Merge pull request #15 from meshtastic/master

updated my branch from head

bin/version.sh

@@ -1,3 +1,3 @@
 
 
-export VERSION=1.1.2
+export VERSION=1.1.3

docs/software/power.md

@@ -38,7 +38,7 @@ From lower to higher power consumption.
 
 - full on (ON) - Everything is on, can eventually timeout and lower to a lower power state
   onEntry: setBluetoothOn(true), screen.setOn(true)
-  onExit: screen.setOn(false)
+  onExit: screen->setOn(false)
 
 - has power (POWER) - Screen is on, device doesn't sleep, bluetooth on, will stay in this state as long as we have power
   onEntry: setBluetooth off, screen on

platformio.ini

@@ -30,6 +30,7 @@ build_flags = -Wno-missing-field-initializers -Isrc -Isrc/mesh -Isrc/gps -Ilib/n
   -DHW_VERSION_${sysenv.COUNTRY}
   -DAPP_VERSION=${sysenv.APP_VERSION}
   -DHW_VERSION=${sysenv.HW_VERSION}
+  -DUSE_THREAD_NAMES
 
 ; leave this commented out to avoid breaking Windows
 ;upload_port = /dev/ttyUSB0
@@ -61,7 +62,7 @@ lib_deps =
   https://github.com/meshtastic/esp8266-oled-ssd1306.git ; ESP8266_SSD1306 
   1260 ; OneButton library for non-blocking button debounce
   1202 ; CRC32, explicitly needed because dependency is missing in the ble ota update lib
-  https://github.com/meshtastic/arduino-fsm.git 
+  https://github.com/meshtastic/arduino-fsm.git#2f106146071fc7bc620e1e8d4b88dc4e0266ce39
   https://github.com/meshtastic/SparkFun_Ublox_Arduino_Library.git#31015a55e630a2df77d9d714669c621a5bf355ad
   https://github.com/meshtastic/RadioLib.git#8657380241bce681c33aab46598bbf13b11f876c
   https://github.com/meshtastic/TinyGPSPlus.git 
@@ -69,6 +70,7 @@ lib_deps =
   https://github.com/meshtastic/esp32_https_server.git
   Wire ; explicitly needed here because the AXP202 library forgets to add it
   SPI
+  https://github.com/geeksville/ArduinoThread.git#333ffd09b596977c217ba25da4258f588b462ac6
   
 ; Common settings for conventional (non Portduino) Ardino targets
 [arduino_base]

src/Power.cpp

@@ -62,6 +62,8 @@ class AnalogBatteryLevel : public HasBatteryLevel
     virtual bool isBatteryConnect() { return getBattVoltage() != -1; }
 } analogLevel;
 
+Power::Power() : OSThread("Power") {}
+
 bool Power::analogInit()
 {
 #ifdef BATTERY_PIN
@@ -86,10 +88,7 @@ bool Power::setup()
     if (!found) {
         found = analogInit();
     }
-    if (found) {
+    enabled = found;
-        concurrency::PeriodicTask::setup(); // We don't start our periodic task unless we actually found the device
-        setPeriod(1);
-    }
 
     return found;
 }
@@ -135,13 +134,46 @@ void Power::readPowerStatus()
     }
 }
 
-void Power::doTask()
+int32_t Power::runOnce()
 {
     readPowerStatus();
 
+#ifdef PMU_IRQ
+    if (pmu_irq) {
+        pmu_irq = false;
+        axp.readIRQ();
+
+        DEBUG_MSG("pmu irq!\n");
+
+        if (axp.isChargingIRQ()) {
+            DEBUG_MSG("Battery start charging\n");
+        }
+        if (axp.isChargingDoneIRQ()) {
+            DEBUG_MSG("Battery fully charged\n");
+        }
+        if (axp.isVbusRemoveIRQ()) {
+            DEBUG_MSG("USB unplugged\n");
+            powerFSM.trigger(EVENT_POWER_DISCONNECTED);
+        }
+        if (axp.isVbusPlugInIRQ()) {
+            DEBUG_MSG("USB plugged In\n");
+            powerFSM.trigger(EVENT_POWER_CONNECTED);
+        }
+        if (axp.isBattPlugInIRQ()) {
+            DEBUG_MSG("Battery inserted\n");
+        }
+        if (axp.isBattRemoveIRQ()) {
+            DEBUG_MSG("Battery removed\n");
+        }
+        if (axp.isPEKShortPressIRQ()) {
+            DEBUG_MSG("PEK short button press\n");
+        }
+        axp.clearIRQ();
+    }
+#endif
+
     // Only read once every 20 seconds once the power status for the app has been initialized
-    if (statusHandler && statusHandler->isInitialized())
+    return (statusHandler && statusHandler->isInitialized()) ? (1000 * 20) : RUN_SAME;
-        setPeriod(1000 * 20);
 }
 
 /**
@@ -208,8 +240,7 @@ bool Power::axp192Init()
             // no battery also it could cause inadvertent waking from light sleep just because the battery filled
             // we don't look for AXP202_BATT_REMOVED_IRQ because it occurs repeatedly while no battery installed
             // we don't look at AXP202_VBUS_REMOVED_IRQ because we don't have anything hooked to vbus
-            axp.enableIRQ(AXP202_BATT_CONNECT_IRQ | AXP202_VBUS_CONNECT_IRQ | AXP202_PEK_SHORTPRESS_IRQ,
+            axp.enableIRQ(AXP202_BATT_CONNECT_IRQ | AXP202_VBUS_CONNECT_IRQ | AXP202_PEK_SHORTPRESS_IRQ, 1);
-                          1);
 
             axp.clearIRQ();
 #endif
@@ -226,43 +257,3 @@ bool Power::axp192Init()
     return false;
 #endif
 }
-
-void Power::loop()
-{
-#ifdef PMU_IRQ
-    if (pmu_irq) {
-        pmu_irq = false;
-        axp.readIRQ();
-
-        DEBUG_MSG("pmu irq!\n");
-
-        if (axp.isChargingIRQ()) {
-            DEBUG_MSG("Battery start charging\n");
-        }
-        if (axp.isChargingDoneIRQ()) {
-            DEBUG_MSG("Battery fully charged\n");
-        }
-        if (axp.isVbusRemoveIRQ()) {
-            DEBUG_MSG("USB unplugged\n");
-            powerFSM.trigger(EVENT_POWER_DISCONNECTED);
-        }
-        if (axp.isVbusPlugInIRQ()) {
-            DEBUG_MSG("USB plugged In\n");
-            powerFSM.trigger(EVENT_POWER_CONNECTED);
-        }
-        if (axp.isBattPlugInIRQ()) {
-            DEBUG_MSG("Battery inserted\n");
-        }
-        if (axp.isBattRemoveIRQ()) {
-            DEBUG_MSG("Battery removed\n");
-        }
-        if (axp.isPEKShortPressIRQ()) {
-            DEBUG_MSG("PEK short button press\n");
-        }
-
-        readPowerStatus();
-        axp.clearIRQ();
-    }
-
-#endif
-}

src/PowerFSM.cpp

@@ -22,7 +22,7 @@ static uint32_t secsSlept;
 static void lsEnter()
 {
     DEBUG_MSG("lsEnter begin, ls_secs=%u\n", getPref_ls_secs());
-    screen.setOn(false);
+    screen->setOn(false);
     secsSlept = 0; // How long have we been sleeping this time
 
     DEBUG_MSG("lsEnter end\n");
@@ -102,7 +102,7 @@ static void lsExit()
 
 static void nbEnter()
 {
-    screen.setOn(false);
+    screen->setOn(false);
     setBluetoothEnable(false);
 
     // FIXME - check if we already have packets for phone and immediately trigger EVENT_PACKETS_FOR_PHONE
@@ -111,25 +111,25 @@ static void nbEnter()
 static void darkEnter()
 {
     setBluetoothEnable(true);
-    screen.setOn(false);
+    screen->setOn(false);
 }
 
 static void serialEnter()
 {
     setBluetoothEnable(false);
-    screen.setOn(true);
+    screen->setOn(true);
 }
 
 static void powerEnter()
 {
-    screen.setOn(true);
+    screen->setOn(true);
     setBluetoothEnable(true);
     setCPUFast(true); // Set CPU to 240mhz when we're plugged in to wall power.
 }
 
 static void onEnter()
 {
-    screen.setOn(true);
+    screen->setOn(true);
     setBluetoothEnable(true);
 
     static uint32_t lastPingMs;
@@ -146,7 +146,7 @@ static void onEnter()
 
 static void screenPress()
 {
-    screen.onPress();
+    screen->onPress();
 }
 
 static void bootEnter() {}

src/PowerFSM.h

@@ -20,5 +20,6 @@
 #define EVENT_POWER_DISCONNECTED 14
 
 extern Fsm powerFSM;
+extern State statePOWER;
 
 void PowerFSM_setup();

src/concurrency/BaseNotifiedWorkerThread.h

@@ -1,44 +0,0 @@
-#pragma once
-
-#include "WorkerThread.h"
-
-namespace concurrency {
-
-/**
- * @brief A worker thread that waits on a freertos notification
- */
-class BaseNotifiedWorkerThread : public WorkerThread
-{
-  public:
-    /**
-     * Notify this thread so it can run
-     */
-    virtual void notify(uint32_t v = 0, eNotifyAction action = eNoAction) = 0;
-
-    /**
-     * Notify from an ISR
-     *
-     * This must be inline or IRAM_ATTR on ESP32
-     */
-    virtual void notifyFromISR(BaseType_t *highPriWoken, uint32_t v = 0, eNotifyAction action = eNoAction) { notify(v, action); }
-    
-  protected:
-    /**
-     * The notification that was most recently used to wake the thread.  Read from loop()
-     */
-    uint32_t notification = 0;
-
-    /**
-     * What notification bits should be cleared just after we read and return them in notification?
-     *
-     * Defaults to clear all of them.
-     */
-    uint32_t clearOnRead = UINT32_MAX;
-
-    /**
-     * A method that should block execution - either waiting ona queue/mutex or a "task notification"
-     */
-    virtual void block() = 0;
-};
-
-} // namespace concurrency

src/concurrency/BaseThread.cpp

@@ -1,12 +0,0 @@
-#include "Thread.h"
-#include <assert.h>
-
-namespace concurrency
-{
-
-void BaseThread::callRun(void *_this)
-{
-    ((BaseThread *)_this)->doRun();
-}
-
-} // namespace concurrency

src/concurrency/BaseThread.h

@@ -1,47 +0,0 @@
-#pragma once
-
-#include <cstdlib>
-#include <stdint.h>
-
-#include "freertosinc.h"
-
-namespace concurrency
-{
-
-/**
- * @brief Base threading
- */
-class BaseThread
-{
-  protected:
-    /**
-     * set this to true to ask thread to cleanly exit asap
-     */
-    volatile bool wantExit = false;
-
-  public:
-    virtual void start(const char *name, size_t stackSize = 1024, uint32_t priority = tskIDLE_PRIORITY) = 0;
-
-    virtual ~BaseThread() {}
-
-    // uint32_t getStackHighwaterMark() { return uxTaskGetStackHighWaterMark(taskHandle); }
-
-  protected:
-    /**
-     * The method that will be called when start is called.
-     */
-    virtual void doRun() = 0;
-
-    /**
-     * All thread run methods must periodically call serviceWatchdog, or the system will declare them hung and panic.
-     *
-     * this only applies after startWatchdog() has been called.  If you need to sleep for a long time call stopWatchdog()
-     */
-    virtual void serviceWatchdog() {}
-    virtual void startWatchdog() {}
-    virtual void stopWatchdog() {}
-
-    static void callRun(void *_this);
-};
-
-} // namespace concurrency

