FreeRTOS Improvements #82
91
osal/FreeRTOS/BinSemaphUsingTask.cpp
Normal file
91
osal/FreeRTOS/BinSemaphUsingTask.cpp
Normal file
@ -0,0 +1,91 @@
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#include <framework/osal/FreeRTOS/BinSemaphUsingTask.h>
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#include <framework/osal/FreeRTOS/TaskManagement.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
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handle = TaskManagement::getCurrentTaskHandle();
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if(handle == nullptr) {
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sif::error << "Could not retrieve task handle. Please ensure the"
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"constructor was called inside a task." << std::endl;
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}
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xTaskNotifyGive(handle);
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}
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BinarySemaphoreUsingTask::~BinarySemaphoreUsingTask() {
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// Clear notification value on destruction.
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xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite, nullptr);
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}
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ReturnValue_t BinarySemaphoreUsingTask::acquire(uint32_t timeoutMs) {
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TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
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if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
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timeout = SemaphoreIF::MAX_TIMEOUT;
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}
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else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
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timeout = pdMS_TO_TICKS(timeoutMs);
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}
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return acquireWithTickTimeout(timeout);
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}
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ReturnValue_t BinarySemaphoreUsingTask::acquireWithTickTimeout(
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TickType_t timeoutTicks) {
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BaseType_t returncode = ulTaskNotifyTake(pdTRUE, timeoutTicks);
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if (returncode == pdPASS) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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else {
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return SemaphoreIF::SEMAPHORE_TIMEOUT;
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}
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}
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ReturnValue_t BinarySemaphoreUsingTask::release() {
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return release(this->handle);
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}
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ReturnValue_t BinarySemaphoreUsingTask::release(
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TaskHandle_t taskHandle) {
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if(getSemaphoreCounter(taskHandle) == 1) {
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return SemaphoreIF::SEMAPHORE_NOT_OWNED;
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}
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BaseType_t returncode = xTaskNotifyGive(taskHandle);
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if (returncode == pdPASS) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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else {
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// This should never happen.
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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TaskHandle_t BinarySemaphoreUsingTask::getTaskHandle() {
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return handle;
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}
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uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter() const {
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return getSemaphoreCounter(this->handle);
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}
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uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(
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TaskHandle_t taskHandle) {
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uint32_t notificationValue;
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xTaskNotifyAndQuery(taskHandle, 0, eNoAction, ¬ificationValue);
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return notificationValue;
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}
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// Be careful with the stack size here. This is called from an ISR!
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ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
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TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
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if(getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
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return SemaphoreIF::SEMAPHORE_NOT_OWNED;
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}
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vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
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return HasReturnvaluesIF::RETURN_OK;
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}
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uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
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TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
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uint32_t notificationValue = 0;
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xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, ¬ificationValue,
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higherPriorityTaskWoken);
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return notificationValue;
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}
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75
osal/FreeRTOS/BinSemaphUsingTask.h
Normal file
75
osal/FreeRTOS/BinSemaphUsingTask.h
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@ -0,0 +1,75 @@
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#ifndef FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
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#define FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_
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#include <framework/returnvalues/HasReturnvaluesIF.h>
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#include <framework/tasks/SemaphoreIF.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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/**
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* @brief Binary Semaphore implementation using the task notification value.
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* The notification value should therefore not be used
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* for other purposes.
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* @details
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* Additional information: https://www.freertos.org/RTOS-task-notifications.html
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* and general semaphore documentation.
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*/
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class BinarySemaphoreUsingTask: public SemaphoreIF,
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public HasReturnvaluesIF {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
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//! @brief Default ctor
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BinarySemaphoreUsingTask();
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//! @brief Default dtor
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virtual~ BinarySemaphoreUsingTask();
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ReturnValue_t acquire(uint32_t timeoutMs =
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SemaphoreIF::NO_TIMEOUT) override;
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ReturnValue_t release() override;
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uint8_t getSemaphoreCounter() const override;
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static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
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static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
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BaseType_t* higherPriorityTaskWoken);
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/**
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* Same as acquire() with timeout in FreeRTOS ticks.
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* @param timeoutTicks
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* @return - @c RETURN_OK on success
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* - @c RETURN_FAILED on failure
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*/
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ReturnValue_t acquireWithTickTimeout(TickType_t timeoutTicks =
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SemaphoreIF::NO_TIMEOUT);
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/**
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* Get handle to the task related to the semaphore.
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* @return
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*/
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TaskHandle_t getTaskHandle();
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/**
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* Wrapper function to give back semaphore from handle
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* @param semaphore
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* @return - @c RETURN_OK on success
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* - @c RETURN_FAILED on failure
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*/
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static ReturnValue_t release(TaskHandle_t taskToNotify);
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/**
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* Wrapper function to give back semaphore from handle when called from an ISR
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* @param semaphore
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* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
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* a higher priority was unblocked. A context switch should be requested
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* from an ISR if this is the case (see TaskManagement functions)
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* @return - @c RETURN_OK on success
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* - @c RETURN_FAILED on failure
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*/
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static ReturnValue_t releaseFromISR(TaskHandle_t taskToNotify,
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BaseType_t * higherPriorityTaskWoken);
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protected:
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TaskHandle_t handle;
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};
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#endif /* FRAMEWORK_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */
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103
osal/FreeRTOS/BinarySemaphore.cpp
Normal file
103
osal/FreeRTOS/BinarySemaphore.cpp
Normal file
@ -0,0 +1,103 @@
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#include <framework/osal/FreeRTOS/BinarySemaphore.h>
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#include <framework/osal/FreeRTOS/TaskManagement.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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BinarySemaphore::BinarySemaphore() {
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handle = xSemaphoreCreateBinary();
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if(handle == nullptr) {
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sif::error << "Semaphore: Binary semaph creation failure" << std::endl;
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}
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// Initiated semaphore must be given before it can be taken.
