TactilityKernel improvements and more (#459)

TactilityKernel/Include/Tactility/concurrent/Mutex.h

@@ -12,6 +12,7 @@ extern "C" {
 
 struct Mutex {
     QueueHandle_t handle;
+    // TODO: Debugging functionality
 };
 
 inline static void mutex_construct(struct Mutex* mutex) {
@@ -27,18 +28,30 @@ inline static void mutex_destruct(struct Mutex* mutex) {
 }
 
 inline static void mutex_lock(struct Mutex* mutex) {
+    assert(xPortInIsrContext() != pdTRUE);
     xSemaphoreTake(mutex->handle, portMAX_DELAY);
 }
 
 inline static bool mutex_try_lock(struct Mutex* mutex) {
+    assert(xPortInIsrContext() != pdTRUE);
     return xSemaphoreTake(mutex->handle, 0) == pdTRUE;
 }
 
+inline static bool mutex_try_lock_timed(struct Mutex* mutex, TickType_t timeout) {
+    assert(xPortInIsrContext() != pdTRUE);
+    return xSemaphoreTake(mutex->handle, timeout) == pdTRUE;
+}
+
 inline static bool mutex_is_locked(struct Mutex* mutex) {
-    return xSemaphoreGetMutexHolder(mutex->handle) != NULL;
+    if (xPortInIsrContext() == pdTRUE) {
+        return xSemaphoreGetMutexHolderFromISR(mutex->handle) != NULL;
+    } else {
+        return xSemaphoreGetMutexHolder(mutex->handle) != NULL;
+    }
 }
 
 inline static void mutex_unlock(struct Mutex* mutex) {
+    assert(xPortInIsrContext() != pdTRUE);
     xSemaphoreGive(mutex->handle);
 }