MutexRP2040.h

#pragma once
#include "TinyRobotics/concurrency/Mutex.h"
 
namespace tinyrobotics {
 
/**
 * @brief Disable, enable interrupts (only on the actual core)
 * @ingroup concurrency
 * @author Phil Schatzmann
 *
 */
class NoInterruptHandler : public MutexBase {
 public:
  void lock() override {
    noInterrupts();
  }
  void unlock() override {
    interrupts();
  }
};
 
/**
 * @brief Mutex API for non IRQ mutual exclusion between cores.
 * Mutexes are application level locks usually used protecting data structures
 * that might be used by multiple threads of execution. Unlike critical
 * sections, the mutex protected code is not necessarily required/expected
 * to complete quickly, as no other sytem wide locks are held on account of
 * an acquired mutex.
 * @ingroup concurrency
 * @author Phil Schatzmann
 
 */
 
class MutexRP2040 : public MutexBase {
 public:
  MutexRP2040() {
    mutex_init(&mtx);
  }
  virtual ~MutexRP2040() = default;
 
  void lock() override {
    mutex_enter_blocking(&mtx);
  }
  void unlock() override {
    mutex_exit(&mtx);
  }
 
 protected:
  mutex_t mtx;
};
 
/// @brief Default Mutex implementation using RP2040 Pico SDK
/// @ingroup concurrency
using Mutex = MutexRP2040;
 
}  // namespace audio_tools