src/concurrency/BinarySemaphoreFreeRTOS.cpp

@@ -0,0 +1,39 @@
+#include "concurrency/BinarySemaphoreFreeRTOS.h"
+#include "configuration.h"
+
+#ifdef HAS_FREE_RTOS
+
+namespace concurrency
+{
+
+BinarySemaphoreFreeRTOS::BinarySemaphoreFreeRTOS()
+{
+    semaphore = xSemaphoreCreateBinary();
+}
+
+BinarySemaphoreFreeRTOS::~BinarySemaphoreFreeRTOS()
+{
+    vSemaphoreDelete(semaphore);
+}
+
+/**
+ * Returns false if we were interrupted
+ */
+bool BinarySemaphoreFreeRTOS::take(uint32_t msec)
+{
+    return xSemaphoreTake(semaphore, pdMS_TO_TICKS(msec));
+}
+
+void BinarySemaphoreFreeRTOS::give()
+{
+    xSemaphoreGive(semaphore);
+}
+
+IRAM_ATTR void BinarySemaphoreFreeRTOS::giveFromISR(BaseType_t *pxHigherPriorityTaskWoken)
+{
+    xSemaphoreGiveFromISR(semaphore, pxHigherPriorityTaskWoken);
+}
+
+} // namespace concurrency
+
+#endif

src/concurrency/BinarySemaphoreFreeRTOS.h

@@ -0,0 +1,31 @@
+#pragma once
+
+#include "configuration.h"
+#include "../freertosinc.h"
+
+namespace concurrency
+{
+
+#ifdef HAS_FREE_RTOS
+
+class BinarySemaphoreFreeRTOS
+{
+    SemaphoreHandle_t semaphore;
+
+  public:
+    BinarySemaphoreFreeRTOS();
+    ~BinarySemaphoreFreeRTOS();
+
+    /**
+     * Returns false if we timed out
+     */
+    bool take(uint32_t msec);
+
+    void give();
+
+    void giveFromISR(BaseType_t *pxHigherPriorityTaskWoken);
+};
+
+#endif
+
+} 

src/concurrency/BinarySemaphorePosix.cpp

@@ -0,0 +1,36 @@
+#include "concurrency/BinarySemaphorePosix.h"
+#include "configuration.h"
+
+#ifndef HAS_FREE_RTOS
+
+namespace concurrency
+{
+
+BinarySemaphorePosix::BinarySemaphorePosix()
+{
+}
+
+BinarySemaphorePosix::~BinarySemaphorePosix()
+{
+}
+
+/**
+ * Returns false if we timed out
+ */
+bool BinarySemaphorePosix::take(uint32_t msec)
+{
+    delay(msec); // FIXME
+    return false;
+}
+
+void BinarySemaphorePosix::give()
+{
+}
+
+IRAM_ATTR void BinarySemaphorePosix::giveFromISR(BaseType_t *pxHigherPriorityTaskWoken)
+{
+}
+
+} // namespace concurrency
+
+#endif

src/concurrency/BinarySemaphorePosix.h

@@ -0,0 +1,31 @@
+#pragma once
+
+#include "configuration.h"
+#include "../freertosinc.h"
+
+namespace concurrency
+{
+
+#ifndef HAS_FREE_RTOS
+
+class BinarySemaphorePosix
+{
+    // SemaphoreHandle_t semaphore;
+
+  public:
+    BinarySemaphorePosix();
+    ~BinarySemaphorePosix();
+
+    /**
+     * Returns false if we timed out
+     */
+    bool take(uint32_t msec);
+
+    void give();
+
+    void giveFromISR(BaseType_t *pxHigherPriorityTaskWoken);
+};
+
+#endif
+
+} 

src/concurrency/FreeRtosNotifiedWorkerThread.cpp

@@ -1,23 +0,0 @@
-#include "NotifiedWorkerThread.h"
-
-#ifdef HAS_FREE_RTOS
-
-namespace concurrency {
-
-/**
- * Notify this thread so it can run
- */
-void FreeRtosNotifiedWorkerThread::notify(uint32_t v, eNotifyAction action)
-{
-    xTaskNotify(taskHandle, v, action);
-}
-
-void FreeRtosNotifiedWorkerThread::block()
-{
-    xTaskNotifyWait(0,                                          // don't clear notification on entry
-                    clearOnRead, &notification, portMAX_DELAY); // Wait forever
-}
-
-} // namespace concurrency
-
-#endif

src/concurrency/FreeRtosNotifiedWorkerThread.h

@@ -1,40 +0,0 @@
-#pragma once
-
-#include "BaseNotifiedWorkerThread.h"
-
-#ifdef HAS_FREE_RTOS
-
-namespace concurrency {
-
-/**
- * @brief A worker thread that waits on a freertos notification
- */
-class FreeRtosNotifiedWorkerThread : public BaseNotifiedWorkerThread
-{
-  public:
-    /**
-     * Notify this thread so it can run
-     */
-    void notify(uint32_t v = 0, eNotifyAction action = eNoAction);
-
-    /**
-     * Notify from an ISR
-     *
-     * This must be inline or IRAM_ATTR on ESP32
-     */
-    inline void notifyFromISR(BaseType_t *highPriWoken, uint32_t v = 0, eNotifyAction action = eNoAction)
-    {
-        xTaskNotifyFromISR(taskHandle, v, action, highPriWoken);
-    }
-
-  protected:
-
-    /**
-     * A method that should block execution - either waiting ona queue/mutex or a "task notification"
-     */
-    virtual void block();
-};
-
-} // namespace concurrency
-
-#endif

src/concurrency/FreeRtosThread.cpp

@@ -1,45 +0,0 @@
-#include "FreeRtosThread.h"
-
-#ifdef HAS_FREE_RTOS
-
-#include <assert.h>
-
-#ifdef ARDUINO_ARCH_ESP32
-#include "esp_task_wdt.h"
-#endif
-
-namespace concurrency
-{
-
-void FreeRtosThread::start(const char *name, size_t stackSize, uint32_t priority)
-{
-    auto r = xTaskCreate(callRun, name, stackSize, this, priority, &taskHandle);
-    assert(r == pdPASS);
-}
-
-void FreeRtosThread::serviceWatchdog()
-{
-#ifdef ARDUINO_ARCH_ESP32
-    esp_task_wdt_reset();
-#endif
-}
-
-void FreeRtosThread::startWatchdog()
-{
-#ifdef ARDUINO_ARCH_ESP32
-    auto r = esp_task_wdt_add(taskHandle);
-    assert(r == ESP_OK);
-#endif
-}
-
-void FreeRtosThread::stopWatchdog()
-{
-#ifdef ARDUINO_ARCH_ESP32
-    auto r = esp_task_wdt_delete(taskHandle);
-    assert(r == ESP_OK);
-#endif
-}
-
-} // namespace concurrency
-
-#endif

src/concurrency/FreeRtosThread.h

@@ -1,44 +0,0 @@
-#pragma once
-
-#include "BaseThread.h"
-#include "freertosinc.h"
-
-#ifdef HAS_FREE_RTOS
-
-namespace concurrency
-{
-
-/**
- * @brief Base threading
- */
-class FreeRtosThread : public BaseThread
-{
-  protected:
-    TaskHandle_t taskHandle = NULL;
-
-  public:
-    void start(const char *name, size_t stackSize = 1024, uint32_t priority = tskIDLE_PRIORITY);
-
-    virtual ~FreeRtosThread() { vTaskDelete(taskHandle); }
-
-    // uint32_t getStackHighwaterMark() { return uxTaskGetStackHighWaterMark(taskHandle); }
-
-  protected:
-    /**
-     * The method that will be called when start is called.
-     */
-    virtual void doRun() = 0;
-
-    /**
-     * All thread run methods must periodically call serviceWatchdog, or the system will declare them hung and panic.
-     *
-     * this only applies after startWatchdog() has been called.  If you need to sleep for a long time call stopWatchdog()
-     */
-    void serviceWatchdog();
-    void startWatchdog();
-    void stopWatchdog();
-};
-
-} // namespace concurrency
-
-#endif

src/concurrency/InterruptableDelay.cpp

@@ -0,0 +1,43 @@
+#include "concurrency/InterruptableDelay.h"
+#include "configuration.h"
+
+namespace concurrency
+{
+
+InterruptableDelay::InterruptableDelay()
+{
+}
+
+InterruptableDelay::~InterruptableDelay()
+{
+}
+
+/**
+ * Returns false if we were interrupted
+ */
+bool InterruptableDelay::delay(uint32_t msec)
+{
+    if (msec) {
+        // DEBUG_MSG("delay %u ", msec);
+
+        // sem take will return false if we timed out (i.e. were not interrupted)
+        bool r = semaphore.take(msec);
+
+        // DEBUG_MSG("interrupt=%d\n", r);
+        return !r;
+    } else {
+        return true;
+    }
+}
+
+void InterruptableDelay::interrupt()
+{
+    semaphore.give();
+}
+
+IRAM_ATTR void InterruptableDelay::interruptFromISR(BaseType_t *pxHigherPriorityTaskWoken)
+{
+    semaphore.giveFromISR(pxHigherPriorityTaskWoken);
+}
+
+} // namespace concurrency

src/concurrency/InterruptableDelay.h

@@ -0,0 +1,42 @@
+#pragma once
+
+#include "../freertosinc.h"
+
+
+#ifdef HAS_FREE_RTOS
+#include "concurrency/BinarySemaphoreFreeRTOS.h"
+#define BinarySemaphore BinarySemaphoreFreeRTOS
+#else
+#include "concurrency/BinarySemaphorePosix.h"
+#define BinarySemaphore BinarySemaphorePosix
+#endif
+
+namespace concurrency
+{
+
+/**
+ * An object that provides delay(msec) like functionality, but can be interrupted by calling interrupt().
+ *
+ * Useful for they top level loop() delay call to keep the CPU powered down until our next scheduled event or some external event.
+ *
+ * This is implmented for FreeRTOS but should be easy to port to other operating systems.
+ */
+class InterruptableDelay
+{
+    BinarySemaphore semaphore;
+
+  public:
+    InterruptableDelay();
+    ~InterruptableDelay();
+
+    /**
+     * Returns false if we were interrupted
+     */
+    bool delay(uint32_t msec);
+
+    void interrupt();
+
+    void interruptFromISR(BaseType_t *pxHigherPriorityTaskWoken);
+};
+
+} // namespace concurrency

