--- /dev/null
+#include <errno.h>
+#include <pthread.h>
+#include <string.h>
+#include "esp_err.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/list.h"
+
+#define LOG_LOCAL_LEVEL ESP_LOG_VERBOSE//CONFIG_LOG_DEFAULT_LEVEL
+#include "esp_log.h"
+const static char *TAG = "esp_pthread";
+
+#define ESP_PTHREAD_LOG( format, ... ) \
+ do { \
+ ets_printf(format, ##__VA_ARGS__); \
+ } while(0)
+
+#define ESP_PTHREAD_LOG_LEV( _tag_, _L_, level, format, ... ) \
+ do { \
+ if (LOG_LOCAL_LEVEL >= level) { \
+ ESP_PTHREAD_LOG(LOG_FORMAT(_L_, format), esp_log_early_timestamp(), _tag_ , ##__VA_ARGS__); \
+ } \
+ } while(0)
+
+#define ESP_PTHREAD_LOGE( _tag_, format, ... ) ESP_PTHREAD_LOG_LEV(_tag_, E, ESP_LOG_ERROR, format, ##__VA_ARGS__)
+#define ESP_PTHREAD_LOGW( _tag_, format, ... ) ESP_PTHREAD_LOG_LEV(_tag_, W, ESP_LOG_WARN, format, ##__VA_ARGS__)
+#define ESP_PTHREAD_LOGI( _tag_, format, ... ) ESP_PTHREAD_LOG_LEV(_tag_, I, ESP_LOG_INFO, format, ##__VA_ARGS__)
+#define ESP_PTHREAD_LOGD( _tag_, format, ... ) ESP_PTHREAD_LOG_LEV(_tag_, D, ESP_LOG_DEBUG, format, ##__VA_ARGS__)
+#define ESP_PTHREAD_LOGV( _tag_, format, ... ) ESP_PTHREAD_LOG_LEV(_tag_, V, ESP_LOG_VERBOSE, format, ##__VA_ARGS__)
+#define ESP_PTHREAD_LOGO( _tag_, format, ... ) ESP_PTHREAD_LOG_LEV(_tag_, E, ESP_LOG_NONE, format, ##__VA_ARGS__)
+// #define ESP_PTHREAD_LOGE( tag, format, ... ) ESP_PTHREAD_LOG(tag ": " format "\n", ##__VA_ARGS__)
+// #define ESP_PTHREAD_LOGW( tag, format, ... ) ESP_PTHREAD_LOG(tag ": " format "\n", ##__VA_ARGS__)
+// #define ESP_PTHREAD_LOGI( tag, format, ... ) ESP_PTHREAD_LOG(tag ": " format "\n", ##__VA_ARGS__)
+// #define ESP_PTHREAD_LOGD( tag, format, ... ) ESP_PTHREAD_LOG(tag ": " format "\n", ##__VA_ARGS__)
+// #define ESP_PTHREAD_LOGV( tag, format, ... ) ESP_PTHREAD_LOG(tag ": " format "\n", ##__VA_ARGS__)
+// #define ESP_PTHREAD_LOGO( tag, format, ... ) ESP_PTHREAD_LOG(tag ": " format "\n", ##__VA_ARGS__)
+
+#define PTHREAD_TASK_PRIO_DEFAULT 5
+
+#define ESP_PTHREAD_STATE_RUN 0
+#define ESP_PTHREAD_STATE_EXIT 1
+//#define ESP_PTHREAD_STATE_CANCEL 2
+
+typedef struct {
+ ListItem_t list_item;
+ TaskHandle_t join_task;
+ int state;
+} esp_pthread_t;
+
+typedef struct {
+ void *(*func)(void *);
+ void *arg;
+} esp_pthread_task_arg_t;
+
+static SemaphoreHandle_t s_once_mux = NULL;
+static SemaphoreHandle_t s_threads_mux = NULL;
+
+static List_t s_threads_list;
+//static List_t s_key_list;
+
+int esp_pthread_init(void)
+{
+ ESP_PTHREAD_LOGV(TAG, "%s", __FUNCTION__);
+ vListInitialise((List_t *)&s_threads_list);
+// vListInitialise((List_t *)&s_key_list);
+ s_once_mux = xSemaphoreCreateMutex();
+ if (s_once_mux == NULL)
+ return ESP_FAIL;
+ s_threads_mux = xSemaphoreCreateMutex();
+ if (s_threads_mux == NULL) {
+ vSemaphoreDelete(s_once_mux);
+ return ESP_FAIL;
+ }
+ return ESP_OK;
+}
+
+static TaskHandle_t pthread_find_handle(pthread_t thread)
+{
