aZholtikov/zh_encoder
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perf: updated error checks

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aZholtikov committed 2026-10-18 20:30:05 +03:00
1 parent 780ffbbad0
commit 7f9f1b7f6f
1 file changed
+46 -5
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zh_encoder.c
+46 -5
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@@ -13,6 +13,14 @@
return err; \
}
#define ZH_ERROR_CHECK_VOID(cond, cleanup, msg, ...) \
if (!(cond)) \
{ \
ZH_LOGE(msg, ESP_FAIL, ##__VA_ARGS__); \
cleanup; \
return; \
}
#define ZH_ERROR_CHECK_CONT(cond, cleanup, msg, ...) \
if (!(cond)) \
{ \
@@ -146,6 +154,15 @@ static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *conf
*/
static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config);
/**
* @brief Roll back shared resources (queue, task) if the failed init was
* the first (and only) device.
*
* Must be called BEFORE zh_vector_delete_back(&_vector) — otherwise the
* vector size will no longer reflect "first device".
*/
static void _zh_encoder_rollback_task_and_resources(void);
/**
* @brief PCNT watch-point interrupt handler.
*
@@ -219,11 +236,11 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
}
ZH_ERROR_CHECK(zh_vector_push_back(&_vector, &config->encoder_number) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Failed to add vector data.");
ZH_ERROR_CHECK(_zh_encoder_resources_init(config) == ESP_OK, ESP_FAIL, zh_vector_delete_back(&_vector); heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Resources initialization failed.");
ZH_ERROR_CHECK(_zh_encoder_task_init(config) == ESP_OK, ESP_FAIL,
zh_vector_delete_back(&_vector);
ZH_ERROR_CHECK(_zh_encoder_task_init(config) == ESP_OK, ESP_FAIL, _zh_encoder_rollback_task_and_resources();
{ZH_ERROR_CHECK_CONT(zh_vector_delete_back(&_vector) == ESP_OK, NULL, "Failed delete vector data.")};
heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Processing task initialization failed.");
ZH_ERROR_CHECK(_zh_encoder_pcnt_init(config, *handle) == ESP_OK, ESP_FAIL,
zh_vector_delete_back(&_vector);
ZH_ERROR_CHECK(_zh_encoder_pcnt_init(config, *handle) == ESP_OK, ESP_FAIL, _zh_encoder_rollback_task_and_resources();
{ZH_ERROR_CHECK_CONT(zh_vector_delete_back(&_vector) == ESP_OK, NULL, "Failed delete vector data.")};
heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. PCNT initialization failed.");
ZH_ERROR_CHECK(_zh_encoder_gpio_init(config, *handle) == ESP_OK, ESP_FAIL,
{ZH_ERROR_CHECK_CONT(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "PCNT unit stop fail.")};
@@ -231,7 +248,9 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
{ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")};
{ZH_ERROR_CHECK_CONT(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")};
zh_vector_delete_back(&_vector); heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. GPIO initialization failed.");
_zh_encoder_rollback_task_and_resources();
{ZH_ERROR_CHECK_CONT(zh_vector_delete_back(&_vector) == ESP_OK, NULL, "Failed delete vector data.")};
heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. GPIO initialization failed.");
if (_stats.min_stack_size == 0)
{
_stats.min_stack_size = config->stack_size;
@@ -534,6 +553,28 @@ static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config)
return ESP_OK;
}
static void _zh_encoder_rollback_task_and_resources(void)
{
if (_vector != NULL)
{
uint16_t vector_size = 0;
ZH_ERROR_CHECK_VOID(zh_vector_get_size(&_vector, &vector_size) == ESP_OK, NULL, "Failed to get vector size.");
if (vector_size == 1)
{
if (zh_encoder != NULL)
{
vTaskDelete(zh_encoder);
zh_encoder = NULL;
}
if (_queue_handle != NULL)
{
vQueueDelete(_queue_handle);
_queue_handle = NULL;
}
}
}
}
static bool _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx)
{
(void)edata;