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Merge pull request 'Fix: Mutex in getter of safety state' (#9) from bugfix/get-safety-state-critial-section into main

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Reviewed-on: #9
This commit is contained in:
Hendrik Schutter 2024-12-25 22:56:04 +01:00
commit 8effd730b9
1 changed files with 12 additions and 1 deletions
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13
main/safety.c
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@ -155,5 +155,16 @@ void getSensorSanityStates(sSensorSanityCheck *pSensorSanityChecks)
eSafetyState getSafetyState(void) 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;
} }