esp32_tmc_mutex.hpp

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#pragma once
 
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "esp_log.h"
 
class Esp32TmcMutex {
public:
    Esp32TmcMutex() noexcept : handle_(xSemaphoreCreateMutex()) {
        if (handle_ == nullptr) {
            ESP_LOGE("Esp32TmcMutex", "Failed to create mutex");
        }
    }
    
    ~Esp32TmcMutex() noexcept {
        if (handle_ != nullptr) {
            vSemaphoreDelete(handle_);
            handle_ = nullptr;
        }
    }
    
    // Non-copyable
    Esp32TmcMutex(const Esp32TmcMutex&) = delete;
    Esp32TmcMutex& operator=(const Esp32TmcMutex&) = delete;
    
    SemaphoreHandle_t native_handle() const noexcept { return handle_; }
    
    bool is_valid() const noexcept { return handle_ != nullptr; }
    
private:
    SemaphoreHandle_t handle_;
};
 
class TmcMutexGuard {
public:
    explicit TmcMutexGuard(Esp32TmcMutex& mutex) noexcept : mutex_(mutex), locked_(false) {
        if (mutex_.is_valid()) {
            SemaphoreHandle_t handle = mutex_.native_handle();
            if (xSemaphoreTake(handle, portMAX_DELAY) == pdTRUE) {
                locked_ = true;
            }
        }
    }
    
    ~TmcMutexGuard() noexcept { unlock(); }
    
    void unlock() noexcept {
        if (locked_ && mutex_.is_valid()) {
            SemaphoreHandle_t handle = mutex_.native_handle();
            xSemaphoreGive(handle);
            locked_ = false;
        }
    }
    
    bool is_locked() const noexcept { return locked_; }
    
private:
    Esp32TmcMutex& mutex_;
    bool locked_;
};