A scoped mutex for a FreeRTOS semaphore handle that prevents deadlocks by ensuring that the mutex is always released, even if exceptions are thrown or the code exits early

ScopedMutex.h

#ifndef SCOPEDMUTEX_HPP_
#define SCOPEDMUTEX_HPP_

#include <Arduino.h>
#include <freertos/semphr.h>

class ScopedMutex
{
private:
    SemaphoreHandle_t &mutex;
    bool locked;

public:
    explicit ScopedMutex(SemaphoreHandle_t &m, TickType_t timeout = portMAX_DELAY)
        : mutex(m), locked(xSemaphoreTake(mutex, timeout)) {}

    ScopedMutex(const ScopedMutex &) = delete;
    ScopedMutex &operator=(const ScopedMutex &) = delete;

    ~ScopedMutex()
    {
        if (locked)
            xSemaphoreGive(mutex);
    }

    bool acquired() const { return locked; }
};

#endif // SCOPEDMUTEX_H