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 "RTOS.h"
#include "sdkconfig.h"
#include "esp32-hal-log.h"

/**
 * 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, uint32_t 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


/**
 * @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) {
	log_v(">> 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);
	}

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

	log_v("<< wait: Semaphore released: %s", toString().c_str());
	return m_value;
} // wait

/**
 * @brief Wait for a semaphore to be released in a given period of time by trying to take it and
 * then releasing it again. The value associated with the semaphore can be taken by value() call after return
 * @param [in] owner A debug tag.
 * @param [in] timeoutMs timeout to wait in ms.
 * @return True if we took the semaphore within timeframe.
 */
bool FreeRTOS::Semaphore::timedWait(std::string owner, uint32_t timeoutMs) {
	log_v(">> wait: Semaphore waiting: %s for %s", toString().c_str(), owner.c_str());

	if (m_usePthreads && timeoutMs != portMAX_DELAY) {
		assert(false);  // We apparently don't have a timed wait for pthreads.
	}

	auto ret = pdTRUE;

	if (m_usePthreads) {
		pthread_mutex_lock(&m_pthread_mutex);
	} else {
		ret = xSemaphoreTake(m_semaphore, timeoutMs);
	}

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

	log_v("<< wait: Semaphore %s released: %d", toString().c_str(), ret);
	return ret;
} // 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 = xSemaphoreCreateBinary();
		xSemaphoreGive(m_semaphore);
	}

	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() {
	log_v("Semaphore giving: %s", toString().c_str());
	m_owner = std::string("<N/A>");
	
	if (m_usePthreads) {
		pthread_mutex_unlock(&m_pthread_mutex);
	} else {
		xSemaphoreGive(m_semaphore);
	}
// #ifdef ARDUINO_ARCH_ESP32
// 	FreeRTOS::sleep(10);
// #endif

} // 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) {
	log_v("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) == pdTRUE;
	}
	if (rc) {
		m_owner = owner;
		log_v("Semaphore taken:  %s", toString().c_str());
	} else {
		log_e("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) {
	log_v("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) == pdTRUE;
	}
	if (rc) {
		m_owner = owner;
		log_v("Semaphore taken:  %s", toString().c_str());
	} else {
		log_e("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() {
	char hex[9];
	std::string res = "name: " + m_name + " (0x";
	snprintf(hex, sizeof(hex), "%08x", (uint32_t)m_semaphore);
	res += hex;
	res += "), owner: " + m_owner;
	return res;
} // 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


/**
 * @brief Create a ring buffer.
 * @param [in] length The amount of storage to allocate for the ring buffer.
 * @param [in] type The type of buffer.  One of RINGBUF_TYPE_NOSPLIT, RINGBUF_TYPE_ALLOWSPLIT, RINGBUF_TYPE_BYTEBUF.
 */
#ifdef ESP_IDF_VERSION_MAJOR
Ringbuffer::Ringbuffer(size_t length, RingbufferType_t type)
#else
Ringbuffer::Ringbuffer(size_t length, ringbuf_type_t type)
#endif
{
	m_handle = ::xRingbufferCreate(length, type);
} // Ringbuffer


Ringbuffer::~Ringbuffer() {
	::vRingbufferDelete(m_handle);
} // ~Ringbuffer


/**
 * @brief Receive data from the buffer.
 * @param [out] size On return, the size of data returned.
 * @param [in] wait How long to wait.
 * @return A pointer to the storage retrieved.
 */
void* Ringbuffer::receive(size_t* size, TickType_t wait) {
	return ::xRingbufferReceive(m_handle, size, wait);
} // receive


/**
 * @brief Return an item.
 * @param [in] item The item to be returned/released.
 */
void Ringbuffer::returnItem(void* item) {
	::vRingbufferReturnItem(m_handle, item);
} // returnItem


/**
 * @brief Send data to the buffer.
 * @param [in] data The data to place into the buffer.
 * @param [in] length The length of data to place into the buffer.
 * @param [in] wait How long to wait before giving up.  The default is to wait indefinitely.
 * @return
 */
bool Ringbuffer::send(void* data, size_t length, TickType_t wait) {
	return ::xRingbufferSend(m_handle, data, length, wait) == pdTRUE;
} // send