related to
* the synchronization of one task, the new task notifications can be used,
* also see the BinSemaphUsingTask and CountingSemaphUsingTask classes.
* These use the task notification value instead of a queue and are
* faster and more efficient.
*
* @author R. Mueller
* @ingroup osal
*/
class BinarySemaphore: public SemaphoreIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphore();
//! @brief Copy ctor, deleted explicitely.
BinarySemaphore(const BinarySemaphore&) = delete;
//! @brief Copy assignment, deleted explicitely.
BinarySemaphore& operator=(const BinarySemaphore&) = delete;
//! @brief Move ctor
BinarySemaphore (BinarySemaphore &&);
//! @brief Move assignment
BinarySemaphore & operator=(BinarySemaphore &&);
//! @brief Destructor
virtual ~BinarySemaphore();
uint8_t getSemaphoreCounter() const 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 SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
*/
ReturnValue_t acquire(TimeoutType timeoutType =
TimeoutType::BLOCKING, uint32_t timeoutMs = portMAX_DELAY) override;
/**
* Same as lockBinarySemaphore() with timeout in FreeRTOS 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);
/**
* Release the binary semaphore.
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
ReturnValue_t release() override;
/**
* Get Handle to the semaphore.
* @return
*/
SemaphoreHandle_t getSemaphore();
/**
* Wrapper function to give back semaphore from handle
* @param semaphore
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
static ReturnValue_t release(SemaphoreHandle_t semaphore);
/**
* 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. A context switch from an ISR should
* then be requested (see TaskManagement functions)
* @return -@c RETURN_OK on success
* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
* already available.
*/
static ReturnValue_t releaseFromISR(SemaphoreHandle_t semaphore,
BaseType_t * higherPriorityTaskWoken);
protected:
SemaphoreHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

228
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@ -1,114 +1,114 @@
#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, &notificationValue);
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, &notificationValue,
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, &notificationValue);
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, &notificationValue,
higherPriorityTaskWoken);
return notificationValue;
}
uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
return maxCount;
}

204
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@ -1,102 +1,102 @@
#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_