src/concurrency/NotifiedWorkerThread.cpp

@@ -0,0 +1,85 @@
+#include "NotifiedWorkerThread.h"
+#include "configuration.h"
+#include <assert.h>
+
+namespace concurrency
+{
+
+static bool debugNotification;
+
+/**
+ * Notify this thread so it can run
+ */
+bool NotifiedWorkerThread::notify(uint32_t v, bool overwrite)
+{
+    bool r = notifyCommon(v, overwrite);
+
+    if (r)
+        mainDelay.interrupt();
+
+    return r;
+}
+
+/**
+ * Notify this thread so it can run
+ */
+IRAM_ATTR bool NotifiedWorkerThread::notifyCommon(uint32_t v, bool overwrite)
+{
+    if (overwrite || notification == 0) {
+        enabled = true;
+        setInterval(0); // Run ASAP
+
+        notification = v;
+        if (debugNotification)
+            DEBUG_MSG("setting notification %d\n", v);
+        return true;
+    } else {
+        if (debugNotification)
+            DEBUG_MSG("dropping notification %d\n", v);
+        return false;
+    }
+}
+
+/**
+ * Notify from an ISR
+ *
+ * This must be inline or IRAM_ATTR on ESP32
+ */
+IRAM_ATTR bool NotifiedWorkerThread::notifyFromISR(BaseType_t *highPriWoken, uint32_t v, bool overwrite)
+{
+    bool r = notifyCommon(v, overwrite);
+    if (r)
+        mainDelay.interruptFromISR(highPriWoken);
+
+    return r;
+}
+
+/**
+ * Schedule a notification to fire in delay msecs
+ */
+bool NotifiedWorkerThread::notifyLater(uint32_t delay, uint32_t v, bool overwrite)
+{
+    bool didIt = notify(v, overwrite);
+
+    if (didIt) {                   // If we didn't already have something queued, override the delay to be larger
+        setIntervalFromNow(delay); // a new version of setInterval relative to the current time
+        if (debugNotification)
+            DEBUG_MSG("delaying notification %u\n", delay);
+    }
+
+    return didIt;
+}
+
+int32_t NotifiedWorkerThread::runOnce()
+{
+    auto n = notification;
+    enabled = false;  // Only run once per notification
+    notification = 0; // clear notification
+    if (n) {
+        onNotify(n);
+    }
+
+    return RUN_SAME;
+}
+
+} // namespace concurrency

src/concurrency/NotifiedWorkerThread.h

@@ -1,17 +1,50 @@
 #pragma once
 
-#include "FreeRtosNotifiedWorkerThread.h"
+#include "OSThread.h"
-#include "PosixNotifiedWorkerThread.h"
 
 namespace concurrency
 {
 
-#ifdef HAS_FREE_RTOS
+/**
-typedef FreeRtosNotifiedWorkerThread NotifiedWorkerThread;
+ * @brief A worker thread that waits on a freertos notification
-#endif
+ */
+class NotifiedWorkerThread : public OSThread
+{
+    /**
+     * The notification that was most recently used to wake the thread.  Read from runOnce()
+     */
+    uint32_t notification = 0;
 
-#ifdef __unix__
+  public:
-typedef PosixNotifiedWorkerThread NotifiedWorkerThread;
+    NotifiedWorkerThread(const char *name) : OSThread(name) {}
-#endif
+
+    /**
+     * Notify this thread so it can run
+     */
+    bool notify(uint32_t v, bool overwrite);
+
+    /**
+     * Notify from an ISR
+     *
+     * This must be inline or IRAM_ATTR on ESP32
+     */
+    bool notifyFromISR(BaseType_t *highPriWoken, uint32_t v, bool overwrite);
+
+    /**
+     * Schedule a notification to fire in delay msecs
+     */
+    bool notifyLater(uint32_t delay, uint32_t v, bool overwrite);
+
+  protected:
+    virtual void onNotify(uint32_t notification) = 0;
+
+    virtual int32_t runOnce();
+
+  private:
+    /**
+     * Notify this thread so it can run
+     */
+    bool notifyCommon(uint32_t v, bool overwrite);
+};
 
 } // namespace concurrency

src/concurrency/OSThread.cpp

@@ -0,0 +1,79 @@
+#include "OSThread.h"
+#include "configuration.h"
+#include <assert.h>
+
+namespace concurrency
+{
+
+/// Show debugging info for disabled threads
+bool OSThread::showDisabled;
+
+/// Show debugging info for threads when we run them
+bool OSThread::showRun = false;
+
+/// Show debugging info for threads we decide not to run;
+bool OSThread::showWaiting = false;
+
+ThreadController mainController, timerController;
+InterruptableDelay mainDelay;
+
+void OSThread::setup()
+{
+    mainController.ThreadName = "mainController";
+    timerController.ThreadName = "timerController";
+}
+
+OSThread::OSThread(const char *_name, uint32_t period, ThreadController *_controller)
+    : Thread(NULL, period), controller(_controller)
+{
+    ThreadName = _name;
+
+    if (controller)
+        controller->add(this);
+}
+
+OSThread::~OSThread()
+{
+    if (controller)
+        controller->remove(this);
+}
+
+/**
+ * Wait a specified number msecs starting from the current time (rather than the last time we were run)
+ */
+void OSThread::setIntervalFromNow(unsigned long _interval)
+{
+    // Save interval
+    interval = _interval;
+
+    // Cache the next run based on the last_run
+    _cached_next_run = millis() + interval;
+}
+
+bool OSThread::shouldRun(unsigned long time)
+{
+    bool r = Thread::shouldRun(time);
+
+    if (showRun && r)
+        DEBUG_MSG("Thread %s: run\n", ThreadName.c_str());
+
+    if (showWaiting && enabled && !r)
+        DEBUG_MSG("Thread %s: wait %lu\n", ThreadName.c_str(), interval);
+
+    if (showDisabled && !enabled)
+        DEBUG_MSG("Thread %s: disabled\n", ThreadName.c_str());
+
+    return r;
+}
+
+void OSThread::run()
+{
+    auto newDelay = runOnce();
+
+    runned();
+
+    if (newDelay >= 0)
+        setInterval(newDelay);
+}
+
+} // namespace concurrency

src/concurrency/OSThread.h

@@ -0,0 +1,70 @@
+#pragma once
+
+#include <cstdlib>
+#include <stdint.h>
+
+#include "Thread.h"
+#include "ThreadController.h"
+#include "concurrency/InterruptableDelay.h"
+
+namespace concurrency
+{
+
+extern ThreadController mainController, timerController;
+extern InterruptableDelay mainDelay;
+
+#define RUN_SAME -1
+
+/**
+ * @brief Base threading
+ * 
+ * This is a pseudo threading layer that is super easy to port, well suited to our slow network and very ram & power efficient.
+ *
+ * TODO FIXME @geeksville
+ *
+ * move more things into OSThreads
+ * remove lock/lockguard
+ * 
+ * move typedQueue into concurrency
+ * remove freertos from typedqueue
+ */
+class OSThread : public Thread
+{
+    ThreadController *controller;
+
+    /// Show debugging info for disabled threads
+    static bool showDisabled;
+
+    /// Show debugging info for threads when we run them
+    static bool showRun;
+
+    /// Show debugging info for threads we decide not to run;
+    static bool showWaiting;
+
+  public:
+    OSThread(const char *name, uint32_t period = 0, ThreadController *controller = &mainController);
+
+    virtual ~OSThread();
+
+    virtual bool shouldRun(unsigned long time);
+
+    static void setup();
+
+    /**
+     * Wait a specified number msecs starting from the current time (rather than the last time we were run)
+     */
+    void setIntervalFromNow(unsigned long _interval);
+
+  protected:
+    /**
+     * The method that will be called each time our thread gets a chance to run
+     *
+     * Returns desired period for next invocation (or RUN_SAME for no change)
+     */
+    virtual int32_t runOnce() = 0;
+
+    // Do not override this
+    virtual void run();
+};
+
+} // namespace concurrency

src/concurrency/Periodic.h

@@ -1,26 +1,24 @@
 #pragma once
 
-#include "PeriodicTask.h"
+#include "concurrency/OSThread.h"
 
-namespace concurrency {
+namespace concurrency
+{
 
 /**
- * @brief Periodically invoke a callback. This just provides C-style callback conventions 
+ * @brief Periodically invoke a callback. This just provides C-style callback conventions
  *        rather than a virtual function - FIXME, remove?
  */
-class Periodic : public PeriodicTask
+class Periodic : public OSThread
 {
-    uint32_t (*callback)();
+    int32_t (*callback)();
 
   public:
     // callback returns the period for the next callback invocation (or 0 if we should no longer be called)
-    Periodic(uint32_t (*_callback)()) : callback(_callback) {}
+    Periodic(const char *name, int32_t (*_callback)()) : OSThread(name), callback(_callback) {}
 
   protected:
-    void doTask() {
+    int32_t runOnce() { return callback(); }
-        uint32_t p = callback();
-        setPeriod(p);
-    }
 };
 
 } // namespace concurrency

src/concurrency/PeriodicScheduler.cpp

@@ -1,34 +0,0 @@
-#include "PeriodicScheduler.h"
-#include "PeriodicTask.h"
-#include "LockGuard.h"
-
-namespace concurrency {
-
-/// call this from loop
-void PeriodicScheduler::loop()
-{
-    LockGuard lg(&lock);
-
-    uint32_t now = millis();
-    for (auto t : tasks) {
-        if (t->period && (now - t->lastMsec) >= t->period) {
-
-            t->doTask();
-            t->lastMsec = now;
-        }
-    }
-}
-
-void PeriodicScheduler::schedule(PeriodicTask *t)
-{
-    LockGuard lg(&lock);
-    tasks.insert(t);
-}
-
-void PeriodicScheduler::unschedule(PeriodicTask *t)
-{
-    LockGuard lg(&lock);
-    tasks.erase(t);
-}
-
-} // namespace concurrency

src/concurrency/PeriodicScheduler.h

@@ -1,40 +0,0 @@
-#pragma once
-
-#include "Lock.h"
-#include <cstdint>
-#include <unordered_set>
-
-namespace concurrency {
-
-class PeriodicTask;
-
-/**
- * @brief Runs all PeriodicTasks in the system. Currently called from main loop() 
- *        but eventually should be its own thread blocked on a freertos timer.
- */
-class PeriodicScheduler
-{
-    friend class PeriodicTask;
-
-    /**
-     * This really should be some form of heap, and when the period gets changed on a task it should get
-     * rescheduled in that heap.  Currently it is just a dumb array and everytime we run loop() we check
-     * _every_ tasks.  If it was a heap we'd only have to check the first task.
-     */
-    std::unordered_set<PeriodicTask *> tasks;
-
-    // Protects the above variables.
-    Lock lock;
-
-  public:
-    /// Run any next tasks which are due for execution
-    void loop();
-
-  private:
-    void schedule(PeriodicTask *t);
-    void unschedule(PeriodicTask *t);
-};
-
-extern PeriodicScheduler periodicScheduler;
-
-} // namespace concurrency

src/concurrency/PeriodicTask.cpp

@@ -1,16 +0,0 @@
-#include "PeriodicTask.h"
-#include "Periodic.h"
-#include "LockGuard.h"
-
-namespace concurrency {
-
-PeriodicScheduler periodicScheduler;
-
-PeriodicTask::PeriodicTask(uint32_t initialPeriod) : period(initialPeriod) {}
-
-void PeriodicTask::setup()
-{
-    periodicScheduler.schedule(this);
-}
-
-} // namespace concurrency

