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implementing new task notifications

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This commit is contained in:
Robin Müller
2020-05-27 17:42:18 +02:00
parent 968d7fad81
commit 2d33274c23
2 changed files with 145 additions and 19 deletions
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95
osal/FreeRTOS/BinarySemaphore.h
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@ -6,7 +6,11 @@
extern "C" {
#include <freertos/FreeRTOS.h>
#if ( configUSE_OLD_SEMAPHORES == 1 )
#include <freertos/semphr.h>
#else
#include <freertos/task.h>
#endif
}
// TODO: Implement the new (better) task notifications.
@ -24,11 +28,13 @@ extern "C" {
* @author R. Mueller
* @ingroup osal
*/
#if ( configUSE_OLD_SEMAPHORES == 1 )
class BinarySemaphore: public SemaphoreIF,
public HasReturnvaluesIF {
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphore();
//! @brief Copy ctor, deleted explicitely.
@ -46,7 +52,7 @@ public:
SemaphoreIF::NO_TIMEOUT) override;
ReturnValue_t release() override;
uint8_t getSemaphoreCounter() override;
/**
* Take the binary semaphore.
* If the semaphore has already been taken, the task will be blocked
@ -81,11 +87,6 @@ public:
*/
SemaphoreHandle_t getSemaphore();
/**
* Reset the semaphore.
*/
void resetSemaphore();
/**
* Wrapper function to give back semaphore from handle
* @param semaphore
@ -104,9 +105,83 @@ public:
*/
static ReturnValue_t giveBinarySemaphoreFromISR(SemaphoreHandle_t semaphore,
BaseType_t * higherPriorityTaskWoken);
protected:
protected:
SemaphoreHandle_t handle;
};
#else
class BinarySemaphore: public SemaphoreIF,
public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
//! @brief Default ctor
BinarySemaphore();
ReturnValue_t acquire(uint32_t timeoutMs =
SemaphoreIF::NO_TIMEOUT) override;
ReturnValue_t release() override;
uint8_t getSemaphoreCounter() override;
/**
* Take the binary semaphore.
* If the semaphore has already been taken, the task will be blocked
* for a maximum of #timeoutMs or until the semaphore is given back,
* for example by an ISR or another task.
* @param timeoutMs
* @return -@c RETURN_OK on success
* -@c RETURN_FAILED on failure
*/
ReturnValue_t takeBinarySemaphore(uint32_t timeoutMs =
SemaphoreIF::NO_TIMEOUT);
/**
* Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
* @param timeoutTicks
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
ReturnValue_t takeBinarySemaphoreTickTimeout(TickType_t timeoutTicks =
BinarySemaphore::NO_TIMEOUT);
/**
* Give back the binary semaphore
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
ReturnValue_t giveBinarySemaphore();
/**
* Get Handle to the semaphore.
* @return
*/
TaskHandle_t getTaskHandle();
/**
* Wrapper function to give back semaphore from handle
* @param semaphore
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t giveBinarySemaphore(TaskHandle_t taskToNotify);
/**
* Wrapper function to give back semaphore from handle when called from an ISR
* @param semaphore
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with a higher priority
* was unblocked
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED on failure
*/
static ReturnValue_t giveBinarySemaphoreFromISR(TaskHandle_t taskToNotify,
BaseType_t * higherPriorityTaskWoken);
protected:
TaskHandle_t handle;
};
#endif
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */