adding freeRtos API from different project

components/freeRtosApi/include/Mutex.hpp

@@ -0,0 +1,87 @@
+/**
+ * @file mutex.hpp
+ * @author Gustice
+ * @brief Mutex Wrapper
+ *
+ * @copyright Copyright (c) 2024
+ */
+
+#pragma once
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
+
+namespace fos {
+
+    /**
+     * @brief Mutex
+     * @details FreeRTOS implementation uses already priority inheritance 
+     *      and are recursively callable
+     */
+    class Mutex {
+      private:
+        QueueHandle_t _handle;
+
+      public:
+        /// @brief Tick type (redefinition for convenience)
+        using Tick = TickType_t;
+        /// @brief Definition for endless waittime
+        static constexpr Tick MaxDelay = portMAX_DELAY;
+
+        /// @brief Constructor
+        Mutex() {
+            _handle = xSemaphoreCreateMutex();
+            assert(_handle != 0 && "Semaphore create must finish successfully");
+        }
+
+        ~Mutex() {
+            vSemaphoreDelete(_handle);
+        };
+
+        /// @brief Relase mutex
+        void release() {
+            auto ret = xSemaphoreGive(_handle);
+            assert(ret == pdPASS && "Underlying semaphore queue must be initialized correcty");
+        }
+
+        /// @brief Take mutex
+        /// @param timeout Timeout to wait for signal (default = wait forever)
+        /// @return true if successfully claimed (not timeout)
+        bool claim(Tick timeout = MaxDelay) {
+            auto ret = xSemaphoreTake(_handle, timeout);
+            return ret == pdPASS;
+        }
+    };
+
+    /**
+     * @brief Mutex Guard. Self releasing mutex for atomic operation
+     */
+    class MutexGuard {
+      private:
+        Mutex &_mutex;
+        bool _claimed;
+
+      public:
+        /// @brief Constructor
+        /// @param mtx Mutex to claim
+        /// @param timeout Timeout to wait for signal (default = wait forever)
+        MutexGuard(Mutex &mtx, Mutex::Tick timeout = Mutex::MaxDelay) : _mutex(mtx) {
+            _claimed = _mutex.claim(timeout);
+        };
+
+        ~MutexGuard() {
+            if (!_claimed) {
+                return;
+            }
+
+            _mutex.release();
+        }
+
+        /// @brief Check if mutex was claimed successfully
+        /// @return true if claimed
+        bool isActive() {
+            return _claimed;
+        }
+    };
+
+} // namespace fos