src/concurrency/PeriodicTask.h

@@ -1,56 +0,0 @@
-#pragma once
-
-#include <Arduino.h>
-#include "PeriodicScheduler.h"
-
-namespace concurrency {
-
-/**
- * @brief A base class for tasks that want their doTask() method invoked periodically
- *
- * @todo currently just syntatic sugar for polling in loop (you must call .loop), but eventually
- *        generalize with the freertos scheduler so we can save lots of power by having everything either in
- *        something like this or triggered off of an irq.
- */
-class PeriodicTask
-{
-    friend class PeriodicScheduler;
-
-    uint32_t lastMsec = 0;
-    uint32_t period = 1; // call soon after creation
-
-  public:
-    virtual ~PeriodicTask() { periodicScheduler.unschedule(this); }
-
-    /**
-     * Constructor (will schedule with the global PeriodicScheduler)
-     */
-    PeriodicTask(uint32_t initialPeriod = 1);
-
-    /** 
-     * MUST be be called once at startup (but after threading is running - i.e. not from a constructor)
-     */
-    void setup();
-
-    /**
-     * Set a new period in msecs (can be called from doTask or elsewhere and the scheduler will cope)
-     * While zero this task is disabled and will not run
-     */
-    void setPeriod(uint32_t p)
-    {
-        lastMsec = millis(); // reset starting from now
-        period = p;
-    }
-
-    uint32_t getPeriod() const { return period; }
-
-    /**
-     * Syntatic sugar for suspending tasks
-     */
-    void disable() { setPeriod(0); }
-
-  protected:
-    virtual void doTask() = 0;
-};
-
-} // namespace concurrency

src/concurrency/PosixNotifiedWorkerThread.cpp

@@ -1,19 +0,0 @@
-#include "PosixNotifiedWorkerThread.h"
-
-#ifdef __unix__
-
-#include <Utility.h>
-
-using namespace concurrency;
-
-/**
- * Notify this thread so it can run
- */
-void PosixNotifiedWorkerThread::notify(uint32_t v, eNotifyAction action) NOT_IMPLEMENTED("notify");
-
-/**
- * A method that should block execution - either waiting ona queue/mutex or a "task notification"
- */
-void PosixNotifiedWorkerThread::block() NOT_IMPLEMENTED("block");
-
-#endif

src/concurrency/PosixNotifiedWorkerThread.h

@@ -1,26 +0,0 @@
-#pragma once
-
-#include "BaseNotifiedWorkerThread.h"
-
-namespace concurrency {
-
-/**
- * @brief A worker thread that waits on a freertos notification
- */
-class PosixNotifiedWorkerThread : public BaseNotifiedWorkerThread
-{
-  public:
-    /**
-     * Notify this thread so it can run
-     */
-    void notify(uint32_t v = 0, eNotifyAction action = eNoAction);
-
-  protected:
-
-    /**
-     * A method that should block execution - either waiting ona queue/mutex or a "task notification"
-     */
-    virtual void block();
-};
-
-} // namespace concurrency

src/concurrency/PosixThread.h

@@ -1,33 +0,0 @@
-#pragma once
-
-#include "BaseThread.h"
-
-#ifdef __unix__
-
-namespace concurrency
-{
-
-/**
- * @brief Base threading
- */
-class PosixThread : public BaseThread
-{
-  protected:
-  public:
-    void start(const char *name, size_t stackSize = 1024, uint32_t priority = tskIDLE_PRIORITY) {}
-
-    virtual ~PosixThread() {}
-
-    // uint32_t getStackHighwaterMark() { return uxTaskGetStackHighWaterMark(taskHandle); }
-
-  protected:
-    /**
-     * The method that will be called when start is called.
-     */
-    virtual void doRun() = 0;
-
-};
-
-} // namespace concurrency
-
-#endif

src/concurrency/Thread.h

@@ -1,17 +0,0 @@
-#pragma once
-
-#include "FreeRtosThread.h"
-#include "PosixThread.h"
-
-namespace concurrency
-{
-
-#ifdef HAS_FREE_RTOS
-typedef FreeRtosThread Thread;
-#endif
-
-#ifdef __unix__
-typedef PosixThread Thread;
-#endif
-
-} // namespace concurrency

src/concurrency/WorkerThread.cpp

@@ -1,31 +0,0 @@
-#include "WorkerThread.h"
-
-namespace concurrency {
-
-void WorkerThread::doRun()
-{
-    startWatchdog();
-
-    while (!wantExit) {
-        stopWatchdog();
-        block();
-        startWatchdog();
-
-        // no need - startWatchdog is guaranteed to give us one full watchdog interval
-        // serviceWatchdog(); // Let our loop worker have one full watchdog interval (at least) to run
-
-#ifdef DEBUG_STACK
-        static uint32_t lastPrint = 0;
-        if (millis() - lastPrint > 10 * 1000L) {
-            lastPrint = millis();
-            meshtastic::printThreadInfo("net");
-        }
-#endif
-
-        loop();
-    }
-
-    stopWatchdog();
-}
-
-} // namespace concurrency

src/concurrency/WorkerThread.h

@@ -1,29 +0,0 @@
-#pragma once
-
-#include "Thread.h"
-
-namespace concurrency {
-
-/**
- * @brief This wraps threading (FreeRTOS for now) with a blocking API intended for efficiently converting 
- *        old-school arduino loop() code. Use as a mixin base class for the classes you want to convert.
- *
- * @link https://www.freertos.org/RTOS_Task_Notification_As_Mailbox.html
- */
-class WorkerThread : public Thread
-{
-  protected:
-    /**
-     * A method that should block execution - either waiting ona queue/mutex or a "task notification"
-     */
-    virtual void block() = 0;
-
-    virtual void loop() = 0;
-
-    /**
-     * The method that will be called when start is called.
-     */
-    virtual void doRun();
-};
-
-} // namespace concurrency

src/esp32/WiFiServerAPI.cpp

@@ -40,7 +40,7 @@ void WiFiServerAPI::loop()
 
 #define MESHTASTIC_PORTNUM 4403
 
-WiFiServerPort::WiFiServerPort() : WiFiServer(MESHTASTIC_PORTNUM) {}
+WiFiServerPort::WiFiServerPort() : WiFiServer(MESHTASTIC_PORTNUM), concurrency::OSThread("ApiServer") {}
 
 void WiFiServerPort::init()
 {
@@ -48,7 +48,7 @@ void WiFiServerPort::init()
     begin();
 }
 
-void WiFiServerPort::loop()
+int32_t WiFiServerPort::runOnce()
 {
     auto client = available();
     if (client) {
@@ -59,7 +59,10 @@ void WiFiServerPort::loop()
         openAPI = new WiFiServerAPI(client);
     }
 
-    if (openAPI)
+    if (openAPI) {
         // Allow idle processing so the API can read from its incoming stream
         openAPI->loop();
+        return 0; // run fast while our API server is running
+    } else
+        return 100; // only check occasionally for incoming connections
 }

src/esp32/WiFiServerAPI.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "StreamAPI.h"
+#include "concurrency/OSThread.h"
 #include <WiFi.h>
 
 /**
@@ -27,7 +28,7 @@ class WiFiServerAPI : public StreamAPI
 /**
  * Listens for incoming connections and does accepts and creates instances of WiFiServerAPI as needed
  */
-class WiFiServerPort : public WiFiServer
+class WiFiServerPort : public WiFiServer, private concurrency::OSThread
 {
     /** The currently open port
      *
@@ -41,5 +42,5 @@ class WiFiServerPort : public WiFiServer
 
     void init();
 
-    void loop();
+    int32_t runOnce();
 };

src/gps/GPS.cpp

@@ -36,6 +36,23 @@ bool GPS::setup()
     return ok;
 }
 
+/// Record that we have a GPS
+void GPS::setConnected()
+{
+    if (!hasGPS) {
+        hasGPS = true;
+        shouldPublish = true;
+    }
+}
+
+void GPS::setNumSatellites(uint8_t n)
+{
+    if (n != numSatellites) {
+        numSatellites = n;
+        shouldPublish = true;
+    }
+}
+
 /**
  * Switch the GPS into a mode where we are actively looking for a lock, or alternatively switch GPS into a low power mode
  *
@@ -114,19 +131,23 @@ uint32_t GPS::getSleepTime() const
 
 void GPS::publishUpdate()
 {
-    DEBUG_MSG("publishing GPS lock=%d\n", hasLock());
+    if (shouldPublish) {
+        shouldPublish = false;
 
-    // Notify any status instances that are observing us
+        DEBUG_MSG("publishing GPS lock=%d\n", hasLock());
-    const meshtastic::GPSStatus status =
+
-        meshtastic::GPSStatus(hasLock(), isConnected, latitude, longitude, altitude, dop, heading, numSatellites);
+        // Notify any status instances that are observing us
-    newStatus.notifyObservers(&status);
+        const meshtastic::GPSStatus status =
+            meshtastic::GPSStatus(hasLock(), isConnected(), latitude, longitude, altitude, dop, heading, numSatellites);
+        newStatus.notifyObservers(&status);
+    }
 }
 
-void GPS::loop()
+int32_t GPS::runOnce()
 {
     if (whileIdle()) {
         // if we have received valid NMEA claim we are connected
-        isConnected = true;
+        setConnected();
     }
 
     // If we are overdue for an update, turn on the GPS and at least publish the current status
@@ -147,8 +168,17 @@ void GPS::loop()
         }
 
         // If we've already set time from the GPS, no need to ask the GPS
-        bool gotTime = (getRTCQuality() >= RTCQualityGPS) || lookForTime();
+        bool gotTime = (getRTCQuality() >= RTCQualityGPS);
+        if (!gotTime && lookForTime()) { // Note: we count on this && short-circuiting and not resetting the RTC time
+            gotTime = true;
+            shouldPublish = true;
+        }
+
         bool gotLoc = lookForLocation();
+        if (gotLoc && !hasValidLocation) { // declare that we have location ASAP
+            hasValidLocation = true;
+            shouldPublish = true;
+        }
 
         // We've been awake too long - force sleep
         auto wakeTime = getWakeTime();
@@ -158,8 +188,6 @@ void GPS::loop()
         // or if we got a time and we are in GpsOpTimeOnly mode
         // DEBUG_MSG("gotLoc %d, tooLong %d, gotTime %d\n", gotLoc, tooLong, gotTime);
         if ((gotLoc && gotTime) || tooLong || (gotTime && getGpsOp() == GpsOperation_GpsOpTimeOnly)) {
-            if (gotLoc)
-                hasValidLocation = true;
 
             if (tooLong) {
                 // we didn't get a location during this ack window, therefore declare loss of lock
@@ -167,9 +195,16 @@ void GPS::loop()
             }
 
             setAwake(false);
-            publishUpdate(); // publish our update for this just finished acquisition window
+            shouldPublish = true; // publish our update for this just finished acquisition window
         }
     }
+
+    // If state has changed do a publish
+    publishUpdate();
+
+    // 9600bps is approx 1 byte per msec, so considering our buffer size we never need to wake more often than 200ms
+    // if not awake we can run super infrquently (once every 5 secs?) to see if we need to wake.
+    return isAwake ? 100 : 5000;
 }
 
 void GPS::forceWake(bool on)

src/gps/GPS.h

@@ -2,6 +2,7 @@
 
 #include "GPSStatus.h"
 #include "Observer.h"
+#include "concurrency/OSThread.h"
 
 // Generate a string representation of DOP
 const char *getDOPString(uint32_t dop);
@@ -11,7 +12,7 @@ const char *getDOPString(uint32_t dop);
  *
  * When new data is available it will notify observers.
  */
-class GPS
+class GPS : private concurrency::OSThread
 {
   private:
     uint32_t lastWakeStartMsec = 0, lastSleepStartMsec = 0, lastWhileActiveMsec = 0;
@@ -22,9 +23,14 @@ class GPS
 
     bool wakeAllowed = true; // false if gps must be forced to sleep regardless of what time it is
 
+    bool shouldPublish = false; // If we've changed GPS state, this will force a publish the next loop()
+
+    bool hasGPS = false; // Do we have a GPS we are talking to
+
+    uint8_t numSatellites = 0;
+
     CallbackObserver<GPS, void *> notifySleepObserver = CallbackObserver<GPS, void *>(this, &GPS::prepareSleep);
 
