From 8f563b7b21af065208e34b1705533bfc700cd9e5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 14:02:14 +0200
Subject: [PATCH] added retvals for mutex

---
 osal/FreeRTOS/Mutex.cpp | 18 ++++++++----------
 osal/FreeRTOS/Mutex.h   | 25 +++++++++++++++----------
 2 files changed, 23 insertions(+), 20 deletions(-)

diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp
index 7c511091..e304d60e 100644
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@@ -1,4 +1,4 @@
-#include "Mutex.h"
+#include <framework/osal/FreeRTOS/Mutex.h>
 
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
@@ -6,7 +6,9 @@ const uint32_t MutexIF::NO_TIMEOUT = 0;
 
 Mutex::Mutex() {
 	handle = xSemaphoreCreateMutex();
-	//TODO print error
+	if(handle == NULL) {
+		sif::error << "Mutex creation failure" << std::endl;
+	}
 }
 
 Mutex::~Mutex() {
@@ -18,8 +20,7 @@ Mutex::~Mutex() {
 
 ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 	if (handle == 0) {
-		//TODO Does not exist
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return MutexIF::MUTEX_NOT_FOUND;
 	}
 	TickType_t timeout = portMAX_DELAY;
 	if (timeoutMs != NO_TIMEOUT) {
@@ -30,21 +31,18 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 	if (returncode == pdPASS) {
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		//TODO could not be acquired/timeout
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return MutexIF::MUTEX_TIMEOUT;
 	}
 }
 
 ReturnValue_t Mutex::unlockMutex() {
 	if (handle == 0) {
-		//TODO Does not exist
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return MutexIF::MUTEX_NOT_FOUND;
 	}
 	BaseType_t returncode = xSemaphoreGive(handle);
 	if (returncode == pdPASS) {
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		//TODO is not owner
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
 	}
 }
diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h
index 91f29585..e04cd20d 100644
--- a/osal/FreeRTOS/Mutex.h
+++ b/osal/FreeRTOS/Mutex.h
@@ -1,22 +1,27 @@
-#ifndef OS_RTEMS_MUTEX_H_
-#define OS_RTEMS_MUTEX_H_
+#ifndef FRAMEWORK_FREERTOS_MUTEX_H_
+#define FRAMEWORK_FREERTOS_MUTEX_H_
 
 #include <framework/ipc/MutexIF.h>
 
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
 
-#include <FreeRTOS.h>
-#include "semphr.h"
-
-
-
+/**
+ * @brief OS component to implement MUTual EXclusion
+ *
+ * @details
+ * Mutexes are binary semaphores which include a priority inheritance mechanism.
+ * Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
+ * @ingroup osal
+ */
 class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs);
-	ReturnValue_t unlockMutex();
+	ReturnValue_t lockMutex(uint32_t timeoutMs) override;
+	ReturnValue_t unlockMutex() override;
 private:
 	SemaphoreHandle_t handle;
 };
 
-#endif /* OS_RTEMS_MUTEX_H_ */
+#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */