Openthread add Teardown (#9275)

Co-authored-by: mc <mc@debian>
Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com>

esphome/components/openthread/openthread.cpp

@@ -1,6 +1,9 @@
 #include "esphome/core/defines.h"
 #ifdef USE_OPENTHREAD
 #include "openthread.h"
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0)
+#include "esp_openthread.h"
+#endif
 
 #include <freertos/portmacro.h>
 
@@ -28,18 +31,6 @@ OpenThreadComponent *global_openthread_component =  // NOLINT(cppcoreguidelines-
 
 OpenThreadComponent::OpenThreadComponent() { global_openthread_component = this; }
 
-OpenThreadComponent::~OpenThreadComponent() {
-  auto lock = InstanceLock::try_acquire(100);
-  if (!lock) {
-    ESP_LOGW(TAG, "Failed to acquire OpenThread lock in destructor, leaking memory");
-    return;
-  }
-  otInstance *instance = lock->get_instance();
-  otSrpClientClearHostAndServices(instance);
-  otSrpClientBuffersFreeAllServices(instance);
-  global_openthread_component = nullptr;
-}
-
 bool OpenThreadComponent::is_connected() {
   auto lock = InstanceLock::try_acquire(100);
   if (!lock) {
@@ -199,6 +190,33 @@ void *OpenThreadSrpComponent::pool_alloc_(size_t size) {
 
 void OpenThreadSrpComponent::set_mdns(esphome::mdns::MDNSComponent *mdns) { this->mdns_ = mdns; }
 
+bool OpenThreadComponent::teardown() {
+  if (!this->teardown_started_) {
+    this->teardown_started_ = true;
+    ESP_LOGD(TAG, "Clear Srp");
+    auto lock = InstanceLock::try_acquire(100);
+    if (!lock) {
+      ESP_LOGW(TAG, "Failed to acquire OpenThread lock during teardown, leaking memory");
+      return true;
+    }
+    otInstance *instance = lock->get_instance();
+    otSrpClientClearHostAndServices(instance);
+    otSrpClientBuffersFreeAllServices(instance);
+    global_openthread_component = nullptr;
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0)
+    ESP_LOGD(TAG, "Exit main loop ");
+    int error = esp_openthread_mainloop_exit();
+    if (error != ESP_OK) {
+      ESP_LOGW(TAG, "Failed attempt to stop main loop %d", error);
+      this->teardown_complete_ = true;
+    }
+#else
+    this->teardown_complete_ = true;
+#endif
+  }
+  return this->teardown_complete_;
+}
+
 }  // namespace openthread
 }  // namespace esphome
 

esphome/components/openthread/openthread.h

@@ -21,6 +21,7 @@ class OpenThreadComponent : public Component {
   OpenThreadComponent();
   ~OpenThreadComponent();
   void setup() override;
+  bool teardown() override;
   float get_setup_priority() const override { return setup_priority::WIFI; }
 
   bool is_connected();
@@ -30,6 +31,8 @@ class OpenThreadComponent : public Component {
 
  protected:
   std::optional<otIp6Address> get_omr_address_(InstanceLock &lock);
+  bool teardown_started_{false};
+  bool teardown_complete_{false};
 };
 
 extern OpenThreadComponent *global_openthread_component;  // NOLINT(cppcoreguidelines-avoid-non-const-global-variables)

esphome/components/openthread/openthread_esp.cpp

@@ -143,10 +143,13 @@ void OpenThreadComponent::ot_main() {
   esp_openthread_launch_mainloop();
 
   // Clean up
+  esp_openthread_deinit();
   esp_openthread_netif_glue_deinit();
   esp_netif_destroy(openthread_netif);
 
   esp_vfs_eventfd_unregister();
+  this->teardown_complete_ = true;
+  vTaskDelete(NULL);
 }
 
 network::IPAddresses OpenThreadComponent::get_ip_addresses() {