-  protected:
   public:
     /** If !NULL we will use this serial port to construct our GPS */
     static HardwareSerial *_serial_gps;
@@ -37,9 +43,8 @@ class GPS
     uint32_t dop = 0;     // Diminution of position; PDOP where possible (UBlox), HDOP otherwise (TinyGPS) in 10^2 units (needs
                           // scaling before use)
     uint32_t heading = 0; // Heading of motion, in degrees * 10^-5
-    uint32_t numSatellites = 0;
 
-    bool isConnected = false; // Do we have a GPS we are talking to
+    GPS() : concurrency::OSThread("GPS") {}
 
     virtual ~GPS() {} // FIXME, we really should unregister our sleep observer
 
@@ -51,11 +56,12 @@ class GPS
      */
     virtual bool setup();
 
-    virtual void loop();
-
     /// Returns ture if we have acquired GPS lock.
     bool hasLock() const { return hasValidLocation; }
 
+    /// Return true if we are connected to a GPS
+    bool isConnected() const { return hasGPS; }
+
     /**
      * Restart our lock attempt - try to get and broadcast a GPS reading ASAP
      * called after the CPU wakes from light-sleep state
@@ -99,6 +105,11 @@ class GPS
      */
     virtual bool lookForLocation() = 0;
 
+    /// Record that we have a GPS
+    void setConnected();
+
+    void setNumSatellites(uint8_t n);
+
   private:
     /// Prepare the GPS for the cpu entering deep or light sleep, expect to be gone for at least 100s of msecs
     /// always returns 0 to indicate okay to sleep
@@ -125,6 +136,8 @@ class GPS
      * Tell users we have new GPS readings
      */
     void publishUpdate();
+
+    virtual int32_t runOnce();
 };
 
 extern GPS *gps;

src/gps/NMEAGPS.cpp

@@ -84,7 +84,7 @@ bool NMEAGPS::lookForLocation()
             heading = reader.course.value() * 1e3; // Scale the heading (in degrees * 10^-2) to match the expected degrees * 10^-5
         }
         if (reader.satellites.isValid()) {
-            numSatellites = reader.satellites.value();
+            setNumSatellites(reader.satellites.value());
         }
 
         // expect gps pos lat=37.520825, lon=-122.309162, alt=158

src/gps/NMEAGPS.h

@@ -1,6 +1,5 @@
 #pragma once
 
-#include "../concurrency/PeriodicTask.h"
 #include "GPS.h"
 #include "Observer.h"
 #include "TinyGPS++.h"

src/gps/UBloxGPS.cpp

@@ -8,20 +8,23 @@ UBloxGPS::UBloxGPS() {}
 
 bool UBloxGPS::tryConnect()
 {
-    isConnected = false;
+    bool c = false;
 
     if (_serial_gps)
-        isConnected = ublox.begin(*_serial_gps);
+        c = ublox.begin(*_serial_gps);
 
-    if (!isConnected && i2cAddress) {
+    if (!c && i2cAddress) {
         extern bool neo6M; // Super skanky - if we are talking to the device i2c we assume it is a neo7 on a RAK815, which
                            // supports the newer API
         neo6M = true;
 
-        isConnected = ublox.begin(Wire, i2cAddress);
+        c = ublox.begin(Wire, i2cAddress);
     }
 
-    return isConnected;
+    if (c)
+        setConnected();
+
+    return c;
 }
 
 bool UBloxGPS::setupGPS()
@@ -45,7 +48,7 @@ bool UBloxGPS::setupGPS()
     for (int i = 0; (i < 3) && !tryConnect(); i++)
         delay(500);
 
-    if (isConnected) {
+    if (isConnected()) {
         DEBUG_MSG("Connected to UBLOX GPS successfully\n");
 
         if (!setUBXMode())
@@ -106,8 +109,8 @@ bool UBloxGPS::factoryReset()
     for (int i = 0; (i < 3) && !tryConnect(); i++)
         delay(500);
 
-    DEBUG_MSG("GPS Factory reset success=%d\n", isConnected);
+    DEBUG_MSG("GPS Factory reset success=%d\n", isConnected());
-    if (isConnected)
+    if (isConnected())
         ok = setUBXMode();
 
     return ok;
@@ -127,7 +130,7 @@ void UBloxGPS::whileActive()
     // Update fixtype
     if (ublox.moduleQueried.fixType) {
         fixType = ublox.getFixType(0);
-        DEBUG_MSG("GPS fix type %d, numSats %d\n", fixType, numSatellites);
+        // DEBUG_MSG("GPS fix type %d, numSats %d\n", fixType, numSatellites);
     }
 }
 
@@ -170,7 +173,7 @@ bool UBloxGPS::lookForLocation()
     bool foundLocation = false;
 
     if (ublox.moduleQueried.SIV)
-        numSatellites = ublox.getSIV(0);
+        setNumSatellites(ublox.getSIV(0));
 
     if (ublox.moduleQueried.pDOP)
         dop = ublox.getPDOP(0); // PDOP (an accuracy metric) is reported in 10^2 units so we have to scale down when we use it
@@ -189,8 +192,7 @@ bool UBloxGPS::lookForLocation()
 
             // bogus lat lon is reported as 0 or 0 (can be bogus just for one)
             // Also: apparently when the GPS is initially reporting lock it can output a bogus latitude > 90 deg!
-            foundLocation =
+            foundLocation = (latitude != 0) && (longitude != 0) && (latitude <= 900000000 && latitude >= -900000000);
-                (latitude != 0) && (longitude != 0) && (latitude <= 900000000 && latitude >= -900000000) && (numSatellites > 0);
         }
     }
 

src/graphics/Screen.cpp

@@ -561,7 +561,9 @@ void _screen_header()
 }
 #endif
 
-Screen::Screen(uint8_t address, int sda, int scl) : cmdQueue(32), dispdev(address, sda, scl), ui(&dispdev) {}
+Screen::Screen(uint8_t address, int sda, int scl) : OSThread("Screen"), cmdQueue(32), dispdev(address, sda, scl), ui(&dispdev) {
+    cmdQueue.setReader(this);
+}
 
 void Screen::handleSetOn(bool on)
 {
@@ -573,9 +575,12 @@ void Screen::handleSetOn(bool on)
             DEBUG_MSG("Turning on screen\n");
             dispdev.displayOn();
             dispdev.displayOn();
+            enabled = true;
+            setInterval(0); // Draw ASAP
         } else {
             DEBUG_MSG("Turning off screen\n");
             dispdev.displayOff();
+            enabled = false;
         }
         screenOn = on;
     }
@@ -583,8 +588,6 @@ void Screen::handleSetOn(bool on)
 
 void Screen::setup()
 {
-    concurrency::PeriodicTask::setup();
-
     // We don't set useDisplay until setup() is called, because some boards have a declaration of this object but the device
     // is never found when probing i2c and therefore we don't call setup and never want to do (invalid) accesses to this device.
     useDisplay = true;
@@ -642,14 +645,24 @@ void Screen::setup()
     nodeStatusObserver.observe(&nodeStatus->onNewStatus);
 }
 
-void Screen::doTask()
+int32_t Screen::runOnce()
 {
     // If we don't have a screen, don't ever spend any CPU for us.
     if (!useDisplay) {
-        setPeriod(0);
+        enabled = false;
-        return;
+        return RUN_SAME;
     }
 
+    // Show boot screen for first 3 seconds, then switch to normal operation.
+    static bool showingBootScreen = true;
+    if (showingBootScreen && (millis() > 3000)) {
+        stopBootScreen();
+        showingBootScreen = false;
+    }
+
+    // Update the screen last, after we've figured out what to show.
+    debug_info()->setChannelNameStatus(getChannelName());
+
     // Process incoming commands.
     for (;;) {
         ScreenCmd cmd;
@@ -684,8 +697,8 @@ void Screen::doTask()
 
     if (!screenOn) { // If we didn't just wake and the screen is still off, then
                      // stop updating until it is on again
-        setPeriod(0);
+        enabled = false;
-        return;
+        return 0;
     }
 
     // Switch to a low framerate (to save CPU) when we are not in transition
@@ -711,7 +724,7 @@ void Screen::doTask()
     // soon, otherwise just 1 fps (to save CPU) We also ask to be called twice
     // as fast as we really need so that any rounding errors still result with
     // the correct framerate
-    setPeriod(1000 / targetFramerate);
+    return (1000 / targetFramerate);
 }
 
 void Screen::drawDebugInfoTrampoline(OLEDDisplay *display, OLEDDisplayUiState *state, int16_t x, int16_t y)
@@ -801,7 +814,7 @@ void Screen::handleOnPress()
     // If screen was off, just wake it, otherwise advance to next frame
     // If we are in a transition, the press must have bounced, drop it.
     if (ui.getUiState()->frameState == FIXED) {
-        setPeriod(1); // redraw ASAP
+        setInterval(0); // redraw ASAP
         ui.nextFrame();
 
         DEBUG_MSG("Setting fast framerate\n");
@@ -1068,7 +1081,7 @@ int Screen::handleStatusUpdate(const meshtastic::Status *arg)
         if (nodeDB.updateTextMessage || nodeStatus->getLastNumTotal() != nodeStatus->getNumTotal()) {
             setFrames();    // Regen the list of screens
             prevFrame = -1; // Force a GUI update
-            setPeriod(1);   // Update the screen right away
+            setInterval(0); // Update the screen right away
         }
         nodeDB.updateGUI = false;
         nodeDB.updateTextMessage = false;

src/graphics/Screen.h

@@ -15,7 +15,7 @@
 #include "TypedQueue.h"
 #include "commands.h"
 #include "concurrency/LockGuard.h"
-#include "concurrency/PeriodicTask.h"
+#include "concurrency/OSThread.h"
 #include "power.h"
 #include <string>
 
@@ -62,7 +62,7 @@ class DebugInfo
  *          multiple times simultaneously. All state-changing calls are queued and executed
  *          when the main loop calls us.
  */
-class Screen : public concurrency::PeriodicTask
+class Screen : public concurrency::OSThread
 {
     CallbackObserver<Screen, const meshtastic::Status *> powerStatusObserver =
         CallbackObserver<Screen, const meshtastic::Status *>(this, &Screen::handleStatusUpdate);
@@ -184,7 +184,7 @@ class Screen : public concurrency::PeriodicTask
     /// Updates the UI.
     //
     // Called periodically from the main loop.
-    void doTask() final;
+    int32_t runOnce() final;
 
   private:
     struct ScreenCmd {
@@ -202,7 +202,7 @@ class Screen : public concurrency::PeriodicTask
             return true; // claim success if our display is not in use
         else {
             bool success = cmdQueue.enqueue(cmd, 0);
-            setPeriod(1); // handle ASAP
+            setInterval(0); // handle ASAP
             return success;
         }
     }

src/main.cpp

@@ -1,25 +1,3 @@
-/*
-
-  Main module
-
-  # Modified by Kyle T. Gabriel to fix issue with incorrect GPS data for TTNMapper
-
-  Copyright (C) 2018 by Xose Pérez <xose dot perez at gmail dot com>
-
-  This program is free software: you can redistribute it and/or modify
-  it under the terms of the GNU General Public License as published by
-  the Free Software Foundation, either version 3 of the License, or
-  (at your option) any later version.
-
-  This program is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-  GNU General Public License for more details.
-
-  You should have received a copy of the GNU General Public License
-  along with this program.  If not, see <http://www.gnu.org/licenses/>.
-
-*/
 
