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various changes, stopwatch

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Semaphore: Some bugfixes, some constructors added
Stopwatch: First implementation, can measure in ms(double) and
ms(normal)
This commit is contained in:
Robin Müller
2020-04-08 18:08:14 +02:00
parent 30ed08005f
commit e0e1e64a09
13 changed files with 247 additions and 45 deletions
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68
osal/FreeRTOS/BinarySemaphore.cpp
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@ -21,26 +21,68 @@ BinarySemaphore::~BinarySemaphore() {
vSemaphoreDelete(handle);
}
// This copy ctor is important as it prevents the assignment to a ressource
// (other.handle) variable which is later deleted!
BinarySemaphore::BinarySemaphore(const BinarySemaphore& other) {
xSemaphoreCreateBinary(handle);
if(handle == nullptr) {
error << "Binary semaphore creation failure" << std::endl;
}
}
BinarySemaphore& BinarySemaphore::operator =(const BinarySemaphore& s) {
if(this != &s) {
xSemaphoreCreateBinary(handle);
if(handle == nullptr) {
error << "Binary semaphore creation failure" << std::endl;
}
}
return *this;
}
BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
xSemaphoreCreateBinary(handle);
if(handle == nullptr) {
error << "Binary semaphore creation failure" << std::endl;
}
}
BinarySemaphore& BinarySemaphore::operator =(
BinarySemaphore&& s) {
if(&s != this) {
xSemaphoreCreateBinary(handle);
if(handle == nullptr) {
error << "Binary semaphore creation failure" << std::endl;
}
}
return *this;
}
ReturnValue_t BinarySemaphore::takeBinarySemaphore(uint32_t timeoutMs) {
if(handle == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
return SEMAPHORE_NULLPOINTER;
}
TickType_t timeout = portMAX_DELAY;
if(timeoutMs != 0) {
timeout = pdMS_TO_TICKS(timeoutMs);
TickType_t timeout = BinarySemaphore::NO_BLOCK_TICKS;
if(timeoutMs == BinarySemaphore::BLOCK_TIMEOUT) {
timeout = BinarySemaphore::BLOCK_TIMEOUT_TICKS;
}
else if(timeoutMs > BinarySemaphore::NO_BLOCK_TIMEOUT){
timeout = pdMS_TO_TICKS(timeoutMs);
}
BaseType_t returncode = xSemaphoreTake(handle, timeout);
if (returncode == pdPASS) {
return HasReturnvaluesIF::RETURN_OK;
} else {
return SEMAPHORE_NOT_FOUND;
}
else {
return SEMAPHORE_TIMEOUT;
}
}
ReturnValue_t BinarySemaphore::takeBinarySemaphoreTickTimeout(TickType_t timeoutTicks) {
ReturnValue_t BinarySemaphore::takeBinarySemaphoreTickTimeout(
TickType_t timeoutTicks) {
if(handle == nullptr) {
return SEMAPHORE_NOT_FOUND;
return SEMAPHORE_NULLPOINTER;
}
BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
@ -53,7 +95,7 @@ ReturnValue_t BinarySemaphore::takeBinarySemaphoreTickTimeout(TickType_t timeout
ReturnValue_t BinarySemaphore::giveBinarySemaphore() {
if (handle == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
return SEMAPHORE_NULLPOINTER;
}
BaseType_t returncode = xSemaphoreGive(handle);
if (returncode == pdPASS) {
@ -69,7 +111,7 @@ SemaphoreHandle_t BinarySemaphore::getSemaphore() {
ReturnValue_t BinarySemaphore::giveBinarySemaphore(SemaphoreHandle_t semaphore) {
if (semaphore == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
return SEMAPHORE_NULLPOINTER;
}
BaseType_t returncode = xSemaphoreGive(semaphore);
if (returncode == pdPASS) {
@ -86,11 +128,12 @@ void BinarySemaphore::resetSemaphore() {
}
}
// Be careful with the stack size here. This is called from an ISR!
ReturnValue_t BinarySemaphore::giveBinarySemaphoreFromISR(SemaphoreHandle_t semaphore,
BaseType_t * higherPriorityTaskWoken) {
if (semaphore == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
return SEMAPHORE_NULLPOINTER;
}
BaseType_t returncode = xSemaphoreGiveFromISR(semaphore, higherPriorityTaskWoken);
if (returncode == pdPASS) {
@ -99,11 +142,10 @@ ReturnValue_t BinarySemaphore::giveBinarySemaphoreFromISR(SemaphoreHandle_t sema
// TODO: I don't know if this will ever happen but if it does,
// I want to to know in case this causes issues. If it doesn't
// we should remove this.
TRACE_INFO("Binary Semaphore: Higher priority task unblocked!");
TaskManagement::requestContextSwitch(CallContext::isr);
}
return HasReturnvaluesIF::RETURN_OK;
} else {
return HasReturnvaluesIF::RETURN_FAILED;
return SEMAPHORE_NOT_OWNED;
}
}

