Initialize the hal task once in relay_init instead of re-initializing every time

Added defensive NULL checks for relay.
Introduced RELAY_PULSE_MS macro for easier tuning.

Author: aceindy

src/base_components/relay.c

@@ -4,6 +4,10 @@
 #include "hal/printf_selector.h"
 #include <stddef.h>
 
+#ifndef RELAY_PULSE_MS
+#define RELAY_PULSE_MS 125
+#endif
+
 // Handler to clear both pins after pulse
 static void relay_clear_handler(void *arg)
 {
@@ -30,14 +34,29 @@ static void relay_clear_handler(void *arg)
 
 void relay_init(relay_t *relay)
 {
+  if (relay == NULL)
+  {
+    return;
+  }
+
   // Mark that no task is active
   relay->clear_task_active = 0;
+  
+  // Prepare the task structure once
+  relay->clear_task.handler = relay_clear_handler;
+  relay->clear_task.arg = relay;
+  hal_tasks_init(&relay->clear_task);
+
   //switch off relay
   relay_off(relay);
 }
 
 void relay_on(relay_t *relay)
 {
+  if (relay == NULL)
+  {
+    return;
+  }
   printf("relay_on\r\n");
 
   // Invalidate any pending task by clearing the flag
@@ -48,19 +67,19 @@ void relay_on(relay_t *relay)
     // Normal relay: drive continuously
     hal_gpio_write(relay->pin, relay->on_high);
   } else {
-    //Bi-stable relay: 
-    // clear both pins first
+    //Bi-stable relay:
+    // - clear both pins first to ensure mutual exclusion
     hal_gpio_write(relay->pin, !relay->on_high);
     hal_gpio_write(relay->off_pin, !relay->on_high);
-    // then pulse ON pin
+    // then set ON pin
     hal_gpio_write(relay->pin, relay->on_high);
 
-    // Schedule task to clear both pins after 125ms
+    // and schedule task to clear both pins after RELAY_PULSE_MS
     relay->clear_task.handler = relay_clear_handler;
     relay->clear_task.arg = relay;
     hal_tasks_init(&relay->clear_task);
     relay->clear_task_active = 1;
-    hal_tasks_schedule(&relay->clear_task, 125);
+    hal_tasks_schedule(&relay->clear_task, RELAY_PULSE_MS);
   }
 
   relay->on = 1;
@@ -73,6 +92,10 @@ void relay_on(relay_t *relay)
 
 void relay_off(relay_t *relay)
 {
+  if (relay == NULL)
+  {
+    return;
+  }
   printf("relay_off\r\n");
 
   // Invalidate any pending task by clearing the flag
@@ -81,24 +104,25 @@ void relay_off(relay_t *relay)
   // Clear both pins first to ensure mutual exclusion
   hal_gpio_write(relay->pin, !relay->on_high);
 
-  if (!relay->off_pin)
+  if (relay->off_pin)
   {
     // Normal relay: turn OFF
     hal_gpio_write(relay->pin, !relay->on_high);
   } else {
-    //Bi-stable relay: 
-    // clear both pins first
+    //Bi-stable relay:
+    // - clear both pins first
     hal_gpio_write(relay->pin, !relay->on_high);
     hal_gpio_write(relay->off_pin, !relay->on_high);
-    // then pulse OFF pin
+ 
+    // then set OFF pin
     hal_gpio_write(relay->off_pin, relay->on_high);
 
-    // Schedule task to clear both pins after 125ms
+    // and schedule task to clear both pins after RELAY_PULSE_MS
     relay->clear_task.handler = relay_clear_handler;
     relay->clear_task.arg = relay;
     hal_tasks_init(&relay->clear_task);
     relay->clear_task_active = 1;
-    hal_tasks_schedule(&relay->clear_task, 125);
+    hal_tasks_schedule(&relay->clear_task, RELAY_PULSE_MS);
   }
 
   relay->on = 0;
@@ -111,7 +135,12 @@ void relay_off(relay_t *relay)
 
 void relay_toggle(relay_t *relay)
 {
+  if (relay == NULL)
+  {
+    return;
+  }
   printf("relay_toggle\r\n");
+
   if (relay->on)
   {
     relay_off(relay);