added semaphore implementations

This commit is contained in:
Robin Müller 2020-05-29 13:31:19 +02:00
parent f388bd374c
commit d909fcb6a1
8 changed files with 663 additions and 0 deletions

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#include <framework/osal/FreeRTOS/BinSemaphUsingTask.h>
#include <framework/osal/FreeRTOS/TaskManagement.h>
#include <framework/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(uint32_t timeoutMs) {
TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
timeout = SemaphoreIF::MAX_TIMEOUT;
}
else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
timeout = pdMS_TO_TICKS(timeoutMs);
}
return acquireWithTickTimeout(timeout);
}
ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
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;
}

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#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/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(uint32_t timeoutMs =
SemaphoreIF::NO_TIMEOUT) 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(TickType_t timeoutTicks =
SemaphoreIF::NO_TIMEOUT);
/**
* 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_ */

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#include <framework/osal/FreeRTOS/BinarySemaphore.h>
#include <framework/osal/FreeRTOS/TaskManagement.h>
#include <framework/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(uint32_t timeoutMs) {
TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
timeout = SemaphoreIF::MAX_TIMEOUT;
}
else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
timeout = pdMS_TO_TICKS(timeoutMs);
}
return acquireWithTickTimeout(timeout);
}
ReturnValue_t BinarySemaphore::acquireWithTickTimeout(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;
}
}

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#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/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(uint32_t timeoutMs =
SemaphoreIF::NO_TIMEOUT) 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(TickType_t timeoutTicks =
BinarySemaphore::NO_TIMEOUT);
/**
* 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_ */

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#include <framework/osal/FreeRTOS/CountingSemaphUsingTask.h>
#include <framework/osal/FreeRTOS/TaskManagement.h>
#include <framework/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(uint32_t timeoutMs) {
TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
timeout = SemaphoreIF::MAX_TIMEOUT;
}
else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
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, &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;
}

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#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::NO_TIMEOUT) 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::NO_TIMEOUT);
/**
* 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_ */

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#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;
}

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#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_ */