51
osal/FreeRTOS/BinarySemaphore.h
View File

@ -20,22 +20,51 @@ class BinarySemaphore: public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
/** Semaphore object not found */
static const ReturnValue_t SEMAPHORE_NOT_FOUND = MAKE_RETURN_CODE(1);
/** Semaphore timeout */
static const ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(2);
//! No block time, poll the semaphore. Can also be used as tick type.
//! Can be passed as tick type and ms value.
static constexpr uint32_t NO_BLOCK_TIMEOUT = 0;
static constexpr TickType_t NO_BLOCK_TICKS = 0;
//! No block time, poll the semaphore.
//! Can be passed as tick type and ms value.
static constexpr TickType_t BLOCK_TIMEOUT_TICKS = portMAX_DELAY;
static constexpr uint32_t BLOCK_TIMEOUT = portMAX_DELAY;
//! 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 const ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(3);
static constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
static constexpr ReturnValue_t SEMAPHORE_NULLPOINTER = MAKE_RETURN_CODE(3);
/**
* Create a binary semaphore
*/
BinarySemaphore();
/**
* Copy ctor
* @param
*/
BinarySemaphore(const BinarySemaphore&);
/**
* Copy assignment
*/
BinarySemaphore& operator=(const BinarySemaphore&);
/**
* Move constructor
*/
BinarySemaphore (BinarySemaphore &&);
/**
* Move assignment
*/
BinarySemaphore & operator=(BinarySemaphore &&);
/**
* Delete the binary semaphore to prevent a memory leak
*/
~BinarySemaphore();
virtual ~BinarySemaphore();
/**
* Take the binary semaphore.
@ -46,7 +75,8 @@ public:
* @return -@c RETURN_OK on success
* -@c RETURN_FAILED on failure
*/
ReturnValue_t takeBinarySemaphore(uint32_t timeoutMs);
ReturnValue_t takeBinarySemaphore(uint32_t timeoutMs =
BinarySemaphore::NO_BLOCK_TIMEOUT);
/**
* Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
@ -54,7 +84,8 @@ public:
* @return -@c RETURN_OK on success
* -@c RETURN_FAILED on failure
*/
ReturnValue_t takeBinarySemaphoreTickTimeout(TickType_t timeoutTicks);
ReturnValue_t takeBinarySemaphoreTickTimeout(TickType_t timeoutTicks =
BinarySemaphore::NO_BLOCK_TICKS);
/**
* Give back the binary semaphore
@ -96,8 +127,4 @@ private:
SemaphoreHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

4
osal/FreeRTOS/Clock.cpp
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@ -3,8 +3,11 @@
#include <stdlib.h>
#include "Timekeeper.h"
extern "C" {
#include <FreeRTOS.h>
#include <task.h>
}
//TODO sanitize input?
//TODO much of this code can be reused for tick-only systems
@ -56,7 +59,6 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
timeval Clock::getUptime() {
TickType_t ticksSinceStart = xTaskGetTickCount();
return Timekeeper::ticksToTimeval(ticksSinceStart);
}

26
osal/FreeRTOS/Timekeeper.cpp
View File

@ -1,20 +1,24 @@
#include "Timekeeper.h"
#include <FreeRTOSConfig.h>
/**
* @file Timekeeper.cpp
* @date
*/
Timekeeper::Timekeeper() :
offset( { 0, 0 }) {
// TODO Auto-generated constructor stub
#include <framework/osal/FreeRTOS/Timekeeper.h>
extern "C" {
#include <task.h>
}
Timekeeper * Timekeeper::myinstance = NULL;
Timekeeper * Timekeeper::myinstance = nullptr;
Timekeeper::Timekeeper() : offset( { 0, 0 }) {}
const timeval& Timekeeper::getOffset() const {
return offset;
}
Timekeeper* Timekeeper::instance() {
if (myinstance == NULL) {
if (myinstance == nullptr) {
myinstance = new Timekeeper();
}
return myinstance;
@ -24,9 +28,7 @@ void Timekeeper::setOffset(const timeval& offset) {
this->offset = offset;
}
Timekeeper::~Timekeeper() {
// TODO Auto-generated destructor stub
}
Timekeeper::~Timekeeper() {}
timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
timeval uptime;
@ -40,3 +42,7 @@ timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
return uptime;
}
TickType_t Timekeeper::getTicks() {
return xTaskGetTickCount();
}

9
osal/FreeRTOS/Timekeeper.h
View File

@ -2,8 +2,10 @@
#define FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_
#include <framework/timemanager/Clock.h>
extern "C" {
#include <FreeRTOS.h>
}
/**
* A Class to basically store the time difference between uptime and UTC
@ -25,6 +27,11 @@ public:
virtual ~Timekeeper();
static timeval ticksToTimeval(TickType_t ticks);
/**
* Get elapsed time in system ticks.
* @return
*/
static TickType_t getTicks();
const timeval& getOffset() const;
void setOffset(const timeval& offset);