 #include "Air530GPS.h"
 #include "MeshRadio.h"
@@ -27,7 +5,6 @@
 #include "NodeDB.h"
 #include "PowerFSM.h"
 #include "UBloxGPS.h"
-#include "concurrency/Periodic.h"
 #include "configuration.h"
 #include "error.h"
 #include "power.h"
@@ -36,6 +13,8 @@
 // #include "debug.h"
 #include "RTC.h"
 #include "SPILock.h"
+#include "concurrency/OSThread.h"
+#include "concurrency/Periodic.h"
 #include "graphics/Screen.h"
 #include "main.h"
 #include "meshwifi/meshhttp.h"
@@ -57,8 +36,10 @@
 #include "variant.h"
 #endif
 
+using namespace concurrency;
+
 // We always create a screen object, but we only init it if we find the hardware
-graphics::Screen screen(SSD1306_ADDRESS);
+graphics::Screen *screen;
 
 // Global power status
 meshtastic::PowerStatus *powerStatus = new meshtastic::PowerStatus();
@@ -72,8 +53,7 @@ meshtastic::NodeStatus *nodeStatus = new meshtastic::NodeStatus();
 bool ssd1306_found;
 bool axp192_found;
 
-DSRRouter realRouter;
+Router *router = NULL; // Users of router don't care what sort of subclass implements that API
-Router &router = realRouter; // Users of router don't care what sort of subclass implements that API
 
 // -----------------------------------------------------------------------------
 // Application
@@ -123,7 +103,7 @@ const char *getDeviceName()
     return name;
 }
 
-static uint32_t ledBlinker()
+static int32_t ledBlinker()
 {
     static bool ledOn;
     ledOn ^= 1;
@@ -131,10 +111,31 @@ static uint32_t ledBlinker()
     setLed(ledOn);
 
     // have a very sparse duty cycle of LED being on, unless charging, then blink 0.5Hz square wave rate to indicate that
-    return powerStatus->getIsCharging() ? 1000 : (ledOn ? 2 : 1000);
+    return powerStatus->getIsCharging() ? 1000 : (ledOn ? 1 : 1000);
 }
 
-concurrency::Periodic ledPeriodic(ledBlinker);
+/// Wrapper to convert our powerFSM stuff into a 'thread'
+class PowerFSMThread : public OSThread
+{
+  public:
+    // callback returns the period for the next callback invocation (or 0 if we should no longer be called)
+    PowerFSMThread() : OSThread("PowerFSM") {}
+
+  protected:
+    int32_t runOnce()
+    {
+        powerFSM.run_machine();
+
+        /// If we are in power state we force the CPU to wake every 10ms to check for serial characters (we don't yet wake
+        /// cpu for serial rx - FIXME)
+        canSleep = (powerFSM.getState() != &statePOWER);
+        
+        return 10;
+    }
+};
+
+static Periodic *ledPeriodic;
+static OSThread *powerFSMthread;
 
 // Prepare for button presses
 #ifdef BUTTON_PIN
@@ -149,7 +150,22 @@ void userButtonPressed()
 }
 void userButtonPressedLong()
 {
-    screen.adjustBrightness();
+    screen->adjustBrightness();
+}
+
+/**
+ * Watch a GPIO and if we get an IRQ, wake the main thread.
+ * Use to add wake on button press
+ */
+void wakeOnIrq(int irq, int mode)
+{
+    attachInterrupt(
+        irq,
+        [] {
+            BaseType_t higherWake = 0;
+            mainDelay.interruptFromISR(&higherWake);
+        },
+        FALLING);
 }
 
 RadioInterface *rIf = NULL;
@@ -177,6 +193,12 @@ void setup()
     digitalWrite(RESET_OLED, 1);
 #endif
 
+    OSThread::setup();
+
+    ledPeriodic = new Periodic("Blink", ledBlinker);
+
+    router = new DSRRouter();
+
 #ifdef I2C_SDA
     Wire.begin(I2C_SDA, I2C_SCL);
 #else
@@ -192,19 +214,19 @@ void setup()
     userButton = OneButton(BUTTON_PIN, true, true);
     userButton.attachClick(userButtonPressed);
     userButton.attachDuringLongPress(userButtonPressedLong);
+    wakeOnIrq(BUTTON_PIN, FALLING);
 #endif
 #ifdef BUTTON_PIN_ALT
     userButtonAlt = OneButton(BUTTON_PIN_ALT, true, true);
     userButtonAlt.attachClick(userButtonPressed);
     userButton.attachDuringLongPress(userButtonPressedLong);
+    wakeOnIrq(BUTTON_PIN_ALT, FALLING);
 #endif
 #ifdef LED_PIN
     pinMode(LED_PIN, OUTPUT);
     digitalWrite(LED_PIN, 1 ^ LED_INVERTED); // turn on for now
 #endif
 
-    ledPeriodic.setup();
-
     // Hello
     DEBUG_MSG("Meshtastic swver=%s, hwver=%s\n", optstr(APP_VERSION), optstr(HW_VERSION));
 
@@ -237,14 +259,15 @@ void setup()
 #endif
 
     // Initialize the screen first so we can show the logo while we start up everything else.
+    screen = new graphics::Screen(SSD1306_ADDRESS);
 #if defined(ST7735_CS) || defined(HAS_EINK)
-    screen.setup();
+    screen->setup();
 #else
     if (ssd1306_found)
-        screen.setup();
+        screen->setup();
 #endif
 
-    screen.print("Started...\n");
+    screen->print("Started...\n");
 
     readFromRTC(); // read the main CPU RTC at first (in case we can't get GPS time)
 
@@ -343,10 +366,11 @@ void setup()
     if (!rIf)
         recordCriticalError(ErrNoRadio);
     else
-        router.addInterface(rIf);
+        router->addInterface(rIf);
 
     // This must be _after_ service.init because we need our preferences loaded from flash to have proper timeout values
     PowerFSM_setup(); // we will transition to ON in a couple of seconds, FIXME, only do this for cold boots, not waking from SDS
+    powerFSMthread = new PowerFSMThread();
 
     // setBluetoothEnable(false); we now don't start bluetooth until we enter the proper state
     setCPUFast(false); // 80MHz is fine for our slow peripherals
@@ -369,21 +393,12 @@ uint32_t axpDebugRead()
   return 30 * 1000;
 }
 
-concurrency::Periodic axpDebugOutput(axpDebugRead);
+Periodic axpDebugOutput(axpDebugRead);
 axpDebugOutput.setup();
 #endif
 
 void loop()
 {
-    uint32_t msecstosleep = 1000 * 30; // How long can we sleep before we again need to service the main loop?
-
-    if (gps)
-        gps->loop(); // FIXME, remove from main, instead block on read
-    router.loop();
-    powerFSM.run_machine();
-    service.loop();
-
-    concurrency::periodicScheduler.loop();
     // axpDebugOutput.loop();
 
 #ifdef DEBUG_PORT
@@ -395,9 +410,6 @@ void loop()
 #ifndef NO_ESP32
     esp32Loop();
 #endif
-#ifdef TBEAM_V10
-    power->loop();
-#endif
 
 #ifdef BUTTON_PIN
     userButton.tick();
@@ -406,18 +418,9 @@ void loop()
     userButtonAlt.tick();
 #endif
 
-    loopWifi();
-
     // For debugging
     // if (rIf) ((RadioLibInterface *)rIf)->isActivelyReceiving();
 
-    // Show boot screen for first 3 seconds, then switch to normal operation.
-    static bool showingBootScreen = true;
-    if (showingBootScreen && (millis() > 3000)) {
-        screen.stopBootScreen();
-        showingBootScreen = false;
-    }
-
 #ifdef DEBUG_STACK
     static uint32_t lastPrint = 0;
     if (millis() - lastPrint > 10 * 1000L) {
@@ -426,19 +429,18 @@ void loop()
     }
 #endif
 
-    // Update the screen last, after we've figured out what to show.
-    screen.debug_info()->setChannelNameStatus(getChannelName());
-
-    // No GPS lock yet, let the OS put the main CPU in low power mode for 100ms (or until another interrupt comes in)
-    // i.e. don't just keep spinning in loop as fast as we can.
-    // DEBUG_MSG("msecs %d\n", msecstosleep);
-
-    // FIXME - until button press handling is done by interrupt (see polling above) we can't sleep very long at all or buttons
-    // feel slow
-    msecstosleep = 10; // FIXME, stop early if something happens and sleep much longer
-
     // TODO: This should go into a thread handled by FreeRTOS.
     handleWebResponse();
 
-    delay(msecstosleep);
+    service.loop();
+
+    long delayMsec = mainController.runOrDelay();
+
+    /* if (mainController.nextThread && delayMsec)
+        DEBUG_MSG("Next %s in %ld\n", mainController.nextThread->ThreadName.c_str(),
+                  mainController.nextThread->tillRun(millis()));
+    */
+   
+    // We want to sleep as long as possible here - because it saves power
+    mainDelay.delay(delayMsec);
 }

src/main.h

@@ -1,28 +1,24 @@
 #pragma once
 
-#include "graphics/Screen.h"
-#include "PowerStatus.h"
 #include "GPSStatus.h"
 #include "NodeStatus.h"
+#include "PowerStatus.h"
+#include "graphics/Screen.h"
 
 extern bool axp192_found;
 extern bool ssd1306_found;
 extern bool isCharging;
 extern bool isUSBPowered;
 
-
-
 // Global Screen singleton.
-extern graphics::Screen screen;
+extern graphics::Screen *screen;
-//extern Observable<meshtastic::PowerStatus> newPowerStatus; //TODO: move this to main-esp32.cpp somehow or a helper class
+// extern Observable<meshtastic::PowerStatus> newPowerStatus; //TODO: move this to main-esp32.cpp somehow or a helper class
 
-//extern meshtastic::PowerStatus *powerStatus;
+// extern meshtastic::PowerStatus *powerStatus;
-//extern meshtastic::GPSStatus *gpsStatus;
+// extern meshtastic::GPSStatus *gpsStatus;
-//extern meshtastic::NodeStatusHandler *nodeStatusHandler;
+// extern meshtastic::NodeStatusHandler *nodeStatusHandler;
 
 // Return a human readable string of the form "Meshtastic_ab13"
 const char *getDeviceName();
 
-
-
 void nrf52Setup(), esp32Setup(), nrf52Loop(), esp32Loop();

src/mesh/FloodingRouter.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include "PacketHistory.h"
-#include "../concurrency/PeriodicTask.h"
 #include "Router.h"
 
 /**

src/mesh/MeshService.cpp

@@ -49,14 +49,14 @@ MeshService service;
 
 #include "Router.h"
 
-static uint32_t sendOwnerCb()
+static int32_t sendOwnerCb()
 {
     service.sendOurOwner();
 
     return getPref_send_owner_interval() * getPref_position_broadcast_secs() * 1000;
 }
 
-static concurrency::Periodic sendOwnerPeriod(sendOwnerCb);
+static concurrency::Periodic *sendOwnerPeriod;
 
 MeshService::MeshService() : toPhoneQueue(MAX_RX_TOPHONE)
 {
@@ -65,17 +65,18 @@ MeshService::MeshService() : toPhoneQueue(MAX_RX_TOPHONE)
 
 void MeshService::init()
 {
-    sendOwnerPeriod.setup();
+    sendOwnerPeriod = new concurrency::Periodic("SendOwner", sendOwnerCb);
+
     nodeDB.init();
 
     if (gps)
         gpsObserver.observe(&gps->newStatus);
-    packetReceivedObserver.observe(&router.notifyPacketReceived);
+    packetReceivedObserver.observe(&router->notifyPacketReceived);
 }
 
 void MeshService::sendOurOwner(NodeNum dest, bool wantReplies)
 {
-    MeshPacket *p = router.allocForSending();
+    MeshPacket *p = router->allocForSending();
     p->to = dest;
     p->decoded.want_response = wantReplies;
     p->decoded.which_payload = SubPacket_user_tag;
@@ -122,7 +123,7 @@ const MeshPacket *MeshService::handleFromRadioUser(const MeshPacket *mp)
         sendOurOwner(mp->from);
 
         String lcd = String("Joined: ") + mp->decoded.user.long_name + "\n";
-        screen.print(lcd.c_str());
+        screen->print(lcd.c_str());
     }
 
     return mp;
@@ -227,7 +228,7 @@ void MeshService::handleToRadio(MeshPacket &p)
         p.id = generatePacketId(); // If the phone didn't supply one, then pick one
 
     p.rx_time = getValidTime(RTCQualityFromNet); // Record the time the packet arrived from the phone
-                                // (so we update our nodedb for the local node)
+                                                 // (so we update our nodedb for the local node)
 
     // Send the packet into the mesh
 
@@ -247,10 +248,10 @@ void MeshService::sendToMesh(MeshPacket *p)
     nodeDB.updateFrom(*p); // update our local DB for this packet (because phone might have sent position packets etc...)
 
