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some safety updates and fixes

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This commit is contained in:
Robin Müller
2020-05-27 23:29:06 +02:00
parent 63dbf99592
commit 7ce505fdf9
4 changed files with 52 additions and 13 deletions
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40
osal/FreeRTOS/CountingSemaphUsingTask.cpp
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@ -9,13 +9,35 @@ CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
"intial cout. Setting initial count to max count." << std::endl;
initCount = maxCount;
}
handle = TaskManagement::getCurrentTaskHandle();
if(handle == nullptr) {
sif::error << "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 << "Semaphore initiated but current notification value"
" is not 0. Please ensure the notification value is not used"
"for other purposes!" << std::endl;
}
while(currentCount != initCount) {
xTaskNotifyGive(handle);
currentCount++;
}
}
CountingSemaphoreUsingTask::~CountingSemaphoreUsingTask() {
// Clear notification value on destruction.
// If this is not desired, don't call the destructor
// (or implement a boolea 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) {
@ -24,22 +46,16 @@ ReturnValue_t CountingSemaphoreUsingTask::acquire(uint32_t timeoutMs) {
else if(timeoutMs > SemaphoreIF::NO_TIMEOUT){
timeout = pdMS_TO_TICKS(timeoutMs);
}
return acquireWithTickTimeout(timeout);
BaseType_t returncode = ulTaskNotifyTake(pdFALSE, timeout);
if (returncode == pdPASS) {
currentCount--;
return HasReturnvaluesIF::RETURN_OK;
}
else {
return SemaphoreIF::SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t CountingSemaphoreUsingTask::acquireWithTickTimeout(
TickType_t timeoutTicks) {
BaseType_t returncode = ulTaskNotifyTake(pdFALSE, timeoutTicks);
if (returncode == pdPASS) {
currentCount--;
// Decrement notfication value without resetting it.
BaseType_t oldCount = ulTaskNotifyTake(pdFALSE, timeoutTicks);
if (getSemaphoreCounter() == oldCount - 1) {
currentCount --;
return HasReturnvaluesIF::RETURN_OK;
}
else {
@ -63,7 +79,7 @@ ReturnValue_t CountingSemaphoreUsingTask::release() {
}
uint8_t CountingSemaphoreUsingTask::getSemaphoreCounter() const {
uint32_t notificationValue;
uint32_t notificationValue = 0;
xTaskNotifyAndQuery(handle, 0, eNoAction, &notificationValue);
return notificationValue;
}