+ ListItem_t const *list_end = listGET_END_MARKER(&s_threads_list);
+ ListItem_t *list_item = listGET_HEAD_ENTRY(&s_threads_list);
+ while (list_item != list_end) {
+ esp_pthread_t *pthread = listGET_LIST_ITEM_OWNER(list_item);
+ if ((pthread_t)pthread == thread) {
+ return (TaskHandle_t)listGET_LIST_ITEM_VALUE(list_item);
+ }
+ list_item = listGET_NEXT(list_item);
+ }
+ return NULL;
+}
+
+static esp_pthread_t *pthread_find(TaskHandle_t task_handle)
+{
+ ListItem_t const *list_end = listGET_END_MARKER(&s_threads_list);
+ ListItem_t *list_item = listGET_HEAD_ENTRY(&s_threads_list);
+ while (list_item != list_end) {
+ TaskHandle_t cur_handle = (TaskHandle_t)listGET_LIST_ITEM_VALUE(list_item);
+ if (task_handle == cur_handle) {
+ return (esp_pthread_t *)listGET_LIST_ITEM_OWNER(list_item);
+ }
+ list_item = listGET_NEXT(list_item);
+ }
+ return NULL;
+}
+
+static void pthread_task_func(void *arg)
+{
+ esp_pthread_task_arg_t *task_arg = (esp_pthread_task_arg_t *)arg;
+
+ ESP_PTHREAD_LOGV(TAG, "%s ENTER %p", __FUNCTION__, task_arg->func);
+
+ // wait for start
+ xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
+
+ ESP_PTHREAD_LOGV(TAG, "%s START %p", __FUNCTION__, task_arg->func);
+
+ task_arg->func(task_arg->arg);
+
+ ESP_PTHREAD_LOGV(TAG, "%s END %p", __FUNCTION__, task_arg->func);
+
+ if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) == pdTRUE) {
+ esp_pthread_t *pthread = pthread_find(xTaskGetCurrentTaskHandle());
+ if (pthread) {
+ pthread->state = ESP_PTHREAD_STATE_EXIT;
+ if (pthread->join_task) {
+ // notify join
+ xTaskNotify(pthread->join_task, 0, eNoAction);
+ }
+ } else {
+ assert(false && "Failed to find pthread for current task!");
+ }
+ xSemaphoreGive(s_threads_mux);
+ } else {
+ assert(false && "Failed to lock threads list!");
+ }
+ // TODO: Remove from list???
+ //free(task_arg->pthread);
+ free(task_arg);
+ vTaskDelete(NULL);
+
+ ESP_PTHREAD_LOGV(TAG, "%s EXIT %p", __FUNCTION__, task_arg->func);
+}
+
+int pthread_create(pthread_t *thread, const pthread_attr_t *attr,
+ void *(*start_routine) (void *), void *arg)
+{
+ TaskHandle_t xHandle = NULL;
+ // int priority; // Priority
+ // int stacksize; // Stack size
+ // int initial_state; // Initial state
+ // int cpu; // CPU affinity
+ // int res;
+
+ ESP_PTHREAD_LOGV(TAG, "%s", __FUNCTION__);
+ if (attr) {
+ ESP_PTHREAD_LOGE(TAG, "Attrs not supported!");
+ return EINVAL;
+ }
+ // if (attr) {
+ // stacksize = attr->stack_size;
+ // if (stacksize < PTHREAD_STACK_MIN) {
+ // errno = EINVAL;
+ // return EINVAL;
+ // }
+ // priority = attr->sched_priority;
+ // initial_state = attr->initial_state;
+ // cpu = attr->cpuset;
+ // } else {
+ // stacksize = CONFIG_LUA_RTOS_LUA_THREAD_STACK_SIZE;
+ // initial_state = PTHREAD_INITIAL_STATE_RUN;
+ // priority = CONFIG_LUA_RTOS_LUA_TASK_PRIORITY;
+
+ // if (portNUM_PROCESSORS > 0) {
+ // cpu = 0;
+ // } else {
+ // cpu = tskNO_AFFINITY;
+ // }
+ // }
