From 2be5e88549f3ee1e3466e88702860fb5b78349f2 Mon Sep 17 00:00:00 2001
From: Xu Si Yu <xusiyu@espressif.com>
Date: Wed, 21 May 2025 19:30:19 +0800
Subject: [PATCH] feat(openthread): add a function to exit openthread main loop
 safely

---
 components/openthread/include/esp_openthread.h | 11 ++++++++++-
 components/openthread/src/esp_openthread.cpp   | 15 ++++++++++++++-
 2 files changed, 24 insertions(+), 2 deletions(-)

diff --git a/components/openthread/include/esp_openthread.h b/components/openthread/include/esp_openthread.h
index 9e5f39a59b..a3f0528f93 100644
--- a/components/openthread/include/esp_openthread.h
+++ b/components/openthread/include/esp_openthread.h
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -79,6 +79,15 @@ esp_err_t esp_openthread_deinit(void);
  */
 otInstance *esp_openthread_get_instance(void);
 
+/**
+ * @brief Signals the OpenThread main loop to exit.
+ *
+ * @return
+ *      - ESP_OK on success
+ *      - ESP_FAIL on failures
+ *
+ */
+esp_err_t esp_openthread_mainloop_exit(void);
 
 #ifdef __cplusplus
 } // end of extern "C"
diff --git a/components/openthread/src/esp_openthread.cpp b/components/openthread/src/esp_openthread.cpp
index 73018e2d3f..d816cd121d 100644
--- a/components/openthread/src/esp_openthread.cpp
+++ b/components/openthread/src/esp_openthread.cpp
@@ -26,6 +26,8 @@
 #include "openthread/dataset_ftd.h"
 #endif
 
+static bool s_ot_mainloop_running = false;
+
 static int hex_digit_to_int(char hex)
 {
     if ('A' <= hex && hex <= 'F') {
@@ -158,13 +160,24 @@ esp_err_t esp_openthread_auto_start(otOperationalDatasetTlvs *datasetTlvs)
     return ESP_OK;
 }
 
+static void mainloop_safe_exit(void *ctx)
+{
+    s_ot_mainloop_running = false;
+}
+
+esp_err_t esp_openthread_mainloop_exit(void)
+{
+    return esp_openthread_task_queue_post(mainloop_safe_exit, NULL);
+}
+
 esp_err_t esp_openthread_launch_mainloop(void)
 {
     esp_openthread_mainloop_context_t mainloop;
     otInstance *instance = esp_openthread_get_instance();
     esp_err_t error = ESP_OK;
+    s_ot_mainloop_running = true;
 
-    while (true) {
+    while (s_ot_mainloop_running) {
         FD_ZERO(&mainloop.read_fds);
         FD_ZERO(&mainloop.write_fds);
         FD_ZERO(&mainloop.error_fds);