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xSemaphoreGive(handle);
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}
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BinarySemaphore::~BinarySemaphore() {
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vSemaphoreDelete(handle);
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}
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BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
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handle = xSemaphoreCreateBinary();
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if(handle == nullptr) {
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sif::error << "Binary semaphore creation failure" << std::endl;
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}
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xSemaphoreGive(handle);
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}
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BinarySemaphore& BinarySemaphore::operator =(
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BinarySemaphore&& s) {
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if(&s != this) {
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handle = xSemaphoreCreateBinary();
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if(handle == nullptr) {
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sif::error << "Binary semaphore creation failure" << std::endl;
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}
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xSemaphoreGive(handle);
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}
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return *this;
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}
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ReturnValue_t BinarySemaphore::acquire(uint32_t timeoutMs) {
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TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
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if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
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timeout = SemaphoreIF::MAX_TIMEOUT;
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}
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else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
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timeout = pdMS_TO_TICKS(timeoutMs);
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}
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return acquireWithTickTimeout(timeout);
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}
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ReturnValue_t BinarySemaphore::acquireWithTickTimeout(TickType_t timeoutTicks) {
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if(handle == nullptr) {
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return SemaphoreIF::SEMAPHORE_INVALID;
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}
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BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
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if (returncode == pdPASS) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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else {
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return SemaphoreIF::SEMAPHORE_TIMEOUT;
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}
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}
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ReturnValue_t BinarySemaphore::release() {
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return release(handle);
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}
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ReturnValue_t BinarySemaphore::release(SemaphoreHandle_t semaphore) {
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if (semaphore == nullptr) {
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return SemaphoreIF::SEMAPHORE_INVALID;
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}
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BaseType_t returncode = xSemaphoreGive(semaphore);
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if (returncode == pdPASS) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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else {
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return SemaphoreIF::SEMAPHORE_NOT_OWNED;
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}
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}
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uint8_t BinarySemaphore::getSemaphoreCounter() const {
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return uxSemaphoreGetCount(handle);
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}
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SemaphoreHandle_t BinarySemaphore::getSemaphore() {
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return handle;
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}
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// Be careful with the stack size here. This is called from an ISR!
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ReturnValue_t BinarySemaphore::releaseFromISR(
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SemaphoreHandle_t semaphore, BaseType_t * higherPriorityTaskWoken) {
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if (semaphore == nullptr) {
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return SemaphoreIF::SEMAPHORE_INVALID;
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}
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BaseType_t returncode = xSemaphoreGiveFromISR(semaphore,
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higherPriorityTaskWoken);
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if (returncode == pdPASS) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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else {
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return SemaphoreIF::SEMAPHORE_NOT_OWNED;
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}
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}
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107
osal/FreeRTOS/BinarySemaphore.h
Normal file
107
osal/FreeRTOS/BinarySemaphore.h
Normal file
@ -0,0 +1,107 @@
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#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
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#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
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#include <framework/returnvalues/HasReturnvaluesIF.h>
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#include <framework/tasks/SemaphoreIF.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/semphr.h>
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/**
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* @brief OS Tool to achieve synchronization of between tasks or between
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* task and ISR. The default semaphore implementation creates a
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* binary semaphore, which can only be taken once.
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* @details
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* Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
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*
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* Please note that if the semaphore implementation is only related to
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* the synchronization of one task, the new task notifications can be used,
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* also see the BinSemaphUsingTask and CountingSemaphUsingTask classes.
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* These use the task notification value instead of a queue and are
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* faster and more efficient.
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*
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* @author R. Mueller
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* @ingroup osal
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*/
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class BinarySemaphore: public SemaphoreIF,
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public HasReturnvaluesIF {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
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//! @brief Default ctor
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BinarySemaphore();
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//! @brief Copy ctor, deleted explicitely.
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BinarySemaphore(const BinarySemaphore&) = delete;
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//! @brief Copy assignment, deleted explicitely.
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BinarySemaphore& operator=(const BinarySemaphore&) = delete;
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//! @brief Move ctor
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BinarySemaphore (BinarySemaphore &&);
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//! @brief Move assignment
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BinarySemaphore & operator=(BinarySemaphore &&);
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//! @brief Destructor
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virtual ~BinarySemaphore();
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uint8_t getSemaphoreCounter() const override;
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/**
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* Take the binary semaphore.
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* If the semaphore has already been taken, the task will be blocked
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* for a maximum of #timeoutMs or until the semaphore is given back,
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* for example by an ISR or another task.
