From 2f71e023db36975cbcd24e8ba8c7a94eb9de6942 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Jan 2024 07:53:00 +1100
Subject: [PATCH] AP_Bootloader: added cleanup of web server threads

---
 Tools/AP_Bootloader/network.cpp | 15 +++++++++++++++
 Tools/AP_Bootloader/network.h   |  3 +++
 2 files changed, 18 insertions(+)

diff --git a/Tools/AP_Bootloader/network.cpp b/Tools/AP_Bootloader/network.cpp
index 3cacc529c2..2a78b199a9 100644
--- a/Tools/AP_Bootloader/network.cpp
+++ b/Tools/AP_Bootloader/network.cpp
@@ -539,7 +539,14 @@ void BL_Network::net_request_trampoline(void *ctx)
 {
     auto *req = (req_context *)ctx;
     req->driver->handle_request(req->sock);
+
+    auto *driver = req->driver;
+    auto *thd = chThdGetSelfX();
     delete req;
+
+    WITH_SEMAPHORE(driver->web_delete_mtx);
+    thd->delete_next = driver->web_delete_list;
+    driver->web_delete_list = thd;
 }
 
 /*
@@ -574,6 +581,14 @@ void BL_Network::web_server(void)
                             60,
                             net_request_trampoline,
                             req);
+
+        // cleanup any finished threads
+        WITH_SEMAPHORE(web_delete_mtx);
+        while (web_delete_list != nullptr) {
+            auto *thd = web_delete_list;
+            web_delete_list = thd->delete_next;
+            chThdRelease(thd);
+        }
     }
 }
 
diff --git a/Tools/AP_Bootloader/network.h b/Tools/AP_Bootloader/network.h
index 599724e785..f7f55eebeb 100644
--- a/Tools/AP_Bootloader/network.h
+++ b/Tools/AP_Bootloader/network.h
@@ -19,6 +19,9 @@ private:
     struct netif *thisif;
     thread_t *net_thread_ctx;
 
+    HAL_Semaphore web_delete_mtx;
+    thread_t *web_delete_list;
+
     static void net_thread_trampoline(void*);
     static void web_server_trampoline(void*);