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96eccbdc8d
Replace LGPL from past commit with Apache License 2.0 for the newly created projects: - in Platforms/* - TactilityKernel Add license headers to source code in: - in Platforms/* - TactilityKernel - TactilityFreeRtos Updated LICENSE.md
55 lines
1.4 KiB
C++
55 lines
1.4 KiB
C++
// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#include "Lock.h"
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#include "freertoscompat/PortCompat.h"
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#include "freertoscompat/Semaphore.h"
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#include <memory>
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#include <cassert>
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namespace tt {
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/**
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* Wrapper for FreeRTOS xSemaphoreCreateRecursiveMutex
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* Cannot be used from ISR context
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*/
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class RecursiveMutex final : public Lock {
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std::unique_ptr<std::remove_pointer_t<QueueHandle_t>, SemaphoreHandleDeleter> handle = std::unique_ptr<std::remove_pointer_t<QueueHandle_t>, SemaphoreHandleDeleter>(xSemaphoreCreateRecursiveMutex());
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public:
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using Lock::lock;
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explicit RecursiveMutex() {
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assert(handle != nullptr);
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}
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~RecursiveMutex() override = default;
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/**
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* Attempt to lock the mutex. Blocks until timeout passes or lock is acquired.
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* @param[in] timeout
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* @return success result
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*/
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bool lock(TickType_t timeout) const override {
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assert(xPortInIsrContext() == pdFALSE);
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return xSemaphoreTakeRecursive(handle.get(), timeout) == pdPASS;
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}
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/** Unlock the mutex */
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void unlock() const override {
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assert(xPortInIsrContext() == pdFALSE);
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xSemaphoreGiveRecursive(handle.get());
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}
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/** @return the owner of the thread */
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TaskHandle_t getOwner() const {
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assert(xPortInIsrContext() == pdFALSE);
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return xSemaphoreGetMutexHolder(handle.get());
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}
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};
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} // namespace
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