From 8a1e0dab0370c5b454fcb9e95de0f1349000b380 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Wed, 27 May 2020 19:03:46 +0200
Subject: [PATCH] continued with task notifications

---
 osal/FreeRTOS/BinarySemaphore.cpp   | 48 ++++++++++++++++++++++++++---
 osal/FreeRTOS/BinarySemaphore.h     |  8 +++--
 osal/FreeRTOS/CountingSemaphore.cpp |  4 +++
 3 files changed, 53 insertions(+), 7 deletions(-)

diff --git a/osal/FreeRTOS/BinarySemaphore.cpp b/osal/FreeRTOS/BinarySemaphore.cpp
index f7e879830..150f8c993 100644
--- a/osal/FreeRTOS/BinarySemaphore.cpp
+++ b/osal/FreeRTOS/BinarySemaphore.cpp
@@ -2,7 +2,7 @@
 #include <framework/osal/FreeRTOS/TaskManagement.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-#if ( configUSE_OLD_SEMAPHORES == 1 )
+#if ( configUSE_TASK_NOTIFICATIONS == 0 )
 
 BinarySemaphore::BinarySemaphore() {
 	handle = xSemaphoreCreateBinary();
@@ -174,9 +174,6 @@ ReturnValue_t BinarySemaphore::takeBinarySemaphoreTickTimeout(
 }
 
 ReturnValue_t BinarySemaphore::giveBinarySemaphore() {
-	if (handle == nullptr) {
-		return SEMAPHORE_NULLPOINTER;
-	}
 	BaseType_t returncode = xTaskNotifyGive(handle);
 	if (returncode == pdPASS) {
 		return HasReturnvaluesIF::RETURN_OK;
@@ -185,4 +182,47 @@ ReturnValue_t BinarySemaphore::giveBinarySemaphore() {
 	}
 }
 
+TaskHandle_t BinarySemaphore::getTaskHandle() {
+	return handle;
+}
+
+uint8_t BinarySemaphore::getSemaphoreCounter() {
+	uint32_t notificationValue;
+	xTaskNotifyAndQuery(handle, 0, eNoAction, &notificationValue);
+	return notificationValue;
+}
+
+uint8_t BinarySemaphore::getSemaphoreCounterFromISR(TaskHandle_t taskHandle) {
+	uint32_t notificationValue;
+	BaseType_t higherPriorityTaskWoken;
+	xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
+			&higherPriorityTaskWoken);
+	if(higherPriorityTaskWoken) {
+		TaskManagement::requestContextSwitch(CallContext::isr);
+	}
+	return notificationValue;
+}
+
+
+ReturnValue_t BinarySemaphore::giveBinarySemaphore(TaskHandle_t taskHandle) {
+	BaseType_t returncode = xTaskNotifyGive(taskHandle);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return SEMAPHORE_NOT_OWNED;
+	}
+}
+
+// Be careful with the stack size here. This is called from an ISR!
+ReturnValue_t BinarySemaphore::giveBinarySemaphoreFromISR(
+		TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
+	vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
+	if(*higherPriorityTaskWoken == pdPASS) {
+		// Request context switch because unblocking the semaphore
+		// caused a high priority task unblock.
+		TaskManagement::requestContextSwitch(CallContext::isr);
+	}
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
 #endif
diff --git a/osal/FreeRTOS/BinarySemaphore.h b/osal/FreeRTOS/BinarySemaphore.h
index 4d95fc27c..2ee102267 100644
--- a/osal/FreeRTOS/BinarySemaphore.h
+++ b/osal/FreeRTOS/BinarySemaphore.h
@@ -6,7 +6,7 @@
 
 extern "C" {
 #include <freertos/FreeRTOS.h>
-#if ( configUSE_OLD_SEMAPHORES == 1 )
+#if ( configUSE_TASK_NOTIFICATIONS == 0 )
 #include <freertos/semphr.h>
 #else
 #include <freertos/task.h>
@@ -28,7 +28,7 @@ extern "C" {
  * @author 	R. Mueller
  * @ingroup osal
  */
-#if ( configUSE_OLD_SEMAPHORES == 1 )
+#if ( configUSE_TASK_NOTIFICATIONS == 0 )
 
 class BinarySemaphore: public SemaphoreIF,
 		public HasReturnvaluesIF {
@@ -155,7 +155,7 @@ public:
 	ReturnValue_t giveBinarySemaphore();
 
 	/**
-	 * Get Handle to the semaphore.
+	 * Get handle to the task related to the semaphore.
 	 * @return
 	 */
 	TaskHandle_t getTaskHandle();
@@ -179,6 +179,8 @@ public:
 	static ReturnValue_t giveBinarySemaphoreFromISR(TaskHandle_t taskToNotify,
 				BaseType_t * higherPriorityTaskWoken);
 
+	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle);
+
 protected:
 	TaskHandle_t handle;
 };
diff --git a/osal/FreeRTOS/CountingSemaphore.cpp b/osal/FreeRTOS/CountingSemaphore.cpp
index 2b81848a2..e04d3defd 100644
--- a/osal/FreeRTOS/CountingSemaphore.cpp
+++ b/osal/FreeRTOS/CountingSemaphore.cpp
@@ -1,6 +1,10 @@
 #include <framework/osal/FreeRTOS/CountingSemaphore.h>
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
+extern "C" {
+#include <freertos/semphr.h>
+}
+
 // Make sure #define configUSE_COUNTING_SEMAPHORES 1 is set in
 // free FreeRTOSConfig.h file.
 CountingSemaphore::CountingSemaphore(uint8_t count, uint8_t initCount):