Tick A04 DoD checkbox after CI green

components/hal_temp/CMakeLists.txt

@@ -1,6 +1,6 @@
 set(srcs)
 set(priv_inc)
-set(priv_req driver)
+set(priv_req driver esp_timer)
 
 if(IDF_TARGET STREQUAL "esp32")
     list(APPEND srcs hal_temp.c)

components/hal_temp/hal_temp.c

@@ -4,8 +4,7 @@
 
 #include "esp_err.h"
 #include "esp_log.h"
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
+#include "esp_timer.h"
 
 #include "onewire_bus.h"
 #include "board.h"
@@ -18,10 +17,24 @@
 
 static const char *TAG = "temp";
 
+#define TEMP_CONV_MS 750
+
+typedef enum {
+    T_START,
+    T_WAIT,
+} temp_state_t;
+
 static onewire_bus_handle_t s_bus;
 static bool s_inited;
 static float s_last_c;
 static bool s_last_ok;
+static temp_state_t s_state = T_START;
+static uint32_t s_deadline_ms;
+
+static uint32_t now_ms(void)
+{
+    return (uint32_t)(esp_timer_get_time() / 1000ULL);
+}
 
 static bool scratch_valid(const uint8_t *sp)
 {
@@ -45,38 +58,55 @@ void hal_temp_tick(void)
 {
     if (s_bus == NULL) {
         s_last_ok = false;
-        vTaskDelay(pdMS_TO_TICKS(750));
         return;
     }
+    uint32_t now = now_ms();
+    if (s_state == T_START) {
+        if (now < s_deadline_ms) {
+            return;
+        }
+        if (onewire_bus_reset(s_bus) != ESP_OK) {
+            s_last_ok = false;
+            s_deadline_ms = now + TEMP_CONV_MS;
+            return;
+        }
+        uint8_t conv[2] = {CMD_SKIP_ROM, CMD_CONVERT_T};
+        if (onewire_bus_write_bytes(s_bus, conv, 2) != ESP_OK) {
+            s_last_ok = false;
+            s_deadline_ms = now + TEMP_CONV_MS;
+            return;
+        }
+        s_deadline_ms = now + TEMP_CONV_MS;
+        s_state = T_WAIT;
+        return;
+    }
+    /* T_WAIT */
+    if (now < s_deadline_ms) {
+        return;
+    }
+    s_state = T_START;
+    s_deadline_ms = now;
     if (onewire_bus_reset(s_bus) != ESP_OK) {
         s_last_ok = false;
-        vTaskDelay(pdMS_TO_TICKS(750));
-        return;
-    }
-    uint8_t conv[2] = {CMD_SKIP_ROM, CMD_CONVERT_T};
-    if (onewire_bus_write_bytes(s_bus, conv, 2) != ESP_OK) {
-        s_last_ok = false;
-        vTaskDelay(pdMS_TO_TICKS(750));
-        return;
-    }
-    vTaskDelay(pdMS_TO_TICKS(750));
-    if (onewire_bus_reset(s_bus) != ESP_OK) {
-        s_last_ok = false;
+        s_deadline_ms = now + TEMP_CONV_MS;
         return;
     }
     uint8_t rd[2] = {CMD_SKIP_ROM, CMD_READ_SCRATCH};
     if (onewire_bus_write_bytes(s_bus, rd, 2) != ESP_OK) {
         s_last_ok = false;
+        s_deadline_ms = now + TEMP_CONV_MS;
         return;
     }
     uint8_t sp[9];
     memset(sp, 0, sizeof(sp));
     if (onewire_bus_read_bytes(s_bus, sp, sizeof(sp)) != ESP_OK) {
         s_last_ok = false;
+        s_deadline_ms = now + TEMP_CONV_MS;
         return;
     }
     if (!scratch_valid(sp)) {
         s_last_ok = false;
+        s_deadline_ms = now + TEMP_CONV_MS;
         return;
     }
     int16_t raw = (int16_t)((uint16_t)sp[0] | ((uint16_t)sp[1] << 8));

docs/megaplans/AUDIT-MEGAPLAN.md

@@ -44,8 +44,8 @@ The branch was cut with uncommitted `components/app_machine/app_machine.c` chang
 | 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 | DONE |
 | A02 | `audit/A02-auto-advance.md` | Restore auto-arm after step complete + test rework | DONE |
-| 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 |
+| A03 | `audit/A03-task-wdt.md` | Explicit TWDT init/reconfigure + `add()` failure logging | DONE |
+| A04 | `audit/A04-temp-nonblocking.md` | OPTIONAL: non-blocking DS18B20 conversion | DONE |
 
 ## Dependency
 

docs/megaplans/audit/A03-task-wdt.md

@@ -1,6 +1,6 @@
 # A03 — explicit task watchdog setup in app_main
 
-STATUS: TODO
+STATUS: DONE
 DEPENDS: A00 (independent of A01/A02 — `main/main.c` only)
 
 **READ:** this file, `docs/megaplans/AUDIT-MEGAPLAN.md`, `docs/audit_remediation_plan.md` item 4, `main/main.c`, `sdkconfig.defaults`
@@ -53,8 +53,8 @@ cmake -S tests/host -B build/host && cmake --build build/host && ctest --test-di
 1. `Make task watchdog setup explicit in app_main`
 
 **DoD checkboxes:**
-- [ ] init-or-reconfigure runs before task creation.
-- [ ] `esp_task_wdt_add` failures are logged in all four tasks.
-- [ ] Effective config unchanged: 10 s timeout, CPU0 idle watched, no panic.
-- [ ] Both CI firmware builds green.
-- [ ] STATUS → DONE here and in the megaplan table.
+- [x] init-or-reconfigure runs before task creation.
+- [x] `esp_task_wdt_add` failures are logged in all four tasks.
+- [x] Effective config unchanged: 10 s timeout, CPU0 idle watched, no panic.
+- [x] Both CI firmware builds green.
+- [x] STATUS → DONE here and in the megaplan table.

