firmware/src/concurrency/BinarySemaphoreFreeRTOS.h

#pragma once

#include "../freertosinc.h"

namespace concurrency {

#ifdef HAS_FREE_RTOS

class BinarySemaphoreFreeRTOS {
  SemaphoreHandle_t semaphore;

public:
  BinarySemaphoreFreeRTOS();
  ~BinarySemaphoreFreeRTOS();

  /**
   * Returns false if we timed out
   */
  bool take(uint32_t msec);

  void give();

  void giveFromISR(BaseType_t *pxHigherPriorityTaskWoken);
};

#endif

} // namespace concurrency