     // Strip out any time information before sending packets to other  nodes - to keep the wire size small (and because other
-    // nodes shouldn't trust it anyways) Note: for now, we allow a device with a local GPS to include the time, so that gpsless
+    // nodes shouldn't trust it anyways) Note: we allow a device with a local GPS to include the time, so that gpsless
     // devices can get time.
     if (p->which_payload == MeshPacket_decoded_tag && p->decoded.which_payload == SubPacket_position_tag) {
-        if (!gps->isConnected) {
+        if (getRTCQuality() < RTCQualityGPS) {
             DEBUG_MSG("Stripping time %u from position send\n", p->decoded.position.time);
             p->decoded.position.time = 0;
         } else
@@ -258,7 +259,7 @@ void MeshService::sendToMesh(MeshPacket *p)
     }
 
     // Note: We might return !OK if our fifo was full, at that point the only option we have is to drop it
-    router.sendLocal(p);
+    router->sendLocal(p);
 }
 
 void MeshService::sendNetworkPing(NodeNum dest, bool wantReplies)
@@ -280,12 +281,13 @@ void MeshService::sendOurPosition(NodeNum dest, bool wantReplies)
     assert(node->has_position);
 
     // Update our local node info with our position (even if we don't decide to update anyone else)
-    MeshPacket *p = router.allocForSending();
+    MeshPacket *p = router->allocForSending();
     p->to = dest;
     p->decoded.which_payload = SubPacket_position_tag;
     p->decoded.position = node->position;
     p->decoded.want_response = wantReplies;
-    p->decoded.position.time = getValidTime(RTCQualityGPS); // This nodedb timestamp might be stale, so update it if our clock is valid.
+    p->decoded.position.time =
+        getValidTime(RTCQualityGPS); // This nodedb timestamp might be stale, so update it if our clock is valid.
     sendToMesh(p);
 }
 
@@ -293,7 +295,7 @@ int MeshService::onGPSChanged(const meshtastic::GPSStatus *unused)
 {
 
     // Update our local node info with our position (even if we don't decide to update anyone else)
-    MeshPacket *p = router.allocForSending();
+    MeshPacket *p = router->allocForSending();
     p->decoded.which_payload = SubPacket_position_tag;
 
     Position &pos = p->decoded.position;

src/mesh/PhoneAPI.cpp

@@ -113,7 +113,7 @@ size_t PhoneAPI::getFromRadio(uint8_t *buf)
         // app not to send locations on our behalf.
         myNodeInfo.has_gps = (radioConfig.preferences.location_share == LocationSharing_LocDisabled)
                                  ? true
-                                 : (gps && gps->isConnected); // Update with latest GPS connect info
+                                 : (gps && gps->isConnected()); // Update with latest GPS connect info
         fromRadioScratch.which_variant = FromRadio_my_info_tag;
         fromRadioScratch.variant.my_info = myNodeInfo;
         state = STATE_SEND_RADIO;

src/mesh/RadioInterface.cpp

@@ -91,7 +91,7 @@ void printPacket(const char *prefix, const MeshPacket *p)
     DEBUG_MSG(")\n");
 }
 
-RadioInterface::RadioInterface()
+RadioInterface::RadioInterface() 
 {
     assert(sizeof(PacketHeader) == 4 || sizeof(PacketHeader) == 16); // make sure the compiler did what we expected
 
@@ -120,10 +120,7 @@ bool RadioInterface::init()
     // we now expect interfaces to operate in promiscous mode
     // radioIf.setThisAddress(nodeDB.getNodeNum()); // Note: we must do this here, because the nodenum isn't inited at constructor
     // time.
-
+    
-    // we want this thread to run at very high priority, because it is effectively running as a user space ISR
-    start("radio", RADIO_STACK_SIZE, configMAX_PRIORITIES - 1); // Start our worker thread
-
     return true;
 }
 

src/mesh/RadioInterface.h

@@ -36,7 +36,7 @@ typedef struct {
  *
  * This defines the SOLE API for talking to radios (because soon we will have alternate radio implementations)
  */
-class RadioInterface : protected concurrency::NotifiedWorkerThread
+class RadioInterface 
 {
     friend class MeshRadio; // for debugging we let that class touch pool
     PointerQueue<MeshPacket> *rxDest = NULL;
@@ -72,6 +72,8 @@ class RadioInterface : protected concurrency::NotifiedWorkerThread
      */
     RadioInterface();
 
+    virtual ~RadioInterface() {}
+
     /**
      * Set where to deliver received packets.  This method should only be used by the Router class
      */
@@ -117,8 +119,6 @@ class RadioInterface : protected concurrency::NotifiedWorkerThread
      */
     size_t beginSending(MeshPacket *p);
 
-    virtual void loop() {} // Idle processing
-
     /**
      * Some regulatory regions limit xmit power.
      * This function should be called by subclasses after setting their desired power.  It might lower it

src/mesh/RadioLibInterface.cpp

@@ -19,17 +19,11 @@ void LockingModule::SPItransfer(uint8_t cmd, uint8_t reg, uint8_t *dataOut, uint
 
 RadioLibInterface::RadioLibInterface(RADIOLIB_PIN_TYPE cs, RADIOLIB_PIN_TYPE irq, RADIOLIB_PIN_TYPE rst, RADIOLIB_PIN_TYPE busy,
                                      SPIClass &spi, PhysicalLayer *_iface)
-    : concurrency::PeriodicTask(0), module(cs, irq, rst, busy, spi, spiSettings), iface(_iface)
+    : NotifiedWorkerThread("RadioIf"), module(cs, irq, rst, busy, spi, spiSettings), iface(_iface)
 {
     instance = this;
 }
 
-bool RadioLibInterface::init()
-{
-    setup(); // init our timer
-    return RadioInterface::init();
-}
-
 #ifndef NO_ESP32
 // ESP32 doesn't use that flag
 #define YIELD_FROM_ISR(x) portYIELD_FROM_ISR()
@@ -41,9 +35,8 @@ void INTERRUPT_ATTR RadioLibInterface::isrLevel0Common(PendingISR cause)
 {
     instance->disableInterrupt();
 
-    instance->pending = cause;
     BaseType_t xHigherPriorityTaskWoken;
-    instance->notifyFromISR(&xHigherPriorityTaskWoken, cause, eSetValueWithOverwrite);
+    instance->notifyFromISR(&xHigherPriorityTaskWoken, cause, true);
 
     /* Force a context switch if xHigherPriorityTaskWoken is now set to pdTRUE.
     The macro used to do this is dependent on the port and may be called
@@ -191,10 +184,8 @@ transmitters that we are potentially stomping on.  Requires further thought.
 
 FIXME, the MIN_TX_WAIT_MSEC and MAX_TX_WAIT_MSEC values should be tuned via logic analyzer later.
 */
-void RadioLibInterface::loop()
+void RadioLibInterface::onNotify(uint32_t notification)
 {
-    pending = ISR_NONE;
-
     switch (notification) {
     case ISR_TX:
         handleTransmitInterrupt();
@@ -209,6 +200,8 @@ void RadioLibInterface::loop()
         startTransmitTimer();
         break;
     case TRANSMIT_DELAY_COMPLETED:
+        // DEBUG_MSG("delay done\n");
+
         // If we are not currently in receive mode, then restart the timer and try again later (this can happen if the main thread
         // has placed the unit into standby)  FIXME, how will this work if the chipset is in sleep mode?
         if (!txQueue.isEmpty()) {
@@ -229,25 +222,14 @@ void RadioLibInterface::loop()
     }
 }
 
-void RadioLibInterface::doTask()
-{
-    disable(); // Don't call this callback again
-
-    // We use without overwrite, so that if there is already an interrupt pending to be handled, that gets handle properly (the
-    // ISR handler will restart our timer)
-
-    notify(TRANSMIT_DELAY_COMPLETED, eSetValueWithoutOverwrite);
-}
-
 void RadioLibInterface::startTransmitTimer(bool withDelay)
 {
     // If we have work to do and the timer wasn't already scheduled, schedule it now
-    if (getPeriod() == 0 && !txQueue.isEmpty()) {
+    if (!txQueue.isEmpty()) {
         uint32_t delay =
             !withDelay ? 1 : random(MIN_TX_WAIT_MSEC, MAX_TX_WAIT_MSEC); // See documentation for loop() wrt these values
-                                                                         // DEBUG_MSG("xmit timer %d\n", delay);
+        // DEBUG_MSG("xmit timer %d\n", delay);
-        // DEBUG_MSG("delaying %u\n", delay);
+        notifyLater(delay, TRANSMIT_DELAY_COMPLETED, false); // This will implicitly enable
-        setPeriod(delay);
     }
 }
 

src/mesh/RadioLibInterface.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "../concurrency/PeriodicTask.h"
+#include "../concurrency/OSThread.h"
 #include "RadioInterface.h"
 
 #ifdef CubeCell_BoardPlus
@@ -59,13 +59,11 @@ class LockingModule : public Module
     virtual void SPItransfer(uint8_t cmd, uint8_t reg, uint8_t *dataOut, uint8_t *dataIn, uint8_t numBytes);
 };
 
-class RadioLibInterface : public RadioInterface, private concurrency::PeriodicTask
+class RadioLibInterface : public RadioInterface, protected concurrency::NotifiedWorkerThread
 {
     /// Used as our notification from the ISR
     enum PendingISR { ISR_NONE = 0, ISR_RX, ISR_TX, TRANSMIT_DELAY_COMPLETED };
 
-    volatile PendingISR pending = ISR_NONE;
-
     /**
      * Raw ISR handler that just calls our polymorphic method
      */
@@ -155,7 +153,7 @@ class RadioLibInterface : public RadioInterface, private concurrency::PeriodicTa
 
     static void timerCallback(void *p1, uint32_t p2);
 
-    virtual void doTask();
+    virtual void onNotify(uint32_t notification);
 
