esp_idf_svc/

thread.rs

// TODO:
// - Prio A: Status report (we have driver::role() now; more, e.g. ipv6 notifications?)
// - Prio B: API to enable the Joiner workflow (need to read on that, but not needed for Matter; CONFIG_OPENTHREAD_JOINER - also native OpenThread API https://github.com/espressif/esp-idf/issues/13475)
// - Prio B: API to to enable the Commissioner workflow (need to read on that, but not needed for Matter; CONFIG_OPENTHREAD_COMMISSIONER - also native OpenThread API https://github.com/espressif/esp-idf/issues/13475)

use core::cell::UnsafeCell;
use core::ffi::{self, c_void, CStr};
use core::fmt::Debug;
use core::marker::PhantomData;
use core::ops::{Deref, DerefMut};
use core::ptr::addr_of_mut;

use alloc::boxed::Box;
use alloc::sync::Arc;

#[allow(unused)]
use ::log::{debug, info, warn};

use crate::eventloop::{EspEventDeserializer, EspEventSource, EspSystemEventLoop};
use crate::hal::delay;
use crate::hal::gpio::{InputPin, OutputPin};
use crate::hal::uart::Uart;
#[cfg(all(esp_idf_comp_esp_netif_enabled, not(esp_idf_openthread_radio)))]
use crate::handle::RawHandle;
use crate::io::vfs::MountedEventfs;
#[cfg(all(esp_idf_comp_esp_netif_enabled, not(esp_idf_openthread_radio)))]
use crate::netif::*;
use crate::nvs::EspDefaultNvsPartition;
use crate::private::mutex::{Condvar, Mutex};
use crate::sys::*;
use crate::thread::srp::OtSrp;

pub use srp::*;

extern crate alloc;

mod srp;

/// A trait shared between the `Host` and `RCP` modes providing the option for these
/// to do additional initialization.
pub trait Mode {
    fn init();
}

/// The driver will operate in Radio Co-Processor mode
///
/// The chip needs to be connected via UART or SPI to the host
#[cfg(esp_idf_soc_ieee802154_supported)]
#[derive(Debug)]
pub struct RCP(());

#[cfg(esp_idf_soc_ieee802154_supported)]
impl Mode for RCP {
    fn init() {
        //#[cfg(esp_idf_openthread_ncp_vendor_hook)]
        {
            extern "C" {
                fn otAppNcpInit(instance: *mut otInstance);
            }

            unsafe {
                otAppNcpInit(esp_openthread_get_instance());
            }
        }
    }
}

/// The driver will operate as a host
///
/// This means that - unless the chip has a native Thread suppoort -
/// it needs to be connected via UART or SPI to another chip which does have
/// native Thread support and which is configured to operate in RCP mode
#[derive(Debug)]
pub struct Host(());

impl Mode for Host {
    fn init() {}
}

pub mod config {
    use crate::hal::uart::config::*;
    use crate::hal::units::*;

    /// A safe baud rate for the UART
    #[cfg(all(esp32c2, esp_idf_xtal_freq_26))]
    pub const UART_SAFE_BAUD_RATE: Hertz = Hertz(74880);

    /// A safe baud rate for the UART
    #[cfg(not(all(esp32c2, esp_idf_xtal_freq_26)))]
    pub const UART_SAFE_BAUD_RATE: Hertz = Hertz(115200);

    /// A safe default UART configuration
    pub fn uart_default_cfg() -> Config {
        Config::new()
            .baudrate(UART_SAFE_BAUD_RATE)
            .data_bits(DataBits::DataBits8)
            .parity_none()
            .stop_bits(StopBits::STOP1)
            .flow_control(FlowControl::None)
            .flow_control_rts_threshold(0)
    }
}

macro_rules! ot_esp {
    ($err:expr) => {{
        $crate::sys::esp!($crate::thread::ot_esp_code($err as u32))
    }};
}

pub(crate) use ot_esp;

#[allow(non_upper_case_globals, non_snake_case)]
pub(crate) const fn ot_esp_code(ot_code: u32) -> esp_err_t {
    match ot_code {
        crate::sys::otError_OT_ERROR_NONE => crate::sys::ESP_OK as _,
        crate::sys::otError_OT_ERROR_FAILED => crate::sys::ESP_FAIL as _,
        _ => crate::sys::ESP_FAIL as _, // For now
    }
}

pub(crate) fn ot_esp_err(ot_code: u32) -> EspError {
    EspError::from(ot_esp_code(ot_code)).unwrap()
}

