Mark A01 status DONE

components/app_machine/CMakeLists.txt

@@ -1,4 +1,4 @@
 idf_component_register(SRCS "app_machine.c"
                     INCLUDE_DIRS "include"
                     REQUIRES ui_cmd app_process
-                    PRIV_REQUIRES hal_motor hal_temp hal_audio)
+                    PRIV_REQUIRES hal_motor hal_temp hal_audio freertos)

components/app_machine/app_machine.c

@@ -1,3 +1,6 @@
+#include "freertos/FreeRTOS.h"
+#include "freertos/queue.h"
+
 #include "app_machine.h"
 #include "app_process.h"
 #include "hal_motor.h"
@@ -5,6 +8,7 @@
 #include "hal_audio.h"
 
 #include <string.h>
+#include <stddef.h>
 
 #define AGITATE_RPM 60u
 
@@ -16,20 +20,13 @@ static uint32_t s_deadline_ms;
 static bool s_have_deadline;
 static bool s_resume_pending;
 static bool s_auto_advance;
-static ui_evt_t s_q[UI_EVT_QUEUE_LEN];
-static uint8_t s_q_head;
-static uint8_t s_q_tail;
-static uint8_t s_q_count;
+static QueueHandle_t s_evtq;
 
 static void emit(ui_evt_t ev)
 {
-    if (s_q_count == UI_EVT_QUEUE_LEN) {
-        s_q_head = (uint8_t)((s_q_head + 1u) % UI_EVT_QUEUE_LEN);
-        s_q_count--;
+    if (s_evtq != NULL) {
+        xQueueSend(s_evtq, &ev, 0);
     }
-    s_q[s_q_tail] = ev;
-    s_q_tail = (uint8_t)((s_q_tail + 1u) % UI_EVT_QUEUE_LEN);
-    s_q_count++;
 }
 
 static void fill_common(ui_evt_t *ev)
@@ -122,14 +119,13 @@ static void enter_armed(void)
     emit_id(EVT_STEP_ARMED);
 }
 
-static void start_running(uint32_t now_ms)
+static void start_running(void)
 {
     const process_def_t *p = app_process_get(s_proc);
     uint16_t t_s = app_process_time_s(s_proc, s_step);
     s_remaining_ms = (uint32_t)t_s * 1000u;
-    s_deadline_ms = now_ms + s_remaining_ms;
-    s_have_deadline = true;
-    s_resume_pending = false;
+    s_have_deadline = false;
+    s_resume_pending = true;
 
     if (t_s == 0 || p == NULL) {
         hal_motor_enable(false);
@@ -199,9 +195,13 @@ void app_machine_init(void)
     s_have_deadline = false;
     s_resume_pending = false;
     s_auto_advance = false;
-    s_q_head = 0;
-    s_q_tail = 0;
-    s_q_count = 0;
+
+    if (s_evtq == NULL) {
+        s_evtq = xQueueCreate(UI_EVT_QUEUE_LEN, sizeof(ui_evt_t));
+    } else {
+        xQueueReset(s_evtq);
+    }
+
     app_process_init();
     hal_motor_init();
     hal_temp_init();
@@ -230,13 +230,13 @@ uint32_t app_machine_remaining_ms(void)
 
 int app_machine_last_event(ui_evt_t *out)
 {
-    if (s_q_count == 0 || out == NULL) {
+    if (s_evtq == NULL || out == NULL) {
         return 0;
     }
-    *out = s_q[s_q_head];
-    s_q_head = (uint8_t)((s_q_head + 1u) % UI_EVT_QUEUE_LEN);
-    s_q_count--;
-    return 1;
+    if (xQueueReceive(s_evtq, out, 0) == pdTRUE) {
+        return 1;
+    }
+    return 0;
 }
 
 void app_machine_on_temp(float c, bool ok)
@@ -336,7 +336,7 @@ void app_machine_handle_cmd(const ui_cmd_t *cmd)
             enter_armed();
         } else if (s_state == ST_ARMED) {
             apply_step_index(cmd->step_index);
-            start_running(0);
+            start_running();
         } else if (s_state == ST_COMPLETE) {
             arm_or_next_from_complete();
         }

docs/megaplans/AUDIT-MEGAPLAN.md

@@ -42,7 +42,7 @@ The branch was cut with uncommitted `components/app_machine/app_machine.c` chang
 | ID | File | Session goal | STATUS |
 | --- | --- | --- | --- |
 | A00 | `audit/A00-docs.md` | Land audit doc + megaplan + phase files | DONE |
-| A01 | `audit/A01-machine-timing-queue.md` | Deadline fix + FreeRTOS event queue + host queue shim | TODO |
+| A01 | `audit/A01-machine-timing-queue.md` | Deadline fix + FreeRTOS event queue + host queue shim | DONE |
 | A02 | `audit/A02-auto-advance.md` | Restore auto-arm after step complete + test rework | TODO |
 | A03 | `audit/A03-task-wdt.md` | Explicit TWDT init/reconfigure + `add()` failure logging | TODO |
 | A04 | `audit/A04-temp-nonblocking.md` | OPTIONAL: non-blocking DS18B20 conversion | TODO |

docs/megaplans/audit/A01-machine-timing-queue.md

@@ -1,6 +1,6 @@
 # A01 — app_machine deadline fix + FreeRTOS event queue + host queue shim
 
-STATUS: TODO
+STATUS: DONE
 DEPENDS: A00
 
 **READ:** this file, `docs/megaplans/AUDIT-MEGAPLAN.md`, `docs/audit_remediation_plan.md` items 1–2, `components/app_machine/app_machine.c`, `tests/host/CMakeLists.txt`
@@ -37,8 +37,8 @@ All green. Firmware builds run in CI on push.
 Stage hunks per concern (`git add -p` or re-apply in order) — the dirty file combines all three changes plus the A02 flag.
 
