LockGuard.h

#pragma once
#include "TinyRobotics/utils/Config.h"
#include "Mutex.h"
 
namespace tinyrobotics {
 
 
/**
 * @class LockGuard
 * @ingroup concurrency
 * @brief RAII implementaion using a Mutex: Only a few microcontrollers provide
 * lock guards, so I decided to roll my own solution where we can just use a
 * dummy Mutex implementation that does nothing for the cases where this is not
 * needed.
 * @author Phil Schatzmann
 */
 
class LockGuard {
 public:
  LockGuard(MutexBase &mutex) {
    p_mutex = &mutex;
    p_mutex->lock();
  }
 
  LockGuard(MutexBase *mutex) {
    p_mutex = mutex;
    if (p_mutex != nullptr) p_mutex->lock();
  }
 
  ~LockGuard() {
    if (p_mutex != nullptr) p_mutex->unlock();
  }
 
 protected:
  MutexBase *p_mutex = nullptr;
};
 
 
}  // namespace tinyrobotics