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seperation of semaph implementations finished

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This commit is contained in:
Robin Müller 2020-05-27 19:46:56 +02:00
parent 8a1e0dab03
commit b4065c7764
9 changed files with 232 additions and 192 deletions
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95
osal/FreeRTOS/BinSemaphUsingTask.cpp Normal file
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@ -0,0 +1,95 @@
#include <framework/osal/FreeRTOS/BinSemaphUsingTask.h>
#include <framework/osal/FreeRTOS/TaskManagement.h>
BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
handle = TaskManagement::getCurrentTaskHandle();
}
ReturnValue_t BinarySemaphoreUsingTask::acquire(uint32_t timeoutMs) {
return takeBinarySemaphore(timeoutMs);
}
ReturnValue_t BinarySemaphoreUsingTask::release() {
return giveBinarySemaphore();
}
ReturnValue_t BinarySemaphoreUsingTask::takeBinarySemaphore(uint32_t timeoutMs) {
TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
timeout = SemaphoreIF::MAX_TIMEOUT;
}
else if(timeoutMs > BinarySemaphoreUsingTask::NO_TIMEOUT){
timeout = pdMS_TO_TICKS(timeoutMs);
}
BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeout);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphoreUsingTask::takeBinarySemaphoreTickTimeout(
TickType_t timeoutTicks) {
BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
return SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphoreUsingTask::giveBinarySemaphore() {
BaseType_t returncode = xTaskNotifyGive(handle);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
return SEMAPHORE_NOT_OWNED;
}
}
TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
return handle;
}
uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() {
uint32_t notificationValue;
xTaskNotifyAndQuery(handle, 0, eNoAction, &notificationValue);
return notificationValue;
}
uint8_t BinarySemaphoreUsingTask::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 BinarySemaphoreUsingTask::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 BinarySemaphoreUsingTask::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;
}

86
osal/FreeRTOS/BinSemaphUsingTask.h Normal file
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@ -0,0 +1,86 @@
#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_ */

99
osal/FreeRTOS/BinarySemaphore.cpp
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@ -2,8 +2,6 @@
#include <framework/osal/FreeRTOS/TaskManagement.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#if ( configUSE_TASK_NOTIFICATIONS == 0 )
BinarySemaphore::BinarySemaphore() {
handle = xSemaphoreCreateBinary();
if(handle == nullptr) {
@ -129,100 +127,3 @@ ReturnValue_t BinarySemaphore::giveBinarySemaphoreFromISR(SemaphoreHandle_t sema
return SEMAPHORE_NOT_OWNED;
}
}
#else
BinarySemaphore::BinarySemaphore() {
handle = TaskManagement::getCurrentTaskHandle();
}
ReturnValue_t BinarySemaphore::acquire(uint32_t timeoutMs) {
return takeBinarySemaphore(timeoutMs);
}
ReturnValue_t BinarySemaphore::release() {
return giveBinarySemaphore();
}
ReturnValue_t BinarySemaphore::takeBinarySemaphore(uint32_t timeoutMs) {
TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
timeout = SemaphoreIF::MAX_TIMEOUT;
}
else if(timeoutMs > BinarySemaphore::NO_TIMEOUT){
timeout = pdMS_TO_TICKS(timeoutMs);
}
BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeout);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphore::takeBinarySemaphoreTickTimeout(
TickType_t timeoutTicks) {
BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
return SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphore::giveBinarySemaphore() {
BaseType_t returncode = xTaskNotifyGive(handle);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
return SEMAPHORE_NOT_OWNED;
}
}
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

