Implement BinarySemaphore freertos wrapper

modules/control/Firmware/src/FreeRTOS/BinarySemaphore.cpp

@@ -0,0 +1,26 @@
+#include <FreeRTOS/BinarySemaphore.h>
+#include <etl/utility.h>
+
+freertos::BinarySemaphore::BinarySemaphore()
+    : handle{xSemaphoreCreateBinary()} {}
+freertos::BinarySemaphore::BinarySemaphore(BinarySemaphore &&other) noexcept {
+  handle = etl::move(other.handle);
+}
+freertos::BinarySemaphore::~BinarySemaphore() { vSemaphoreDelete(handle); }
+auto freertos::BinarySemaphore::operator=(
+    const BinarySemaphore &&other) noexcept -> BinarySemaphore & {
+  handle = etl::move(other.handle);
+  return *this;
+}
+auto freertos::BinarySemaphore::take(TickType_t timeout) -> bool {
+  BaseType_t success = xSemaphoreTake(handle, timeout);
+  return success == pdTRUE ? true : false;
+}
+auto freertos::BinarySemaphore::give() -> bool {
+  BaseType_t success = xSemaphoreGive(handle);
+  return success == pdTRUE ? true : false;
+}
+
+auto freertos::BinarySemaphore::getCount() -> size_t {
+  return uxSemaphoreGetCount(handle);
+}

modules/control/Firmware/src/FreeRTOS/BinarySemaphore.h

@@ -0,0 +1,20 @@
+#pragma once
+#include <Arduino.h>
+
+namespace freertos {
+class BinarySemaphore {
+public:
+  BinarySemaphore();
+  BinarySemaphore(const BinarySemaphore &other) = delete;
+  BinarySemaphore(BinarySemaphore &&other) noexcept;
+  ~BinarySemaphore();
+  BinarySemaphore &operator=(const BinarySemaphore &other) = delete;
+  BinarySemaphore &operator=(const BinarySemaphore &&other) noexcept;
+  bool take(TickType_t timeout = portMAX_DELAY);
+  bool give();
+  size_t getCount();
+
+private:
+  SemaphoreHandle_t handle;
+};
+} // namespace freertos