fix: stop network tasks cleanly on restart

App/tcp_server.c

@@ -11,6 +11,32 @@
 #include "debug_log.h"
 #include "route_msg.h"
 
+#define TCP_SERVER_ACCEPT_TIMEOUT_MS 100
+#define TCP_SERVER_STOP_POLL_MS      50u
+
+static BaseType_t tcp_server_stop_requested(void)
+{
+    return (app_network_task_stop_requested() != pdFALSE) ? pdTRUE : pdFALSE;
+}
+
+static BaseType_t tcp_server_delay_with_stop(uint32_t delay_ms)
+{
+    uint32_t remaining_ms = delay_ms;
+
+    while (remaining_ms > 0u) {
+        uint32_t slice_ms = (remaining_ms > TCP_SERVER_STOP_POLL_MS) ? TCP_SERVER_STOP_POLL_MS : remaining_ms;
+
+        if (tcp_server_stop_requested() != pdFALSE) {
+            return pdFALSE;
+        }
+
+        vTaskDelay(pdMS_TO_TICKS(slice_ms));
+        remaining_ms -= slice_ms;
+    }
+
+    return (tcp_server_stop_requested() == pdFALSE) ? pdTRUE : pdFALSE;
+}
+
 static err_t tcp_server_worker(struct netconn *conn, uint8_t link_index)
 {
     struct netbuf *buf;
@@ -24,6 +50,10 @@ static err_t tcp_server_worker(struct netconn *conn, uint8_t link_index)
     netconn_set_recvtimeout(conn, 10);
 
     for (;;) {
+        if (tcp_server_stop_requested() != pdFALSE) {
+            return ERR_CLSD;
+        }
+
         err = netconn_recv(conn, &buf);
         if (err == ERR_OK) {
             do {
@@ -47,11 +77,19 @@ static err_t tcp_server_worker(struct netconn *conn, uint8_t link_index)
                 }
             } while (netbuf_next(buf) >= 0);
             netbuf_delete(buf);
-        } else if (err != ERR_TIMEOUT) {
+        } else if (err == ERR_TIMEOUT) {
+            if (tcp_server_stop_requested() != pdFALSE) {
+                return ERR_CLSD;
+            }
+        } else {
             break;
         }
 
         while (xQueueReceive(xLinkTxQueues[link_index], &tx_msg, 0) == pdPASS) {
+            if (tcp_server_stop_requested() != pdFALSE) {
+                route_msg_free(tx_msg);
+                return ERR_CLSD;
+            }
             err = netconn_write(conn, tx_msg->data, tx_msg->len, NETCONN_COPY);
             route_msg_free(tx_msg);
             if (err != ERR_OK) {
@@ -72,31 +110,49 @@ static void tcp_server_task(uint8_t link_index)
     netconn_thread_init();
 
     for (;;) {
+        if (tcp_server_stop_requested() != pdFALSE) {
+            break;
+        }
+
         while (g_netif_ready == pdFALSE) {
+            if (tcp_server_stop_requested() != pdFALSE) {
+                goto exit_task;
+            }
             vTaskDelay(pdMS_TO_TICKS(100));
         }
 
         cfg = config_get();
         if (cfg->links[link_index].enabled == 0u) {
-            vTaskDelay(pdMS_TO_TICKS(500));
+            if (tcp_server_stop_requested() != pdFALSE) {
+                break;
+            }
+            if (tcp_server_delay_with_stop(500u) == pdFALSE) {
+                break;
+            }
             continue;
         }
 
         listener = netconn_new(NETCONN_TCP);
         if (listener == NULL) {
-            vTaskDelay(pdMS_TO_TICKS(500));
+            if (tcp_server_delay_with_stop(500u) == pdFALSE) {
+                break;
+            }
             continue;
         }
 
+        netconn_set_recvtimeout(listener, TCP_SERVER_ACCEPT_TIMEOUT_MS);
+
         if (netconn_bind(listener, IP_ADDR_ANY, cfg->links[link_index].local_port) != ERR_OK ||
             netconn_listen(listener) != ERR_OK) {
             netconn_delete(listener);
-            vTaskDelay(pdMS_TO_TICKS(500));
+            if (tcp_server_delay_with_stop(500u) == pdFALSE) {
+                break;
+            }
             continue;
         }
 
         for (;;) {
-            if (cfg->links[link_index].enabled == 0u) {
+            if (tcp_server_stop_requested() != pdFALSE || cfg->links[link_index].enabled == 0u) {
                 break;
             }
             if (netconn_accept(listener, &newconn) == ERR_OK) {
@@ -109,6 +165,11 @@ static void tcp_server_task(uint8_t link_index)
         netconn_close(listener);
         netconn_delete(listener);
     }
+
+exit_task:
+    netconn_thread_cleanup();
+    app_on_network_task_exit(xTaskGetCurrentTaskHandle());
+    vTaskDelete(NULL);
 }
 
 void TcpSrvTask_S1(void *argument)