binary semaphore init

2020-04-22 19:44:03 +02:00
parent 05c1330b68
commit e26f0d54b2
2 changed files with 282 additions and 0 deletions
--- a/osal/FreeRTOS/BinarySemaphore.h
+++ b/osal/FreeRTOS/BinarySemaphore.h
@ -0,0 +1,130 @@
+/**
+ * @file BinarySempahore.h
+ *
+ * @date 25.02.2020
+ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+
+extern "C" {
+#include "FreeRTOS.h"
+#include "semphr.h"
+}
+
+
+/**
+ * @brief OS Tool to achieve synchronization of between tasks or between task and ISR
+ * @details
+ * Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
+ * @ingroup osal
+ */
+class BinarySemaphore: public HasReturnvaluesIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+
+	//! 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 constexpr ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(2);
+	static constexpr ReturnValue_t SEMAPHORE_NULLPOINTER = MAKE_RETURN_CODE(3);
+
+	BinarySemaphore();
+
+	/**
+	 * @brief Copy ctor
+	 */
+	BinarySemaphore(const BinarySemaphore&);
+
+	/**
+	 * @brief Copy assignment
+	 */
+	BinarySemaphore& operator=(const BinarySemaphore&);
+
+	/**
+	 * @brief Move constructor
+	 */
+	BinarySemaphore (BinarySemaphore &&);
+
+	/**
+	 * Move assignment
+	 */
+	BinarySemaphore & operator=(BinarySemaphore &&);
+
+	/**
+	 * Delete the binary semaphore to prevent a memory leak
+	 */
+	virtual ~BinarySemaphore();
+
+	/**
+	 * 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 =
+	        BinarySemaphore::NO_BLOCK_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_BLOCK_TICKS);
+
+	/**
+	 * 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
+	 */
+	SemaphoreHandle_t getSemaphore();
+
+	/**
+	 * Reset the semaphore.
+	 */
+	void resetSemaphore();
+
+	 /**
+	 * 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(SemaphoreHandle_t semaphore);
+
+	/**
+	 * 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(SemaphoreHandle_t semaphore,
+				BaseType_t * higherPriorityTaskWoken);
+private:
+	SemaphoreHandle_t handle;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */