From 3e0dd608da2d17aee131c9f406d4829d387fdc60 Mon Sep 17 00:00:00 2001
From: Ken Van Hoeylandt <git@kenvanhoeylandt.net>
Date: Thu, 22 Jan 2026 22:16:34 +0100
Subject: [PATCH] Simulator fixes

---
 TactilityKernel/Include/Tactility/concurrent/Mutex.h         | 1 +
 .../Include/Tactility/concurrent/RecursiveMutex.h            | 5 ++---
 TactilityKernel/Source/Driver.cpp                            | 4 ++--
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/TactilityKernel/Include/Tactility/concurrent/Mutex.h b/TactilityKernel/Include/Tactility/concurrent/Mutex.h
index a6eede61..29b6fbc8 100644
--- a/TactilityKernel/Include/Tactility/concurrent/Mutex.h
+++ b/TactilityKernel/Include/Tactility/concurrent/Mutex.h
@@ -2,6 +2,7 @@
 
 #include <Tactility/FreeRTOS/semphr.h>
 #include <assert.h>
+#include <stdbool.h>
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/TactilityKernel/Include/Tactility/concurrent/RecursiveMutex.h b/TactilityKernel/Include/Tactility/concurrent/RecursiveMutex.h
index bcafbbc5..245b7f50 100644
--- a/TactilityKernel/Include/Tactility/concurrent/RecursiveMutex.h
+++ b/TactilityKernel/Include/Tactility/concurrent/RecursiveMutex.h
@@ -1,8 +1,6 @@
 #pragma once
 
-#include "freertos/semphr.h"
-
-
+#include <stdbool.h>
 #include <Tactility/FreeRTOS/semphr.h>
 
 #ifdef __cplusplus
@@ -20,6 +18,7 @@ inline static void recursive_mutex_construct(struct RecursiveMutex* mutex) {
 inline static void recursive_mutex_destruct(struct RecursiveMutex* mutex) {
     assert(mutex != NULL);
     assert(mutex->handle != NULL);
+    vPortAssertIfInISR();
     vSemaphoreDelete(mutex->handle);
     mutex->handle = NULL;
 }
diff --git a/TactilityKernel/Source/Driver.cpp b/TactilityKernel/Source/Driver.cpp
index cd907f31..f4097e8c 100644
--- a/TactilityKernel/Source/Driver.cpp
+++ b/TactilityKernel/Source/Driver.cpp
@@ -1,6 +1,6 @@
-#include <sys/errno.h>
-#include <vector>
 #include <cstring>
+#include <ranges>
+#include <vector>
 
 #include <Tactility/concurrent/Mutex.h>
 #include <Tactility/Device.h>