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add a task completion semaphore to guarantee async_context task is finished before async_context cleanup finishes #2587

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Merged
merged 1 commit into from
Jul 23, 2025
Merged

add a task completion semaphore to guarantee async_context task is finished before async_context cleanup finishes #2587

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9 changes: 9 additions & 0 deletions src/rp2_common/pico_async_context/async_context_freertos.c
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Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,7 @@ static void async_context_task(__unused void *vself) {
async_context_freertos_release_lock(&self->core);
__sev(); // it is possible regular code is waiting on a WFE on the other core
} while (!self->task_should_exit);
xSemaphoreGive(self->task_complete_sem);
vTaskDelete(NULL);
}

Expand Down Expand Up @@ -113,6 +114,7 @@ bool async_context_freertos_init(async_context_freertos_t *self, async_context_f
assert(config->task_stack);
self->lock_mutex = xSemaphoreCreateRecursiveMutexStatic(&self->lock_mutex_buf);
self->work_needed_sem = xSemaphoreCreateBinaryStatic(&self->work_needed_sem_buf);
self->task_complete_sem = xSemaphoreCreateBinaryStatic(&self->task_complete_sem_buf);
self->timer_handle = xTimerCreateStatic( "async_context_timer", // Just a text name, not used by the kernel.
portMAX_DELAY,
pdFALSE, // The timers will auto-reload themselves when they expire.
Expand All @@ -129,6 +131,7 @@ bool async_context_freertos_init(async_context_freertos_t *self, async_context_f
#else
self->lock_mutex = xSemaphoreCreateRecursiveMutex();
self->work_needed_sem = xSemaphoreCreateBinary();
self->task_complete_sem = xSemaphoreCreateBinary();
self->timer_handle = xTimerCreate( "async_context_timer", // Just a text name, not used by the kernel.
portMAX_DELAY,
pdFALSE, // The timers will auto-reload themselves when they expire.
Expand Down Expand Up @@ -171,6 +174,9 @@ void async_context_freertos_deinit(async_context_t *self_base) {
async_context_freertos_t *self = (async_context_freertos_t *)self_base;
if (self->task_handle) {
async_context_execute_sync(self_base, end_task_func, self_base);
if (self->task_complete_sem) {
xSemaphoreTake(self->task_complete_sem, portMAX_DELAY);
}
}
if (self->timer_handle) {
xTimerDelete(self->timer_handle, 0);
Expand All @@ -181,6 +187,9 @@ void async_context_freertos_deinit(async_context_t *self_base) {
if (self->work_needed_sem) {
vSemaphoreDelete(self->work_needed_sem);
}
if (self->task_complete_sem) {
vSemaphoreDelete(self->task_complete_sem);
}
memset(self, 0, sizeof(*self));
}

Expand Down
2 changes: 2 additions & 0 deletions src/rp2_common/pico_async_context/include/pico/async_context_freertos.h
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Original file line number Diff line number Diff line change
Expand Up @@ -75,11 +75,13 @@ struct async_context_freertos {
async_context_t core;
SemaphoreHandle_t lock_mutex;
SemaphoreHandle_t work_needed_sem;
SemaphoreHandle_t task_complete_sem;
TimerHandle_t timer_handle;
TaskHandle_t task_handle;
#if configSUPPORT_STATIC_ALLOCATION
StaticSemaphore_t lock_mutex_buf;
StaticSemaphore_t work_needed_sem_buf;
StaticSemaphore_t task_complete_sem_buf;
StaticTimer_t timer_buf;
StaticTask_t task_buf;
#endif
Expand Down
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