From 4deed0319048e53c19eeaa2c6ce6916556fb8fbbc09fec292f77f0e9abfe949a Mon Sep 17 00:00:00 2001
From: localhorst <localhorst@mosad.xyz>
Date: Wed, 25 Dec 2024 22:54:57 +0100
Subject: [PATCH] add mutex in getter of safety state

---
 main/safety.c | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/main/safety.c b/main/safety.c
index 4bfccd5..db60a87 100644
--- a/main/safety.c
+++ b/main/safety.c
@@ -155,5 +155,16 @@ void getSensorSanityStates(sSensorSanityCheck *pSensorSanityChecks)
 
 eSafetyState getSafetyState(void)
 {
-    return sSafetyState;
+    eSafetyState state = SAFETY_NO_ERROR;
+    if (xSemaphoreTakeRecursive(xMutexAccessSafety, pdMS_TO_TICKS(5000)) == pdTRUE)
+    {
+        state = sSafetyState;
+        xSemaphoreGiveRecursive(xMutexAccessSafety);
+    }
+    else
+    {
+        state = SAFETY_INTERNAL_ERROR;
+        ESP_LOGE(TAG, "Unable to take mutex: getSafetyState()");
+    }
+    return state;
 }
\ No newline at end of file