93
osal/FreeRTOS/BinarySemaphore.h
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@ -6,18 +6,9 @@
extern "C" {
#include <freertos/FreeRTOS.h>
#if ( configUSE_TASK_NOTIFICATIONS == 0 )
#include <freertos/semphr.h>
#else
#include <freertos/task.h>
#endif
}
// TODO: Implement the new (better) task notifications.
// However, those task notifications require
// the task handle. Maybe it would be better to make a separate class
// and switch between the classes with #ifdefs.
// Task Notifications require FreeRTOS V8.2 something..
/**
* @brief OS Tool to achieve synchronization of between tasks or between
* task and ISR. The default semaphore implementation creates a
@ -25,11 +16,15 @@ extern "C" {
* @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
*/
#if ( configUSE_TASK_NOTIFICATIONS == 0 )
class BinarySemaphore: public SemaphoreIF,
public HasReturnvaluesIF {
public:
@ -110,80 +105,4 @@ protected:
SemaphoreHandle_t handle;
};
#else
class BinarySemaphore: public SemaphoreIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphore();
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 =
BinarySemaphore::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
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

8
osal/FreeRTOS/CountingSemaphUsingTask.cpp Normal file
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@ -0,0 +1,8 @@
#include <framework/osal/FreeRTOS/CountingSemaphUsingTask.h>
#include <framework/osal/FreeRTOS/TaskManagement.h>
CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(uint8_t count,
uint8_t initCount):
count(count), initCount(initCount) {
handle = TaskManagement::getCurrentTaskHandle();
}

25
osal/FreeRTOS/CountingSemaphUsingTask.h Normal file
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@ -0,0 +1,25 @@
#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>
}
class CountingSemaphoreUsingTask: public SemaphoreIF {
public:
CountingSemaphoreUsingTask(uint8_t count, uint8_t initCount);
ReturnValue_t acquire(uint32_t timeoutMs);
ReturnValue_t release();
private:
TaskHandle_t handle;
uint8_t count = 0;
uint8_t initCount = 0;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */

2
osal/FreeRTOS/CountingSemaphore.cpp
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@ -1,5 +1,6 @@
#include <framework/osal/FreeRTOS/CountingSemaphore.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/osal/FreeRTOS/TaskManagement.h>
extern "C" {
#include <freertos/semphr.h>
@ -30,3 +31,4 @@ CountingSemaphore& CountingSemaphore::operator =(
}
return * this;
}

6
osal/FreeRTOS/SemaphoreFactory.cpp
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@ -21,15 +21,15 @@ SemaphoreFactory* SemaphoreFactory::instance() {
return SemaphoreFactory::factoryInstance;
}
SemaphoreIF* SemaphoreFactory::createBinarySemaphore() {
SemaphoreIF* SemaphoreFactory::createBinarySemaphore(uint32_t argument) {
return new BinarySemaphore();
}
SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t count,
uint8_t initCount) {
uint8_t initCount, uint32_t argument) {
return new CountingSemaphore(count, initCount);
}
void SemaphoreFactory::deleteMutex(SemaphoreIF* semaphore) {
void SemaphoreFactory::deleteSemaphore(SemaphoreIF* semaphore) {
delete semaphore;
}

10
tasks/SemaphoreFactory.h
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@ -20,19 +20,23 @@ public:
/**
* Create a binary semaphore.
* Creator function for a binary semaphore which may only be acquired once
* @param argument Can be used to pass implementation specific information.
* @return Pointer to newly created semaphore class instance.
*/
SemaphoreIF* createBinarySemaphore();
SemaphoreIF* createBinarySemaphore(uint32_t argument = 0);
/**
* Create a counting semaphore.
* Creator functons for a counting semaphore which may be acquired multiple
* times.
* @param count Semaphore can be taken count times.
* @param initCount Initial count value.
* @param argument Can be used to pass implementation specific information.
* @return
*/
SemaphoreIF* createCountingSemaphore(uint8_t count, uint8_t initCount);
void deleteMutex(SemaphoreIF* mutex);
SemaphoreIF* createCountingSemaphore(uint8_t count, uint8_t initCount,
uint32_t argument = 0);
void deleteSemaphore(SemaphoreIF* mutex);
private:
/**