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* @param timeoutMs
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* @return -@c RETURN_OK on success
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* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
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*/
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ReturnValue_t acquire(uint32_t timeoutMs =
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SemaphoreIF::NO_TIMEOUT) override;
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/**
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* Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
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* @param timeoutTicks
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* @return -@c RETURN_OK on success
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* -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
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*/
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ReturnValue_t acquireWithTickTimeout(TickType_t timeoutTicks =
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BinarySemaphore::NO_TIMEOUT);
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/**
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* Release the binary semaphore.
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* @return -@c RETURN_OK on success
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* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
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* already available.
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*/
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ReturnValue_t release() override;
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/**
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* Get Handle to the semaphore.
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* @return
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*/
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SemaphoreHandle_t getSemaphore();
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/**
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* Wrapper function to give back semaphore from handle
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* @param semaphore
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* @return -@c RETURN_OK on success
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* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
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* already available.
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*/
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static ReturnValue_t release(SemaphoreHandle_t semaphore);
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/**
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* Wrapper function to give back semaphore from handle when called from an ISR
|
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* @param semaphore
|
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* @param higherPriorityTaskWoken This will be set to pdPASS if a task with
|
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* a higher priority was unblocked. A context switch from an ISR should
|
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* then be requested (see TaskManagement functions)
|
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* @return -@c RETURN_OK on success
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* -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
|
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* already available.
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*/
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static ReturnValue_t releaseFromISR(SemaphoreHandle_t semaphore,
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BaseType_t * higherPriorityTaskWoken);
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|
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protected:
|
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SemaphoreHandle_t handle;
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};
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#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */
|
110
osal/FreeRTOS/CountingSemaphUsingTask.cpp
Normal file
110
osal/FreeRTOS/CountingSemaphUsingTask.cpp
Normal file
@ -0,0 +1,110 @@
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#include <framework/osal/FreeRTOS/CountingSemaphUsingTask.h>
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#include <framework/osal/FreeRTOS/TaskManagement.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
|
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|
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CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
|
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uint8_t initCount): maxCount(maxCount) {
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if(initCount > maxCount) {
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sif::error << "CountingSemaphoreUsingTask: Max count bigger than "
|
||||
"intial cout. Setting initial count to max count." << std::endl;
|
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initCount = maxCount;
|
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}
|
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|
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handle = TaskManagement::getCurrentTaskHandle();
|
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if(handle == nullptr) {
|
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sif::error << "CountingSemaphoreUsingTask: Could not retrieve task "
|
||||
"handle. Please ensure the constructor was called inside a "
|
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"task." << std::endl;
|
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}
|
||||
|
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uint32_t oldNotificationValue;
|
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xTaskNotifyAndQuery(handle, 0, eSetValueWithOverwrite,
|
||||
&oldNotificationValue);
|
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if(oldNotificationValue != 0) {
|
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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);
|
||||
}
|
||||
}
|
||||
|
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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, ¬ificationValue);
|
||||
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, ¬ificationValue,
|
||||
higherPriorityTaskWoken);
|
||||
return notificationValue;
|
||||
}
|
||||
|
||||
uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
|
||||
return maxCount;
|
||||
}
|
100
osal/FreeRTOS/CountingSemaphUsingTask.h
Normal file
100
osal/FreeRTOS/CountingSemaphUsingTask.h
Normal file
@ -0,0 +1,100 @@
|
||||
#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_ */
|
43
osal/FreeRTOS/CountingSemaphore.cpp
Normal file
43
osal/FreeRTOS/CountingSemaphore.cpp
Normal file
@ -0,0 +1,43 @@
|
||||
#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;
|
||||
}
|
34
osal/FreeRTOS/CountingSemaphore.h
Normal file
34
osal/FreeRTOS/CountingSemaphore.h
Normal file
@ -0,0 +1,34 @@
|
||||
#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_ */
|
@ -1,14 +1,16 @@
|
||||
#include "MessageQueue.h"
|
||||
#include <framework/osal/FreeRTOS/MessageQueue.h>
|
||||
|
||||
#include <framework/serviceinterface/ServiceInterfaceStream.h>
|
||||
|
||||
// TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls
|
||||
|
||||
MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
|
||||
defaultDestination(0),lastPartner(0) {
|
||||
handle = xQueueCreate(message_depth, max_message_size);
|
||||
// TODO I guess we should have a way of checking if we are in an ISR and then
|
||||
// use the "fromISR" versions of all calls
|
||||
// As a first step towards this, introduces system context variable which needs
|
||||
// to be switched manually
|
||||
// Haven't found function to find system context.