 **DoD checkboxes:**
-- [ ] `start_running` takes no `now_ms`; deadline set on the first `RUNNING` tick.
-- [ ] `emit`/`app_machine_last_event` go through `s_evtq`; `app_machine_init` creates or resets the queue.
-- [ ] `s_auto_advance` still `false`.
-- [ ] Host ctest green with zero test changes.
-- [ ] STATUS → DONE here and in the megaplan table.
+- [x] `start_running` takes no `now_ms`; deadline set on the first `RUNNING` tick.
+- [x] `emit`/`app_machine_last_event` go through `s_evtq`; `app_machine_init` creates or resets the queue.
+- [x] `s_auto_advance` still `false`.
+- [x] Host ctest green with zero test changes.
+- [x] STATUS → DONE here and in the megaplan table.

tests/host/CMakeLists.txt

@@ -37,6 +37,7 @@ add_executable(test_machine
     stubs/hal_motor.c
     stubs/hal_temp.c
     stubs/hal_audio.c
+    freertos/queue.c
 )
 
 target_include_directories(test_machine PRIVATE ${HOST_INCLUDES})

tests/host/freertos/FreeRTOS.h

@@ -0,0 +1,14 @@
+#pragma once
+
+#include <stdint.h>
+
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+typedef uint32_t TickType_t;
+
+#define pdFALSE ((BaseType_t)0)
+#define pdTRUE  ((BaseType_t)1)
+#define pdPASS  pdTRUE
+#define pdFAIL  pdFALSE
+
+#define pdMS_TO_TICKS(xTimeInMs) ((TickType_t)(xTimeInMs))

tests/host/freertos/queue.c

@@ -0,0 +1,72 @@
+#include "freertos/queue.h"
+
+#include <stdlib.h>
+#include <string.h>
+
+struct QueueDefinition {
+    UBaseType_t len;
+    UBaseType_t item_size;
+    UBaseType_t head;
+    UBaseType_t tail;
+    UBaseType_t count;
+    uint8_t *storage;
+};
+
+QueueHandle_t xQueueCreate(UBaseType_t uxQueueLength, UBaseType_t uxItemSize)
+{
+    struct QueueDefinition *q = calloc(1, sizeof(*q));
+    if (q == NULL) {
+        return NULL;
+    }
+    q->storage = malloc((size_t)uxQueueLength * uxItemSize);
+    if (q->storage == NULL) {
+        free(q);
+        return NULL;
+    }
+    q->len = uxQueueLength;
+    q->item_size = uxItemSize;
+    return q;
+}
+
+BaseType_t xQueueSend(QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait)
+{
+    (void)xTicksToWait;
+    if (xQueue == NULL || pvItemToQueue == NULL) {
+        return pdFALSE;
+    }
+    if (xQueue->count == xQueue->len) {
+        return pdFALSE;
+    }
+    memcpy(xQueue->storage + (size_t)xQueue->tail * xQueue->item_size,
+           pvItemToQueue, xQueue->item_size);
+    xQueue->tail = (xQueue->tail + 1u) % xQueue->len;
+    xQueue->count++;
+    return pdTRUE;
+}
+
+BaseType_t xQueueReceive(QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait)
+{
+    (void)xTicksToWait;
+    if (xQueue == NULL || pvBuffer == NULL) {
+        return pdFALSE;
+    }
+    if (xQueue->count == 0u) {
+        return pdFALSE;
+    }
+    memcpy(pvBuffer, xQueue->storage + (size_t)xQueue->head * xQueue->item_size,
+           xQueue->item_size);
+    xQueue->head = (xQueue->head + 1u) % xQueue->len;
+    xQueue->count--;
+    return pdTRUE;
+}
+
+BaseType_t xQueueReset(QueueHandle_t xQueue)
+{
+    if (xQueue == NULL) {
+        return pdFALSE;
+    }
+    xQueue->head = 0;
+    xQueue->tail = 0;
+    xQueue->count = 0;
+    return pdTRUE;
+}

tests/host/freertos/queue.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include "freertos/FreeRTOS.h"
+
+struct QueueDefinition;
+typedef struct QueueDefinition *QueueHandle_t;
+
+QueueHandle_t xQueueCreate(UBaseType_t uxQueueLength, UBaseType_t uxItemSize);
+BaseType_t xQueueSend(QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait);
+BaseType_t xQueueReceive(QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait);
+BaseType_t xQueueReset(QueueHandle_t xQueue);