1
use crate::error::{Error, Result};
2
#[cfg(target_os = "espidf")]
3
use esp_idf_hal::{
4
    cpu::Core,
5
    task::thread::{MallocCap, ThreadSpawnConfiguration},
6
};
7
use std::{marker::PhantomData, rc::Rc};
8
 
9
/// Restores the creator's pthread settings after spawning a configured task.
10
#[derive(Debug)]
11
pub(crate) struct SpawnConfig {
12
    #[cfg(target_os = "espidf")]
13
    saved: ThreadSpawnConfiguration,
14
    _task: PhantomData<Rc<()>>,
15
}
16
 
17
impl SpawnConfig {
18
    pub(crate) fn radio() -> Result<Self> {
19
        Self::configure(2)
20
    }
21
    pub(crate) fn analysis() -> Result<Self> {
22
        Self::configure(0)
23
    }
24
    pub(crate) fn metrics() -> Result<Self> {
25
        Self::configure(1)
26
    }
27
    #[cfg(target_os = "espidf")]
28
    fn configure(role: u8) -> Result<Self> {
29
        let (name, stack_size, priority, core) = match role {
30
            0 => (c"analysis", 20_480, 4, Core::Core1),
31
            1 => (c"metrics", 8192, 2, Core::Core1),
32
            2 => (c"radio", 49_152, 5, Core::Core0),
33
            _ => return Err(Error::new("invalid task role")),
34
        };
35
        // HAL 0.46 can return a zeroed value if IDF cannot initialize pthread
36
        // storage. HAL rejects priority zero; use SDK defaults in that case.
37
        let saved = ThreadSpawnConfiguration::get()
38
            .filter(|config| config.priority != 0)
39
            .unwrap_or_default();
40
        ThreadSpawnConfiguration {
41
            name: Some(name),
42
            stack_size,
43
            priority,
44
            pin_to_core: Some(core),
45
            inherit: false,
46
            stack_alloc_caps: MallocCap::Internal | MallocCap::Cap8bit,
47
        }
48
        .set()
49
        .map_err(|error| Error::native("task configuration failed", error.code()))?;
50
        Ok(Self {
51
            saved,
52
            _task: PhantomData,
53
        })
54
    }
55
 
56
    // Host checks compile this error-returning stub. The target build compiles
57
    // the HAL path; device checks exercise task creation and configuration.
58
    #[cfg(not(target_os = "espidf"))]
59
    fn configure(_role: u8) -> Result<Self> {
60
        Err(Error::new("task configuration requires ESP-IDF"))
61
    }
62
}
63
 
64
#[cfg(target_os = "espidf")]
65
impl Drop for SpawnConfig {
66
    fn drop(&mut self) {
67
        self.saved.set().expect("cannot restore task configuration");
68
    }
69
}