|
||||
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize) {
|
||||
handle = xQueueCreate(messageDepth, maxMessageSize);
|
||||
if (handle == NULL) {
|
||||
sif::error << "MessageQueue creation failed" << std::endl;
|
||||
sif::error << "MessageQueue: Creation failed" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
@ -18,6 +20,10 @@ MessageQueue::~MessageQueue() {
|
||||
}
|
||||
}
|
||||
|
||||
void MessageQueue::switchSystemContext(CallContext callContext) {
|
||||
this->callContext = callContext;
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, bool ignoreFault) {
|
||||
return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
|
||||
@ -27,6 +33,11 @@ ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
|
||||
return sendToDefaultFrom(message, this->getId());
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
|
||||
MessageQueueId_t sentFrom, bool ignoreFault) {
|
||||
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
|
||||
if (this->lastPartner != 0) {
|
||||
return sendMessageFrom(this->lastPartner, message, this->getId());
|
||||
@ -35,6 +46,29 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
return sendMessageFromMessageQueue(sendTo, message, sentFrom,
|
||||
ignoreFault, callContext);
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
|
||||
if (result != pdPASS) {
|
||||
if (not ignoreFault) {
|
||||
InternalErrorReporterIF* internalErrorReporter =
|
||||
objectManager->get<InternalErrorReporterIF>(
|
||||
objects::INTERNAL_ERROR_REPORTER);
|
||||
if (internalErrorReporter != nullptr) {
|
||||
internalErrorReporter->queueMessageNotSent();
|
||||
}
|
||||
}
|
||||
return MessageQueueIF::FULL;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
|
||||
MessageQueueId_t* receivedFrom) {
|
||||
ReturnValue_t status = this->receiveMessage(message);
|
||||
@ -45,7 +79,8 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
|
||||
BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(message->getBuffer()), 0);
|
||||
BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(
|
||||
message->getBuffer()), 0);
|
||||
if (result == pdPASS){
|
||||
this->lastPartner = message->getSender();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
@ -70,45 +105,40 @@ MessageQueueId_t MessageQueue::getId() const {
|
||||
}
|
||||
|
||||
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
|
||||
defaultDestinationSet = true;
|
||||
this->defaultDestination = defaultDestination;
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
|
||||
MessageQueueId_t sentFrom, bool ignoreFault) {
|
||||
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
|
||||
}
|
||||
|
||||
MessageQueueId_t MessageQueue::getDefaultDestination() const {
|
||||
return defaultDestination;
|
||||
}
|
||||
|
||||
bool MessageQueue::isDefaultDestinationSet() const {
|
||||
return 0;
|
||||
return defaultDestinationSet;
|
||||
}
|
||||
|
||||
|
||||
// static core function to send messages.
|
||||
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage *message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
bool ignoreFault, CallContext callContext) {
|
||||
message->setSender(sentFrom);
|
||||
|
||||
BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
|
||||
if (result != pdPASS) {
|
||||
if (!ignoreFault) {
|
||||
InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
|
||||
objects::INTERNAL_ERROR_REPORTER);
|
||||
if (internalErrorReporter != NULL) {
|
||||
internalErrorReporter->queueMessageNotSent();
|
||||
BaseType_t result;
|
||||
if(callContext == CallContext::TASK) {
|
||||
result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
|
||||
static_cast<const void*>(message->getBuffer()), 0);
|
||||
}
|
||||
else {
|
||||
/* If the call context is from an interrupt,
|
||||
* request a context switch if a higher priority task
|
||||
* was blocked by the interrupt. */
|
||||
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
||||
result = xQueueSendFromISR(reinterpret_cast<QueueHandle_t>(sendTo),
|
||||
static_cast<const void*>(message->getBuffer()),
|
||||
&xHigherPriorityTaskWoken);
|
||||
if(xHigherPriorityTaskWoken == pdTRUE) {
|
||||
TaskManagement::requestContextSwitch(callContext);
|
||||
}
|
||||
}
|
||||
return MessageQueueIF::FULL;
|
||||
return handleSendResult(result, ignoreFault);
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
|
||||
}
|
||||
|
||||
|
@ -4,50 +4,78 @@
|
||||
#include <framework/internalError/InternalErrorReporterIF.h>
|
||||
#include <framework/ipc/MessageQueueIF.h>
|
||||
#include <framework/ipc/MessageQueueMessage.h>
|
||||
#include <framework/osal/FreeRTOS/TaskManagement.h>
|
||||
|
||||
#include <FreeRTOS.h>
|
||||
#include <queue.h>
|
||||
#include <freertos/FreeRTOS.h>
|
||||
#include <freertos/queue.h>
|
||||
|
||||
//TODO this class assumes that MessageQueueId_t is the same size as void* (the FreeRTOS handle type), compiler will catch this but it might be nice to have something checking or even an always working solution
|
||||
// TODO: this class assumes that MessageQueueId_t is the same size as void*
|
||||
// (the FreeRTOS handle type), compiler will catch this but it might be nice
|
||||
// to have something checking or even an always working solution
|
||||
// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
|
||||
|
||||
/**
|
||||
* @brief This class manages sending and receiving of message queue messages.
|
||||
*
|
||||
* @details Message queues are used to pass asynchronous messages between processes.
|
||||
* @brief This class manages sending and receiving of
|
||||
* message queue messages.
|
||||
* @details
|
||||
* Message queues are used to pass asynchronous messages between processes.
|
||||
* They work like post boxes, where all incoming messages are stored in FIFO
|
||||
* order. This class creates a new receiving queue and provides methods to fetch
|
||||
* received messages. Being a child of MessageQueueSender, this class also provides
|
||||
* methods to send a message to a user-defined or a default destination. In addition
|
||||
* it also provides a reply method to answer to the queue it received its last message
|
||||
* from.
|
||||
* The MessageQueue should be used as "post box" for a single owning object. So all
|
||||
* message queue communication is "n-to-one".
|
||||
* For creating the queue, as well as sending and receiving messages, the class makes
|
||||
* use of the operating system calls provided.
