mirror of https://github.com/ArduPilot/ardupilot
119 lines
2.6 KiB
C++
119 lines
2.6 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "Semaphores.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/semphr.h"
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#include "freertos/task.h"
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extern const AP_HAL::HAL& hal;
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using namespace ESP32;
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Semaphore::Semaphore()
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{
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handle = xSemaphoreCreateRecursiveMutex();
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}
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bool Semaphore::give()
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{
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return xSemaphoreGiveRecursive((QueueHandle_t)handle);
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}
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bool Semaphore::take(uint32_t timeout_ms)
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{
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if (timeout_ms == HAL_SEMAPHORE_BLOCK_FOREVER) {
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take_blocking();
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return true;
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}
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if (take_nonblocking()) {
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return true;
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}
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uint64_t start = AP_HAL::micros64();
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do {
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hal.scheduler->delay_microseconds(200);
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if (take_nonblocking()) {
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return true;
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}
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} while ((AP_HAL::micros64() - start) < timeout_ms*1000);
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return false;
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}
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void Semaphore::take_blocking()
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{
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xSemaphoreTakeRecursive((QueueHandle_t)handle, portMAX_DELAY);
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}
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bool Semaphore::take_nonblocking()
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{
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bool ok = xSemaphoreTakeRecursive((QueueHandle_t)handle, 0) == pdTRUE;
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if (ok) {
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give();
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}
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return ok;
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}
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bool Semaphore::check_owner()
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{
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return xSemaphoreGetMutexHolder((QueueHandle_t)handle) == xTaskGetCurrentTaskHandle();
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}
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/*
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BinarySemaphore implementation
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*/
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BinarySemaphore::BinarySemaphore(bool initial_state)
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{
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_sem = xSemaphoreCreateBinary();
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if (initial_state) {
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xSemaphoreGive(_sem);
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}
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}
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bool BinarySemaphore::wait(uint32_t timeout_us)
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{
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TickType_t ticks = pdMS_TO_TICKS(timeout_us / 1000U);
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return xSemaphoreTake(_sem, ticks) == pdTRUE;
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}
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bool BinarySemaphore::wait_blocking()
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{
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return xSemaphoreTake(_sem, portMAX_DELAY) == pdTRUE;
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}
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void BinarySemaphore::signal()
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{
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xSemaphoreGive(_sem);
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}
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void BinarySemaphore::signal_ISR()
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{
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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xSemaphoreGiveFromISR(_sem, &xHigherPriorityTaskWoken);
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portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
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}
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BinarySemaphore::~BinarySemaphore(void)
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{
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if (_sem != nullptr) {
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vSemaphoreDelete(_sem);
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}
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_sem = nullptr;
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}
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