docs/megaplans/audit/A04-temp-nonblocking.md

@@ -1,6 +1,6 @@
 # A04 — (OPTIONAL) non-blocking DS18B20 conversion in hal_temp
 
-STATUS: TODO (OPTIONAL — may be deferred indefinitely; if skipped, A03's explicit WDT setup already covers the constraint)
+STATUS: DONE
 DEPENDS: A03 (shares `temp_task` in `main/main.c`)
 
 **READ:** this file, `docs/megaplans/AUDIT-MEGAPLAN.md`, `docs/audit_remediation_plan.md` item 5, `components/hal_temp/hal_temp.c`, `main/main.c`
@@ -30,8 +30,8 @@ plus CI firmware builds for both targets.
 1. `Make DS18B20 conversion non-blocking in hal_temp`
 
 **DoD checkboxes:**
-- [ ] No `vTaskDelay(750)` inside `hal_temp_tick`; conversion waits via deadline.
-- [ ] `temp_task` always blocks (explicit 100 ms delay).
-- [ ] `TEMP_OFFSET`, CRC, and read semantics unchanged.
-- [ ] Host ctest green; both CI firmware builds green.
-- [ ] STATUS → DONE here and in the megaplan table (or noted `SKIPPED` with reason).
+- [x] No `vTaskDelay(750)` inside `hal_temp_tick`; conversion waits via deadline.
+- [x] `temp_task` always blocks (explicit 100 ms delay).
+- [x] `TEMP_OFFSET`, CRC, and read semantics unchanged.
+- [x] Host ctest green; both CI firmware builds green.
+- [x] STATUS → DONE here and in the megaplan table (or noted `SKIPPED` with reason).

main/main.c

@@ -97,7 +97,10 @@ static void map_and_post_key(char key)
 static void input_task(void *arg)
 {
     (void)arg;
-    esp_task_wdt_add(NULL);
+    esp_err_t werr = esp_task_wdt_add(NULL);
+    if (werr != ESP_OK) {
+        ESP_LOGW(TAG, "input wdt add failed: %s", esp_err_to_name(werr));
+    }
     const TickType_t period = pdMS_TO_TICKS(40); /* 25 Hz */
     for (;;) {
         ui_raw_key_t raw;
@@ -119,7 +122,10 @@ static void input_task(void *arg)
 static void machine_task(void *arg)
 {
     (void)arg;
-    esp_task_wdt_add(NULL);
+    esp_err_t werr = esp_task_wdt_add(NULL);
+    if (werr != ESP_OK) {
+        ESP_LOGW(TAG, "machine wdt add failed: %s", esp_err_to_name(werr));
+    }
     const TickType_t period = pdMS_TO_TICKS(20); /* 50 Hz */
     for (;;) {
         ui_cmd_t cmd;
@@ -136,7 +142,10 @@ static void machine_task(void *arg)
 static void ui_task(void *arg)
 {
     (void)arg;
-    esp_task_wdt_add(NULL);
+    esp_err_t werr = esp_task_wdt_add(NULL);
+    if (werr != ESP_OK) {
+        ESP_LOGW(TAG, "ui wdt add failed: %s", esp_err_to_name(werr));
+    }
 
     hal_display_clear();
     hal_display_text(0, 0, "AUTOFILM");
@@ -164,13 +173,17 @@ static void ui_task(void *arg)
 static void temp_task(void *arg)
 {
     (void)arg;
-    esp_task_wdt_add(NULL);
+    esp_err_t werr = esp_task_wdt_add(NULL);
+    if (werr != ESP_OK) {
+        ESP_LOGW(TAG, "temp wdt add failed: %s", esp_err_to_name(werr));
+    }
     for (;;) {
         hal_temp_tick();
         float c = 0.0f;
         bool ok = (hal_temp_read_c(&c) == ESP_OK);
         app_machine_on_temp(ok ? c : 0.0f, ok);
         esp_task_wdt_reset();
+        vTaskDelay(pdMS_TO_TICKS(100));
     }
 }
 #endif
@@ -205,6 +218,34 @@ void app_main(void)
 
     s_cmdq = xQueueCreate(UI_CMD_QUEUE_LEN, sizeof(ui_cmd_t));
 
+#if CONFIG_ESP_TASK_WDT_EN
+    esp_task_wdt_config_t wdt_cfg = {
+        .timeout_ms = CONFIG_ESP_TASK_WDT_TIMEOUT_S * 1000,
+        .idle_core_mask =
+#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0
+            (1u << 0)
+#else
+            0
+#endif
+#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1
+            | (1u << 1)
+#endif
+        ,
+#if CONFIG_ESP_TASK_WDT_PANIC
+        .trigger_panic = true,
+#else
+        .trigger_panic = false,
+#endif
+    };
+    esp_err_t wdt_err = esp_task_wdt_init(&wdt_cfg);
+    if (wdt_err == ESP_ERR_INVALID_STATE) {
+        wdt_err = esp_task_wdt_reconfigure(&wdt_cfg); /* already auto-initialised */
+    }
+    if (wdt_err != ESP_OK) {
+        ESP_LOGW(TAG, "task wdt setup: %s", esp_err_to_name(wdt_err));
+    }
+#endif
+
     xTaskCreate(temp_task, "temp", 4096, NULL, 2, NULL);
     xTaskCreate(input_task, "input", 3072, NULL, 8, NULL);
     xTaskCreate(machine_task, "machine", 4096, NULL, 6, NULL);