|
||||
* \ingroup message_queue
|
||||
* received messages. Being a child of MessageQueueSender, this class also
|
||||
* provides methods to send a message to a user-defined or a default destination.
|
||||
* In addition it also provides a reply method to answer to the queue it
|
||||
* received its last message from.
|
||||
*
|
||||
* The MessageQueue should be used as "post box" for a single owning object.
|
||||
* So all message queue communication is "n-to-one".
|
||||
* For creating the queue, as well as sending and receiving messages, the class
|
||||
* makes use of the operating system calls provided.
|
||||
*
|
||||
* Please keep in mind that FreeRTOS offers different calls for message queue
|
||||
* operations if called from an ISR.
|
||||
* For now, the system context needs to be switched manually.
|
||||
* @ingroup osal
|
||||
* @ingroup message_queue
|
||||
*/
|
||||
class MessageQueue : public MessageQueueIF {
|
||||
friend class MessageQueueSenderIF;
|
||||
public:
|
||||
/**
|
||||
* @brief The constructor initializes and configures the message queue.
|
||||
* @details By making use of the according operating system call, a message queue is created
|
||||
* @details
|
||||
* By making use of the according operating system call, a message queue is created
|
||||
* and initialized. The message depth - the maximum number of messages to be
|
||||
* buffered - may be set with the help of a parameter, whereas the message size is
|
||||
* automatically set to the maximum message queue message size. The operating system
|
||||
* sets the message queue id, or i case of failure, it is set to zero.
|
||||
* @param message_depth The number of messages to be buffered before passing an error to the
|
||||
* @param message_depth
|
||||
* The number of messages to be buffered before passing an error to the
|
||||
* sender. Default is three.
|
||||
* @param max_message_size With this parameter, the maximum message size can be adjusted.
|
||||
* @param max_message_size
|
||||
* With this parameter, the maximum message size can be adjusted.
|
||||
* This should be left default.
|
||||
*/
|
||||
MessageQueue( size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE );
|
||||
MessageQueue( size_t messageDepth = 3,
|
||||
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
|
||||
|
||||
/** Copying message queues forbidden */
|
||||
MessageQueue(const MessageQueue&) = delete;
|
||||
MessageQueue& operator=(const MessageQueue&) = delete;
|
||||
|
||||
/**
|
||||
* @brief The destructor deletes the formerly created message queue.
|
||||
* @details This is accomplished by using the delete call provided by the operating system.
|
||||
* @details This is accomplished by using the delete call provided
|
||||
* by the operating system.
|
||||
*/
|
||||
virtual ~MessageQueue();
|
||||
|
||||
/**
|
||||
* This function is used to switch the call context. This has to be called
|
||||
* if a message is sent or received from an ISR!
|
||||
* @param callContext
|
||||
*/
|
||||
void switchSystemContext(CallContext callContext);
|
||||
|
||||
/**
|
||||
* @brief This operation sends a message to the given destination.
|
||||
* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
|
||||
@ -74,6 +102,30 @@ public:
|
||||
*/
|
||||
ReturnValue_t reply( MessageQueueMessage* message );
|
||||
|
||||
/**
|
||||
* @brief With the sendMessage call, a queue message is sent to a receiving queue.
|
||||
* @details This method takes the message provided, adds the sentFrom information and passes
|
||||
* it on to the destination provided with an operating system call. The OS's return
|
||||
* value is returned.
|
||||
* @param sendTo This parameter specifies the message queue id to send the message to.
|
||||
* @param message This is a pointer to a previously created message, which is sent.
|
||||
* @param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
|
||||
* This variable is set to zero by default.
|
||||
* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
|
||||
*/
|
||||
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message,
|
||||
MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
|
||||
|
||||
/**
|
||||
* @brief The sendToDefault method sends a queue message to the default destination.
|
||||
* @details In all other aspects, it works identical to the sendMessage method.
|
||||
* @param message This is a pointer to a previously created message, which is sent.
|
||||
* @param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
|
||||
* This variable is set to zero by default.
|
||||
*/
|
||||
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message,
|
||||
MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
|
||||
|
||||
/**
|
||||
* @brief This function reads available messages from the message queue and returns the sender.
|
||||
* @details It works identically to the other receiveMessage call, but in addition returns the
|
||||
@ -107,53 +159,50 @@ public:
|
||||
* @brief This method returns the message queue id of this class's message queue.
|
||||
*/
|
||||
MessageQueueId_t getId() const;
|
||||
|
||||
/**
|
||||
* \brief With the sendMessage call, a queue message is sent to a receiving queue.
|
||||
* \details This method takes the message provided, adds the sentFrom information and passes
|
||||
* it on to the destination provided with an operating system call. The OS's return
|
||||
* value is returned.
|
||||
* \param sendTo This parameter specifies the message queue id to send the message to.
|
||||
* \param message This is a pointer to a previously created message, which is sent.
|
||||
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
|
||||
* This variable is set to zero by default.
|
||||
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
|
||||
*/
|
||||
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
|
||||
/**
|
||||
* \brief The sendToDefault method sends a queue message to the default destination.
|
||||
* \details In all other aspects, it works identical to the sendMessage method.
|
||||
* \param message This is a pointer to a previously created message, which is sent.