+ esp_pthread_task_arg_t *task_arg = malloc(sizeof(esp_pthread_task_arg_t));
+ if (task_arg == NULL) {
+ ESP_PTHREAD_LOGE(TAG, "Failed to allocate task args!");
+ errno = ENOMEM;
+ return ENOMEM;
+ }
+ memset(task_arg, 0, sizeof(esp_pthread_task_arg_t));
+ esp_pthread_t *pthread = malloc(sizeof(esp_pthread_t));
+ if (pthread == NULL) {
+ ESP_PTHREAD_LOGE(TAG, "Failed to allocate pthread data!");
+ free(task_arg);
+ errno = ENOMEM;
+ return ENOMEM;
+ }
+ memset(pthread, 0, sizeof(esp_pthread_t));
+ task_arg->func = start_routine;
+ task_arg->arg = arg;
+ //task_arg->pthread = pthread;
+ BaseType_t res = xTaskCreate(&pthread_task_func, "pthread", configMINIMAL_STACK_SIZE, task_arg, PTHREAD_TASK_PRIO_DEFAULT, &xHandle);
+ if(res != pdPASS) {
+ ESP_PTHREAD_LOGE(TAG, "Failed to create task!");
+ free(pthread);
+ free(task_arg);
+ if (res == errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY) {
+ errno = ENOMEM;
+ return ENOMEM;
+ } else {
+ errno = EAGAIN;
+ return EAGAIN;
+ }
+ }
+ vListInitialiseItem((ListItem_t *)&pthread->list_item);
+ listSET_LIST_ITEM_OWNER((ListItem_t *)&pthread->list_item, pthread);
+ listSET_LIST_ITEM_VALUE((ListItem_t *)&pthread->list_item, (TickType_t)xHandle);
+
+ if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) == pdTRUE) {
+ vListInsertEnd((List_t *)&s_threads_list, (ListItem_t *)&pthread->list_item);
+ xSemaphoreGive(s_threads_mux);
+ } else {
+ assert(false && "Failed to lock threads list!");
+ }
+ // start task
+ xTaskNotify(xHandle, 0, eNoAction);
+
+ *thread = (pthread_t)pthread; // pointer value fit into pthread_t (uint32_t)
+
+ ESP_PTHREAD_LOGV(TAG, "Created task %x", (uint32_t)xHandle);
+
+ return 0;
+}
+
+int pthread_join(pthread_t thread, void **retval)
+{
+ esp_pthread_t *pthread = (esp_pthread_t *)thread;
+ bool wait = false;
+ int ret = 0;
+
+ ets_printf("%s\n", __FUNCTION__);
+ // find task
+ if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) == pdTRUE) {
+ //uxBitsWaitedFor = listGET_LIST_ITEM_VALUE(list_item);
+ // TODO: check if task is joinable
+ // TODO: PTHREAD_CANCELED???
+ TaskHandle_t handle = pthread_find_handle(thread);
+ if (!handle) {
+ errno = ESRCH; // not found
+ ret = ESRCH;
+ } else if (pthread->join_task) {
+ errno = EINVAL; // already have waiting task to join
+ ret = EINVAL;
+ } else if (handle == xTaskGetCurrentTaskHandle()) {
+ errno = EDEADLK; // join to self or join to each other
+ ret = EDEADLK;
+ } else {
+ esp_pthread_t *cur_pthread = pthread_find(xTaskGetCurrentTaskHandle());
+ if (cur_pthread && cur_pthread->join_task == handle) {
+ errno = EDEADLK; // join to each other
+ ret = EDEADLK;
+ } else {
+ if (pthread->state == ESP_PTHREAD_STATE_RUN) {
+ pthread->join_task = xTaskGetCurrentTaskHandle();
+ wait = true;
+ }
+ }
+ }
+ xSemaphoreGive(s_threads_mux);
+ } else {
+ assert(false && "Failed to lock threads list!");
+ }
+ if (wait) {
+ // TODO: handle caller cancelation???
+ xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
+ }
+ if (retval) {
+ *retval = 0; // no exit code in FreeRTOS
+ }
+ return ret;
+}
+
+int pthread_detach(pthread_t thread)
+{
+ assert(false && "pthread_detach not supported!");
+ return -1;
+}
+
+int pthread_cancel(pthread_t thread)
+{
+ assert(false && "pthread_cancel not supported!");
+ return -1;
+}
+
+pthread_t pthread_self(void)
+{
+ esp_pthread_t *pthread = pthread_find(xTaskGetCurrentTaskHandle());
+ if (!pthread) {
+ assert(false && "Failed to find current thread ID!");
+ }
+ return (pthread_t)pthread;
+}
+
+int pthread_equal(pthread_t t1, pthread_t t2)
+{
+ ets_printf("%s %x %x\n", __FUNCTION__, t1, t2);
+ return t1 == t2 ? 1 : 0;
+}
+
+/***************** KEY ******************/
+int pthread_key_create(pthread_key_t *key, void (*destructor)(void*))
+{
+ static int s_created;
+ //struct pthread_key *key;
+
+ ESP_PTHREAD_LOGV(TAG, "%s", __FUNCTION__);
+
+ if (s_created) {
+ assert(false && "CREATED!");
+ return ENOMEM;
+ }
+
+// key = (struct pthread_key *)malloc(sizeof(struct pthread_key));
+// if (!key) {
+// errno = ENOMEM;
+// return ENOMEM;
+// }
+// key->destructor = destructor;
+
+// list_init(&key->specific,1);
+
+// vListInsert((List_t *)s_key_list, (ListItem_t *)&);
+// // Add key to key list
+// res = list_add(&key_list, key, k);
+// if (res) {
+// free(key);
+// errno = res;
+// return res;
+// }
+ *key = 1;
+ s_created = 1;
+ return 0;
+}
+
+int pthread_key_delete(pthread_key_t key)
+{
+ ESP_PTHREAD_LOGV(TAG, "%s", __FUNCTION__);
+ assert(false && "NOT IMPLEMENTED!");
+ return -1;
+}
+
+void *pthread_getspecific(pthread_key_t key)
+{
+ ets_printf("%s\n", __FUNCTION__);
+ assert(false && "NOT IMPLEMENTED!");
+ return NULL;
+}
+
+int pthread_setspecific(pthread_key_t key, const void *value)
+{
+ ets_printf("%s\n", __FUNCTION__);
+ assert(false && "NOT IMPLEMENTED!");
+ return -1;
+}
+
+/***************** ONCE ******************/
+int pthread_once(pthread_once_t *once_control, void (*init_routine)(void))
+{
+ ESP_PTHREAD_LOGV(TAG, "%s", __FUNCTION__);
+
+ if (once_control == NULL || init_routine == NULL || !once_control->is_initialized) {
+ ESP_PTHREAD_LOGE(TAG, "%s: Invalid args!", __FUNCTION__);
+ return EINVAL;
+ }
+
+ TaskHandle_t cur_task = xTaskGetCurrentTaskHandle();
+ // do not take mutex if OS is not running yet
+ if (!cur_task || xSemaphoreTake(s_once_mux, portMAX_DELAY) == pdTRUE)
+ {
+ if (!once_control->init_executed) {
+ ESP_PTHREAD_LOGV(TAG, "%s: call init_routine %p", __FUNCTION__, once_control);
+ init_routine();
+ once_control->init_executed = 1;
+ }
+ if (cur_task) {
+ xSemaphoreGive(s_once_mux);
+ }
+ }
+ else
+ {
+ ESP_PTHREAD_LOGE(TAG, "%s: Failed to lock!", __FUNCTION__);
+ return EBUSY;
+ }
+
+ return 0;
+}
+
+/***************** MUTEX ******************/
+int pthread_mutex_lock(pthread_mutex_t *mutex)
+{
+ ets_printf("%s\n", __FUNCTION__);
+ assert(false && "NOT IMPLEMENTED!");
+ return -1;
+}
+
+//int pthread_mutex_trylock(pthread_mutex_t *mutex);
+int pthread_mutex_unlock(pthread_mutex_t *mutex)
+{
+ ets_printf("%s\n", __FUNCTION__);
+ assert(false && "NOT IMPLEMENTED!");
+ return -1;
+}
+
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