Merge branch 'main' into feature/temperature-predict

2024-12-26 10:14:41 +01:00
parent ff16e601fb 8effd730b9
commit 795223ff66
1 changed files with 12 additions and 1 deletions
--- 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;
 }