freertos.cpp

/*
 * FreeRTOS.cpp
 *
 *  Created on: Feb 24, 2017
 *      Author: kolban
 */
#include <freertos/FreeRTOS.h>   // Include the base FreeRTOS definitions
#include <freertos/task.h>       // Include the task definitions
#include <freertos/semphr.h>     // Include the semaphore definitions
#include <string>
#include <sstream>
#include <iomanip>
#include "freertos.h"
#include <esp_log.h>
#include "sdkconfig.h"

using namespace libesp;

static const char* LOG_TAG = "FreeRTOS";

/**
 * Sleep for the specified number of milliseconds.
 * @param[in] ms The period in milliseconds for which to sleep.
 */
void FreeRTOS::sleep(uint32_t ms) {
	::vTaskDelay(ms/portTICK_PERIOD_MS);
} // sleep


/**
 * Start a new task.
 * @param[in] task The function pointer to the function to be run in the task.
 * @param[in] taskName A string identifier for the task.
 * @param[in] param An optional parameter to be passed to the started task.
 * @param[in] stackSize An optional paremeter supplying the size of the stack in which to run the task.
 */
void FreeRTOS::startTask(void task(void*), std::string taskName, void *param, int stackSize) {
	::xTaskCreate(task, taskName.data(), stackSize, param, 5, NULL);
} // startTask


/**
 * Delete the task.
 * @param[in] pTask An optional handle to the task to be deleted.  If not supplied the calling task will be deleted.
 */
void FreeRTOS::deleteTask(TaskHandle_t pTask) {
	::vTaskDelete(pTask);
} // deleteTask


/**
 * Get the time in milliseconds since the %FreeRTOS scheduler started.
 * @return The time in milliseconds since the %FreeRTOS scheduler started.
 */
uint32_t FreeRTOS::getTimeSinceStart() {
	return (uint32_t)(xTaskGetTickCount()*portTICK_PERIOD_MS);
} // getTimeSinceStart

/*
 * 	public:
		Semaphore(std::string = "<Unknown>");
		~Semaphore();
		void give();
		void take(std::string owner="<Unknown>");
		void take(uint32_t timeoutMs, std::string owner="<Unknown>");
	private:
		SemaphoreHandle_t m_semaphore;
		std::string m_name;
		std::string m_owner;
	};
 *
 */

/**
 * @brief Wait for a semaphore to be released by trying to take it and
 * then releasing it again.
 * @param [in] owner A debug tag.
 * @return The value associated with the semaphore.
 */
uint32_t FreeRTOS::Semaphore::wait(std::string owner) {
	ESP_LOGV(LOG_TAG, ">> wait: Semaphore waiting: %s for %s", toString().c_str(), owner.c_str());


	if (m_usePthreads) {
		pthread_mutex_lock(&m_pthread_mutex);
	} else {
		xSemaphoreTake(m_semaphore, portMAX_DELAY);
	}

	m_owner = owner;

	if (m_usePthreads) {
		pthread_mutex_unlock(&m_pthread_mutex);
	} else {
		xSemaphoreGive(m_semaphore);
	}

	ESP_LOGV(LOG_TAG, "<< wait: Semaphore released: %s", toString().c_str());
	m_owner = std::string("<N/A>");
	return m_value;
} // wait


FreeRTOS::Semaphore::Semaphore(std::string name) {
	m_usePthreads = false;   	// Are we using pThreads or FreeRTOS?
	if (m_usePthreads) {
		pthread_mutex_init(&m_pthread_mutex, nullptr);
	} else {
		m_semaphore = xSemaphoreCreateMutex();
	}

	m_name      = name;
	m_owner     = std::string("<N/A>");
	m_value     = 0;
}


FreeRTOS::Semaphore::~Semaphore() {
	if (m_usePthreads) {
		pthread_mutex_destroy(&m_pthread_mutex);
	} else {
		vSemaphoreDelete(m_semaphore);
	}
}


/**
 * @brief Give a semaphore.
 * The Semaphore is given.
 */
void FreeRTOS::Semaphore::give() {
	ESP_LOGV(LOG_TAG, "Semaphore giving: %s", toString().c_str());
	if (m_usePthreads) {
		pthread_mutex_unlock(&m_pthread_mutex);
	} else {
		xSemaphoreGive(m_semaphore);
	}
// #ifdef ARDUINO_ARCH_ESP32
// 	FreeRTOS::sleep(10); 
// #endif

	m_owner = std::string("<N/A>");
} // Semaphore::give


/**
 * @brief Give a semaphore.
 * The Semaphore is given with an associated value.
 * @param [in] value The value to associate with the semaphore.
 */
void FreeRTOS::Semaphore::give(uint32_t value) {
	m_value = value;
	give();
} // give


/**
 * @brief Give a semaphore from an ISR.
 */
void FreeRTOS::Semaphore::giveFromISR() {
	BaseType_t higherPriorityTaskWoken;
	if (m_usePthreads) {
		assert(false);
	} else {
		xSemaphoreGiveFromISR(m_semaphore, &higherPriorityTaskWoken);
	}
} // giveFromISR


/**
 * @brief Take a semaphore.
 * Take a semaphore and wait indefinitely.
 * @param [in] owner The new owner (for debugging)
 * @return True if we took the semaphore.
 */
bool FreeRTOS::Semaphore::take(std::string owner)
{
	ESP_LOGD(LOG_TAG, "Semaphore taking: %s for %s", toString().c_str(), owner.c_str());
	bool rc = false;
	if (m_usePthreads) {
		pthread_mutex_lock(&m_pthread_mutex);
	} else {
		rc = ::xSemaphoreTake(m_semaphore, portMAX_DELAY);
	}
	m_owner = owner;
	if (rc) {
		ESP_LOGD(LOG_TAG, "Semaphore taken:  %s", toString().c_str());
	} else {
		ESP_LOGE(LOG_TAG, "Semaphore NOT taken:  %s", toString().c_str());
	}
	return rc;
} // Semaphore::take


/**
 * @brief Take a semaphore.
 * Take a semaphore but return if we haven't obtained it in the given period of milliseconds.
 * @param [in] timeoutMs Timeout in milliseconds.
 * @param [in] owner The new owner (for debugging)
 * @return True if we took the semaphore.
 */
bool FreeRTOS::Semaphore::take(uint32_t timeoutMs, std::string owner) {

	ESP_LOGV(LOG_TAG, "Semaphore taking: %s for %s", toString().c_str(), owner.c_str());
	bool rc = false;
	if (m_usePthreads) {
		assert(false);  // We apparently don't have a timed wait for pthreads.
	} else {
		rc = ::xSemaphoreTake(m_semaphore, timeoutMs/portTICK_PERIOD_MS);
	}
	m_owner = owner;
	if (rc) {
		ESP_LOGV(LOG_TAG, "Semaphore taken:  %s", toString().c_str());
	} else {
		ESP_LOGE(LOG_TAG, "Semaphore NOT taken:  %s", toString().c_str());
	}
	return rc;
} // Semaphore::take



/**
 * @brief Create a string representation of the semaphore.
 * @return A string representation of the semaphore.
 */
std::string FreeRTOS::Semaphore::toString() {
	std::stringstream stringStream;
	stringStream << "name: "<< m_name << " (0x" << std::hex << std::setfill('0') << (uint32_t)m_semaphore << "), owner: " << m_owner;
	return stringStream.str();
} // toString


/**
 * @brief Set the name of the semaphore.
 * @param [in] name The name of the semaphore.
 */
void FreeRTOS::Semaphore::setName(std::string name) {
	m_name = name;
} // setName