|
||||
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
|
||||
* This variable is set to zero by default.
|
||||
*/
|
||||
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
|
||||
/**
|
||||
* \brief This method is a simple setter for the default destination.
|
||||
* @brief This method is a simple setter for the default destination.
|
||||
*/
|
||||
void setDefaultDestination(MessageQueueId_t defaultDestination);
|
||||
/**
|
||||
* \brief This method is a simple getter for the default destination.
|
||||
* @brief This method is a simple getter for the default destination.
|
||||
*/
|
||||
MessageQueueId_t getDefaultDestination() const;
|
||||
|
||||
bool isDefaultDestinationSet() const;
|
||||
protected:
|
||||
/**
|
||||
* Implementation to be called from any send Call within MessageQueue and MessageQueueSenderIF
|
||||
* \details This method takes the message provided, adds the sentFrom information and passes
|
||||
* it on to the destination provided with an operating system call. The OS's return
|
||||
* value is returned.
|
||||
* \param sendTo This parameter specifies the message queue id to send the message to.
|
||||
* \param message This is a pointer to a previously created message, which is sent.
|
||||
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
|
||||
* This variable is set to zero by default.
|
||||
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
|
||||
* @brief Implementation to be called from any send Call within
|
||||
* MessageQueue and MessageQueueSenderIF.
|
||||
* @details
|
||||
* This method takes the message provided, adds the sentFrom information and
|
||||
* passes it on to the destination provided with an operating system call.
|
||||
* The OS's return value is returned.
|
||||
* @param sendTo
|
||||
* This parameter specifies the message queue id to send the message to.
|
||||
* @param message
|
||||
* This is a pointer to a previously created message, which is sent.
|
||||
* @param sentFrom
|
||||
* The sentFrom information can be set to inject the sender's queue id into
|
||||
* the message. This variable is set to zero by default.
|
||||
* @param ignoreFault
|
||||
* If set to true, the internal software fault counter is not incremented
|
||||
* if queue is full.
|
||||
* @param context Specify whether call is made from task or from an ISR.
|
||||
*/
|
||||
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
|
||||
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,
|
||||
bool ignoreFault=false, CallContext callContext = CallContext::TASK);
|
||||
|
||||
static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
|
||||
|
||||
private:
|
||||
bool defaultDestinationSet = false;
|
||||
QueueHandle_t handle;
|
||||
MessageQueueId_t defaultDestination;
|
||||
MessageQueueId_t lastPartner;
|
||||
MessageQueueId_t defaultDestination = 0;
|
||||
MessageQueueId_t lastPartner = 0;
|
||||
//!< Stores the current system context
|
||||
CallContext callContext = CallContext::TASK;
|
||||
};
|
||||
|
||||
#endif /* MESSAGEQUEUE_H_ */
|
||||
|
@ -3,10 +3,10 @@
|
||||
|
||||
#include <framework/ipc/MutexIF.h>
|
||||
|
||||
|
||||
#include <FreeRTOS.h>
|
||||
#include "semphr.h"
|
||||
|
||||
extern "C" {
|
||||
#include <freertos/FreeRTOS.h>
|
||||
#include <freertos/semphr.h>
|
||||
}
|
||||
|
||||
|
||||
class Mutex : public MutexIF {
|
||||
|
@ -1,10 +1,11 @@
|
||||
#include <framework/ipc/MutexFactory.h>
|
||||
|
||||
#include "../FreeRTOS/Mutex.h"
|
||||
#include <framework/osal/FreeRTOS/Mutex.h>
|
||||
|
||||
//TODO: Different variant than the lazy loading in QueueFactory. What's better and why? -> one is on heap the other on bss/data
|
||||
//TODO: Different variant than the lazy loading in QueueFactory.