     /** start an immediate transmit
      *  This method is virtual so subclasses can hook as needed, subclasses should not call directly
@@ -163,10 +161,6 @@ class RadioLibInterface : public RadioInterface, private concurrency::PeriodicTa
     virtual void startSend(MeshPacket *txp);
 
   protected:
-    /// Initialise the Driver transport hardware and software.
-    /// Make sure the Driver is properly configured before calling init().
-    /// \return true if initialisation succeeded.
-    virtual bool init();
 
     /** Do any hardware setup needed on entry into send configuration for the radio.  Subclasses can customize */
     virtual void configHardwareForSend() {}
@@ -195,7 +189,5 @@ class RadioLibInterface : public RadioInterface, private concurrency::PeriodicTa
      */
     virtual void addReceiveMetadata(MeshPacket *mp) = 0;
 
-    virtual void loop(); // Idle processing
-
     virtual void setStandby() = 0;
 };

src/mesh/ReliableRouter.cpp

@@ -160,9 +160,10 @@ PendingPacket *ReliableRouter::startRetransmission(MeshPacket *p)
 /**
  * Do any retransmissions that are scheduled (FIXME - for the time being called from loop)
  */
-void ReliableRouter::doRetransmissions()
+int32_t ReliableRouter::doRetransmissions()
 {
     uint32_t now = millis();
+    int32_t d = INT32_MAX;
 
     // FIXME, we should use a better datastructure rather than walking through this map.
     // for(auto el: pending) {
@@ -192,5 +193,13 @@ void ReliableRouter::doRetransmissions()
                 p.setNextTx();
             }
         }
+        else {
+            // Not yet time
+            int32_t t = p.nextTxMsec - now;
+
+            d = min(t, d);
+        }
     }
+
+    return d;
 }

src/mesh/ReliableRouter.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include "FloodingRouter.h"
-#include "../concurrency/PeriodicTask.h"
 #include <unordered_map>
 
 /**
@@ -80,10 +79,13 @@ class ReliableRouter : public FloodingRouter
     virtual ErrorCode send(MeshPacket *p);
 
     /** Do our retransmission handling */
-    virtual void loop()
+    virtual int32_t runOnce()
     {
-        doRetransmissions();
+        auto d = FloodingRouter::runOnce();
-        FloodingRouter::loop();
+
+        int32_t r = doRetransmissions();
+
+        return min(d, r);
     }
 
   protected:
@@ -124,6 +126,8 @@ class ReliableRouter : public FloodingRouter
 
     /**
      * Do any retransmissions that are scheduled (FIXME - for the time being called from loop)
+     *
+     * @return the number of msecs until our next retransmission or MAXINT if none scheduled
      */
-    void doRetransmissions();
+    int32_t doRetransmissions();
 };

src/mesh/Router.cpp

@@ -34,25 +34,29 @@ Allocator<MeshPacket> &packetPool = staticPool;
  *
  * Currently we only allow one interface, that may change in the future
  */
-Router::Router() : fromRadioQueue(MAX_RX_FROMRADIO)
+Router::Router() : concurrency::OSThread("Router"), fromRadioQueue(MAX_RX_FROMRADIO)
 {
     // This is called pre main(), don't touch anything here, the following code is not safe
 
     /* DEBUG_MSG("Size of NodeInfo %d\n", sizeof(NodeInfo));
     DEBUG_MSG("Size of SubPacket %d\n", sizeof(SubPacket));
     DEBUG_MSG("Size of MeshPacket %d\n", sizeof(MeshPacket)); */
+
+    fromRadioQueue.setReader(this);
 }
 
 /**
  * do idle processing
  * Mostly looking in our incoming rxPacket queue and calling handleReceived.
  */
-void Router::loop()
+int32_t Router::runOnce()
 {
     MeshPacket *mp;
     while ((mp = fromRadioQueue.dequeuePtr(0)) != NULL) {
         perhapsHandleReceived(mp);
     }
+
+    return INT32_MAX; // Wait a long time - until we get woken for the message queue
 }
 
 /// Generate a unique packet id

src/mesh/Router.h

@@ -5,12 +5,13 @@
 #include "Observer.h"
 #include "PointerQueue.h"
 #include "RadioInterface.h"
+#include "concurrency/OSThread.h"
 #include "mesh.pb.h"
 
 /**
  * A mesh aware router that supports multiple interfaces.
  */
-class Router
+class Router : protected concurrency::OSThread
 {
   private:
     RadioInterface *iface;
@@ -44,7 +45,7 @@ class Router
      * do idle processing
      * Mostly looking in our incoming rxPacket queue and calling handleReceived.
      */
-    virtual void loop();
+    virtual int32_t runOnce();
 
     /**
      * Works like send, but if we are sending to the local node, we directly put the message in the receive queue
@@ -113,7 +114,7 @@ class Router
     void handleReceived(MeshPacket *p);
 };
 
-extern Router &router;
+extern Router *router;
 
 /// Generate a unique packet id
 // FIXME, move this someplace better

src/mesh/TypedQueue.h

@@ -3,6 +3,7 @@
 #include <cassert>
 #include <type_traits>
 
+#include "concurrency/OSThread.h"
 #include "freertosinc.h"
 
 #ifdef HAS_FREE_RTOS
@@ -15,6 +16,7 @@ template <class T> class TypedQueue
 {
     static_assert(std::is_pod<T>::value, "T must be pod");
     QueueHandle_t h;
+    concurrency::OSThread *reader = NULL;
 
   public:
     TypedQueue(int maxElements)
@@ -29,13 +31,35 @@ template <class T> class TypedQueue
 
     bool isEmpty() { return uxQueueMessagesWaiting(h) == 0; }
 
-    bool enqueue(T x, TickType_t maxWait = portMAX_DELAY) { return xQueueSendToBack(h, &x, maxWait) == pdTRUE; }
+    bool enqueue(T x, TickType_t maxWait = portMAX_DELAY)
+    {
+        if (reader) {
+            reader->setInterval(0);
+            concurrency::mainDelay.interrupt();
+        }
+        return xQueueSendToBack(h, &x, maxWait) == pdTRUE;
+    }
 
-    bool enqueueFromISR(T x, BaseType_t *higherPriWoken) { return xQueueSendToBackFromISR(h, &x, higherPriWoken) == pdTRUE; }
+    bool enqueueFromISR(T x, BaseType_t *higherPriWoken)
+    {
+        if (reader) {
+            reader->setInterval(0);
+            concurrency::mainDelay.interruptFromISR(higherPriWoken);
+        }
+        return xQueueSendToBackFromISR(h, &x, higherPriWoken) == pdTRUE;
+    }
 
     bool dequeue(T *p, TickType_t maxWait = portMAX_DELAY) { return xQueueReceive(h, p, maxWait) == pdTRUE; }
 
     bool dequeueFromISR(T *p, BaseType_t *higherPriWoken) { return xQueueReceiveFromISR(h, p, higherPriWoken); }
+
+    /**
+     * Set a thread that is reading from this queue
+     * If a message is pushed to this queue that thread will be scheduled to run ASAP.
+     *
+     * Note: thread will not be automatically enabled, just have its interval set to 0
+     */
+    void setReader(concurrency::OSThread *t) { reader = t; }
 };
 
 #else
@@ -49,6 +73,7 @@ template <class T> class TypedQueue
 template <class T> class TypedQueue
 {
     std::queue<T> q;
+    concurrency::OSThread *reader = NULL;
 
   public:
     TypedQueue(int maxElements) {}
@@ -59,6 +84,11 @@ template <class T> class TypedQueue
 
     bool enqueue(T x, TickType_t maxWait = portMAX_DELAY)
     {
+        if (reader) {
+            reader->setInterval(0);
+            concurrency::mainDelay.interrupt();
+        }
+
         q.push(x);
         return true;
     }
@@ -77,5 +107,7 @@ template <class T> class TypedQueue
     }
 
     // bool dequeueFromISR(T *p, BaseType_t *higherPriWoken) { return xQueueReceiveFromISR(h, p, higherPriWoken); }
+
+    void setReader(concurrency::OSThread *t) { reader = t; }
 };
 #endif

src/meshwifi/meshwifi.cpp

@@ -121,13 +121,7 @@ void initWifi()
         DEBUG_MSG("Not using WIFI\n");
 }
 
-/// Perform idle loop processing required by the wifi layer
+
-void loopWifi()
-{
-    // FIXME, once we have coroutines - just use a coroutine instead of this nasty loopWifi()
-    if (apiPort)
-        apiPort->loop();
-}
 
 static void initApiServer()
 {

src/meshwifi/meshwifi.h

@@ -12,9 +12,6 @@
 void initWifi();
 void deinitWifi();
 
-/// Perform idle loop processing required by the wifi layer
-void loopWifi();
-
 bool isWifiAvailable();
 
 void handleDNSResponse();

src/nimble/BluetoothUtil.cpp

@@ -3,16 +3,16 @@
 #include "NimbleBluetoothAPI.h"
 #include "PhoneAPI.h"
 #include "PowerFSM.h"
-#include <WiFi.h>
 #include "configuration.h"
 #include "esp_bt.h"
 #include "host/util/util.h"
 #include "main.h"
+#include "meshwifi/meshwifi.h"
 #include "nimble/NimbleDefs.h"
 #include "services/gap/ble_svc_gap.h"
 #include "services/gatt/ble_svc_gatt.h"
 #include <Arduino.h>
-#include "meshwifi/meshwifi.h"
+#include <WiFi.h>
 
 static bool pinShowing;
 
@@ -20,14 +20,14 @@ static void startCb(uint32_t pin)
 {
     pinShowing = true;
     powerFSM.trigger(EVENT_BLUETOOTH_PAIR);
-    screen.startBluetoothPinScreen(pin);
+    screen->startBluetoothPinScreen(pin);
 };
 
 static void stopCb()
 {
     if (pinShowing) {
         pinShowing = false;
-        screen.stopBluetoothPinScreen();
+        screen->stopBluetoothPinScreen();
     }
 };
 
@@ -533,7 +533,7 @@ void setBluetoothEnable(bool on)
                 return;
             }
             */
-           
+
             // shutdown wifi
             deinitWifi();
 

src/power.h

@@ -1,6 +1,6 @@
 #pragma once
 #include "PowerStatus.h"
-#include "concurrency/PeriodicTask.h"
+#include "concurrency/OSThread.h"
 
 /**
  * Per @spattinson
@@ -15,16 +15,17 @@
 #define BAT_MILLIVOLTS_FULL 4100
 #define BAT_MILLIVOLTS_EMPTY 3500
 
-class Power : public concurrency::PeriodicTask
+class Power : private concurrency::OSThread
 {
 
   public:
     Observable<const meshtastic::PowerStatus *> newStatus;
 
+    Power();
+
     void readPowerStatus();
-    void loop();
     virtual bool setup();
-    virtual void doTask();
+    virtual int32_t runOnce();
     void setStatusHandler(meshtastic::PowerStatus *handler) { statusHandler = handler; }
 
   protected:

src/sleep.cpp

@@ -151,7 +151,7 @@ void doDeepSleep(uint64_t msecToWake)
     notifySleep.notifyObservers(NULL); // also tell the regular sleep handlers
     notifyDeepSleep.notifyObservers(NULL);
 
-    screen.setOn(false); // datasheet says this will draw only 10ua
+    screen->setOn(false); // datasheet says this will draw only 10ua
 
     nodeDB.saveToDisk();