From 1f1ecd07b00989d5eb9b11d85a545ded8158789b Mon Sep 17 00:00:00 2001
From: Matteo Pignataro <matteo.pignataro@skywarder.eu>
Date: Wed, 13 Mar 2024 18:13:51 +0000
Subject: [PATCH] [Sensor] Added mutex for synchronization purposes
---
src/shared/sensors/Sensor.h | 23 +++++++++++++++++--
.../analog/test-analog-pressure-sensors.cpp | 4 ++--
2 files changed, 23 insertions(+), 4 deletions(-)
diff --git a/src/shared/sensors/Sensor.h b/src/shared/sensors/Sensor.h
index 5cba9b216..1b5e83bd0 100644
--- a/src/shared/sensors/Sensor.h
+++ b/src/shared/sensors/Sensor.h
@@ -22,6 +22,8 @@
#pragma once
+#include <miosix.h>
+
#include <array>
#include <type_traits>
@@ -97,15 +99,32 @@ protected:
*/
virtual Data sampleImpl() = 0;
+ // Thread safe mutex to synchronize writes and reads
+ miosix::FastMutex mutex;
+
public:
virtual ~Sensor() {}
- void sample() override { lastSample = sampleImpl(); }
+ void sample() override
+ {
+ // Sampling outside of the protected zone ensures that the sampling
+ // action cannot cause locks or delays
+ Data d = sampleImpl();
+
+ {
+ miosix::Lock<miosix::FastMutex> l(mutex);
+ lastSample = d;
+ }
+ }
/**
* @return last available sample from this sensor
*/
- virtual const Data& getLastSample() { return lastSample; }
+ virtual const Data& getLastSample()
+ {
+ miosix::Lock<miosix::FastMutex> l(mutex);
+ return lastSample;
+ }
};
/**
diff --git a/src/tests/sensors/analog/test-analog-pressure-sensors.cpp b/src/tests/sensors/analog/test-analog-pressure-sensors.cpp
index 98cc37b3a..d64e113db 100644
--- a/src/tests/sensors/analog/test-analog-pressure-sensors.cpp
+++ b/src/tests/sensors/analog/test-analog-pressure-sensors.cpp
@@ -73,14 +73,14 @@ int main()
ADS1118 ads1118(spiSlave);
std::function<ADCData()> getVoltageFunction =
- std::bind(&ADS1118::getVoltage, ads1118, channel1);
+ std::bind(&ADS1118::getVoltage, std::ref(ads1118), channel1);
HSCMAND015PA analogSensor(getVoltageFunction);
analogSensor.init();
analogSensor.selfTest();
std::function<ADCData()> getVoltageFunction2 =
- std::bind(&ADS1118::getVoltage, ads1118, channel2);
+ std::bind(&ADS1118::getVoltage, std::ref(ads1118), channel2);
HSCMRNN030PA analogSensor2(getVoltageFunction2);
analogSensor2.init();
--
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