|
||||
//What's better and why? -> one is on heap the other on bss/data
|
||||
//MutexFactory* MutexFactory::factoryInstance = new MutexFactory();
|
||||
MutexFactory* MutexFactory::factoryInstance = NULL;
|
||||
MutexFactory* MutexFactory::factoryInstance = nullptr;
|
||||
|
||||
MutexFactory::MutexFactory() {
|
||||
}
|
||||
@ -13,7 +14,7 @@ MutexFactory::~MutexFactory() {
|
||||
}
|
||||
|
||||
MutexFactory* MutexFactory::instance() {
|
||||
if (factoryInstance == NULL){
|
||||
if (factoryInstance == nullptr){
|
||||
factoryInstance = new MutexFactory();
|
||||
}
|
||||
return MutexFactory::factoryInstance;
|
||||
|
35
osal/FreeRTOS/SemaphoreFactory.cpp
Normal file
35
osal/FreeRTOS/SemaphoreFactory.cpp
Normal file
@ -0,0 +1,35 @@
|
||||
#include <framework/osal/FreeRTOS/BinarySemaphore.h>
|
||||
#include <framework/osal/FreeRTOS/CountingSemaphore.h>
|
||||
#include <framework/tasks/SemaphoreFactory.h>
|
||||
#include <framework/serviceinterface/ServiceInterfaceStream.h>
|
||||
|
||||
SemaphoreFactory* SemaphoreFactory::factoryInstance = nullptr;
|
||||
const uint32_t SemaphoreIF::NO_TIMEOUT = 0;
|
||||
const uint32_t SemaphoreIF::MAX_TIMEOUT = portMAX_DELAY;
|
||||
|
||||
SemaphoreFactory::SemaphoreFactory() {
|
||||
}
|
||||
|
||||
SemaphoreFactory::~SemaphoreFactory() {
|
||||
delete factoryInstance;
|
||||
}
|
||||
|
||||
SemaphoreFactory* SemaphoreFactory::instance() {
|
||||
if (factoryInstance == nullptr){
|
||||
factoryInstance = new SemaphoreFactory();
|
||||
}
|
||||
return SemaphoreFactory::factoryInstance;
|
||||
}
|
||||
|
||||
SemaphoreIF* SemaphoreFactory::createBinarySemaphore() {
|
||||
return new BinarySemaphore();
|
||||
}
|
||||
|
||||
SemaphoreIF* SemaphoreFactory::createCountingSemaphore(uint8_t count,
|
||||
uint8_t initCount) {
|
||||
return new CountingSemaphore(count, initCount);
|
||||
}
|
||||
|
||||
void SemaphoreFactory::deleteMutex(SemaphoreIF* semaphore) {
|
||||
delete semaphore;
|
||||
}
|
23
osal/FreeRTOS/TaskManagement.cpp
Normal file
23
osal/FreeRTOS/TaskManagement.cpp
Normal file
@ -0,0 +1,23 @@
|
||||
#include <framework/osal/FreeRTOS/TaskManagement.h>
|
||||
|
||||
void TaskManagement::requestContextSwitchFromTask() {
|
||||
vTaskDelay(0);
|
||||
}
|
||||
|
||||
void TaskManagement::requestContextSwitch(
|
||||
CallContext callContext = CallContext::TASK) {
|
||||
if(callContext == CallContext::ISR) {
|
||||
// This function depends on the partmacro.h definition for the specific device
|
||||
requestContextSwitchFromISR();
|
||||
} else {
|
||||
requestContextSwitchFromTask();
|
||||
}
|
||||
}
|
||||
|
||||
TaskHandle_t TaskManagement::getCurrentTaskHandle() {
|
||||
return xTaskGetCurrentTaskHandle();
|
||||
}
|
||||
|
||||
configSTACK_DEPTH_TYPE TaskManagement::getTaskStackHighWatermark() {
|
||||
return uxTaskGetStackHighWaterMark(TaskManagement::getCurrentTaskHandle());
|
||||
}
|
63
osal/FreeRTOS/TaskManagement.h
Normal file
63
osal/FreeRTOS/TaskManagement.h
Normal file
@ -0,0 +1,63 @@
|
||||
#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
|
||||
#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
|
||||
|
||||
#include <framework/returnvalues/HasReturnvaluesIF.h>
|
||||
|
||||
extern "C" {
|
||||
#include <freertos/FreeRTOS.h>
|
||||
#include <freertos/task.h>
|
||||
}
|
||||
#include <cstdint>
|
||||
|
||||
/**
|
||||
* Architecture dependant portmacro.h function call.
|
||||
* Should be implemented in bsp.
|
||||
*/
|
||||
extern "C" void requestContextSwitchFromISR();
|
||||
|
||||
/*!
|
||||
* Used by functions to tell if they are being called from
|
||||
* within an ISR or from a regular task. This is required because FreeRTOS
|
||||
* has different functions for handling semaphores and messages from within
|
||||
* an ISR and task.
|
||||
*/
|
||||
enum class CallContext {
|
||||
TASK = 0x00,//!< task_context
|
||||
ISR = 0xFF //!< isr_context
|
||||
};
|
||||
|
||||
|
||||
class TaskManagement {
|
||||
public:
|
||||
/**
|
||||
* @brief In this function, a function dependant on the portmacro.h header
|
||||
* function calls to request a context switch can be specified.
|
||||
* This can be used if sending to the queue from an ISR caused a task
|
||||
* to unblock and a context switch is required.
|
||||
*/
|
||||
static void requestContextSwitch(CallContext callContext);
|
||||
|
||||
/**
|
||||
* If task preemption in FreeRTOS is disabled, a context switch
|
||||
* can be requested manually by calling this function.
|
||||
*/
|
||||
static void requestContextSwitchFromTask(void);
|
||||
|
||||
/**
|
||||
* @return The current task handle
|
||||
*/
|
||||
static TaskHandle_t getCurrentTaskHandle();
|
||||
|
||||
/**
|
||||
* Get returns the minimum amount of remaining stack space in words
|
||||
* that was a available to the task since the task started executing.
|
||||
* Please note that the actual value in bytes depends
|
||||
* on the stack depth type.
|
||||
* E.g. on a 32 bit machine, a value of 200 means 800 bytes.
|
||||
* @return Smallest value of stack remaining since the task was started in
|
||||
* words.
