fsfw/osal/FreeRTOS/Mutex.cpp

53 lines
1.2 KiB
C++

#include <framework/osal/FreeRTOS/Mutex.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
const uint32_t MutexIF::POLLING = 0;
const uint32_t MutexIF::BLOCKING = portMAX_DELAY;
Mutex::Mutex() {
handle = xSemaphoreCreateMutex();
if(handle == nullptr) {
sif::error << "Mutex::Mutex(FreeRTOS): Creation failure" << std::endl;
}
}
Mutex::~Mutex() {
if (handle != nullptr) {
vSemaphoreDelete(handle);
}
}
ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
if (handle == nullptr) {
return MutexIF::MUTEX_NOT_FOUND;
}
TickType_t timeout = MutexIF::POLLING;
if(timeoutMs == MutexIF::BLOCKING) {
timeout = MutexIF::BLOCKING;
}
else if(timeoutMs > MutexIF::POLLING){
timeout = pdMS_TO_TICKS(timeoutMs);
}
BaseType_t returncode = xSemaphoreTake(handle, timeout);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
return MutexIF::MUTEX_TIMEOUT;
}
}
ReturnValue_t Mutex::unlockMutex() {
if (handle == nullptr) {
return MutexIF::MUTEX_NOT_FOUND;
}
BaseType_t returncode = xSemaphoreGive(handle);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
}
}