|
||||
*/
|
||||
static configSTACK_DEPTH_TYPE getTaskStackHighWatermark();
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */
|
@ -24,6 +24,7 @@ enum {
|
||||
MEMORY_HELPER, //MH
|
||||
SERIALIZE_IF, //SE
|
||||
FIXED_MAP, //FM
|
||||
FIXED_MULTIMAP, //FMM
|
||||
HAS_HEALTH_IF, //HHI
|
||||
FIFO_CLASS, //FF
|
||||
MESSAGE_PROXY, //MQP
|
||||
@ -59,6 +60,7 @@ enum {
|
||||
SGP4PROPAGATOR_CLASS, //SGP4 53
|
||||
MUTEX_IF, //MUX 54
|
||||
MESSAGE_QUEUE_IF,//MQI 55
|
||||
SEMAPHORE_IF, //SPH 56
|
||||
FW_CLASS_ID_COUNT //is actually count + 1 !
|
||||
|
||||
};
|
||||
|
49
tasks/SemaphoreFactory.h
Normal file
49
tasks/SemaphoreFactory.h
Normal file
@ -0,0 +1,49 @@
|
||||
#ifndef FRAMEWORK_TASKS_SEMAPHOREFACTORY_H_
|
||||
#define FRAMEWORK_TASKS_SEMAPHOREFACTORY_H_
|
||||
#include <framework/tasks/SemaphoreIF.h>
|
||||
|
||||
/**
|
||||
* Creates Semaphore.
|
||||
* This class is a "singleton" interface, i.e. it provides an
|
||||
* interface, but also is the base class for a singleton.
|
||||
*/
|
||||
class SemaphoreFactory {
|
||||
public:
|
||||
virtual ~SemaphoreFactory();
|
||||
/**
|
||||
* Returns the single instance of SemaphoreFactory.
|
||||
* The implementation of #instance is found in its subclasses.
|
||||
* Thus, we choose link-time variability of the instance.
|
||||
*/
|
||||
static SemaphoreFactory* instance();
|
||||
|
||||
/**
|
||||
* 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(uint32_t arguments = 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(const uint8_t maxCount,
|
||||
uint8_t initCount, uint32_t arguments = 0);
|
||||
|
||||
void deleteSemaphore(SemaphoreIF* semaphore);
|
||||
|
||||
private:
|
||||
/**
|
||||
* External instantiation is not allowed.
|
||||
*/
|
||||
SemaphoreFactory();
|
||||
static SemaphoreFactory* factoryInstance;
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_TASKS_SEMAPHOREFACTORY_H_ */
|
61
tasks/SemaphoreIF.h
Normal file
61
tasks/SemaphoreIF.h
Normal file
@ -0,0 +1,61 @@
|
||||
#ifndef FRAMEWORK_TASKS_SEMAPHOREIF_H_
|
||||
#define FRAMEWORK_TASKS_SEMAPHOREIF_H_
|
||||
#include <framework/returnvalues/FwClassIds.h>
|
||||
#include <framework/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <cstdint>
|
||||
|
||||
/**
|
||||
* @brief Generic interface for semaphores, which can be used to achieve
|
||||
* task synchronization. This is a generic interface which can be
|
||||
* used for both binary semaphores and counting semaphores.
|
||||
* @details
|
||||
* A semaphore is a synchronization primitive.
|
||||
* See: https://en.wikipedia.org/wiki/Semaphore_(programming)
|
||||
* A semaphore can be used to achieve task synchonization and track the
|
||||
* availability of resources by using either the binary or the counting
|
||||
* semaphore types.
|
||||
*
|
||||
* If mutual exlcusion of a resource is desired, a mutex should be used,
|
||||
* which is a special form of a semaphore and has an own interface.
|
||||
*/
|
||||
class SemaphoreIF {
|
||||
public:
|
||||
virtual~ SemaphoreIF() {};
|
||||
//! Needs to be defined in implementation. No blocking time
|
||||
static const uint32_t NO_TIMEOUT;
|
||||
//! Needs to be defined in implementation. Blocks indefinitely.
|
||||
static const uint32_t MAX_TIMEOUT;
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
|
||||
//! Semaphore timeout
|
||||
static constexpr ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(1);
|
||||
//! The current semaphore can not be given, because it is not owned
|
||||
static constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
|
||||
static constexpr ReturnValue_t SEMAPHORE_INVALID = MAKE_RETURN_CODE(3);
|
||||
|
||||
/**
|
||||
* Generic call to acquire a semaphore.
|
||||
* If there are no more semaphores to be taken (for a counting semaphore,
|
||||
* a semaphore may be taken more than once), the taks will block
|
||||
* for a maximum of timeoutMs while trying to acquire the semaphore.
|
||||
* This can be used to achieve task synchrnization.
|
||||
* @param timeoutMs
|
||||
* @return - c RETURN_OK for successfull acquisition
|
||||
*/
|
||||
virtual ReturnValue_t acquire(uint32_t timeoutMs) = 0;
|
||||
|
||||
/**
|
||||
* Corrensponding call to release a semaphore.
|
||||
* @return -@c RETURN_OK for successfull release
|
||||
*/
|
||||
virtual ReturnValue_t release() = 0;
|
||||
|
||||
/**
|
||||
* If the semaphore is a counting semaphore then the semaphores current
|
||||
* count value is returned. If the semaphore is a binary semaphore then 1
|
||||
* is returned if the semaphore is available, and 0 is returned if the
|
||||
* semaphore is not available.
|
||||
*/
|
||||
virtual uint8_t getSemaphoreCounter() const = 0;
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_TASKS_SEMAPHOREIF_H_ */
|
Loading…
Reference in New Issue
Block a user