/// Active scan result
pub struct ActiveScanResult<'a>(&'a otActiveScanResult);

impl<'a> ActiveScanResult<'a> {
    /// IEEE 802.15.4 Extended Address
    pub fn extended_address(&self) -> &'a [u8] {
        &self.0.mExtAddress.m8
    }

    /// Thread Network Name
    pub fn network_name_cstr(&self) -> &'a CStr {
        unsafe { ffi::CStr::from_ptr(&self.0.mNetworkName.m8 as *const _ as *const _) }
    }

    /// Thread Extended PAN ID
    pub fn extended_pan_id(&self) -> &[u8] {
        &self.0.mExtendedPanId.m8
    }

    /// Steering Data
    pub fn steering_data(&self) -> &[u8] {
        &self.0.mSteeringData.m8
    }

    /// IEEE 802.15.4 PAN ID
    pub fn pan_id(&self) -> u16 {
        self.0.mPanId
    }

    /// Joiner UDP Port
    pub fn joiner_udp_port(&self) -> u16 {
        self.0.mJoinerUdpPort
    }

    /// IEEE 802.15.4 Channel
    pub fn channel(&self) -> u8 {
        self.0.mChannel
    }

    /// The max RSSI (dBm)
    pub fn max_rssi(&self) -> i8 {
        self.0.mRssi
    }

    /// LQI
    pub fn lqi(&self) -> u8 {
        self.0.mLqi
    }

    /// Version
    pub fn version(&self) -> u8 {
        self.0.mVersion() as _
    }

    /// Native Commissioner
    pub fn native_commissioner(&self) -> bool {
        self.0.mIsNative()
    }

    /// Join permitted
    pub fn join_permitted(&self) -> bool {
        self.0.mIsJoinable()
    }
}

/// Energy scan result
pub struct EnergyScanResult<'a>(&'a otEnergyScanResult);

impl EnergyScanResult<'_> {
    /// IEEE 802.15.4 Channel
    pub fn channel(&self) -> u8 {
        self.0.mChannel
    }

    /// The max RSSI (dBm)
    pub fn max_rssi(&self) -> i8 {
        self.0.mMaxRssi
    }
}

/// The current role of the device in the Thread network
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum Role {
    Disabled,
    Detached,
    Child,
    Router,
    Leader,
}

#[allow(non_upper_case_globals, non_snake_case)]
impl From<otDeviceRole> for Role {
    fn from(role: otDeviceRole) -> Self {
        match role {
            otDeviceRole_OT_DEVICE_ROLE_DISABLED => Role::Disabled,
            otDeviceRole_OT_DEVICE_ROLE_DETACHED => Role::Detached,
            otDeviceRole_OT_DEVICE_ROLE_CHILD => Role::Child,
            otDeviceRole_OT_DEVICE_ROLE_ROUTER => Role::Router,
            otDeviceRole_OT_DEVICE_ROLE_LEADER => Role::Leader,
            _ => Role::Disabled,
        }
    }
}

/// The Ipv6 packet received from Thread via the `ThreadDriver::set_rx_callback` method
pub struct Ipv6Packet<'a>(&'a otMessage);

impl Ipv6Packet<'_> {
    pub fn raw(&self) -> &otMessage {
        self.0
    }

    #[allow(clippy::len_without_is_empty)]
    pub fn len(&self) -> usize {
        unsafe { otMessageGetLength(self.0) as _ }
    }

    pub fn offset(&self) -> usize {
        unsafe { otMessageGetOffset(self.0) as _ }
    }

    pub fn read(&self, offset: usize, buf: &mut [u8]) -> usize {
        let len = self.len();

        unsafe { otMessageRead(self.0, offset as _, buf.as_mut_ptr() as *mut _, len as _) as _ }
    }
}

/// The incoming Ipv6 data received from Thread via the `ThreadDriver::set_rx_callback` method
pub enum Ipv6Incoming<'a> {
    /// A notification that an IPv6 address was added to the device
    AddressAdded(core::net::Ipv6Addr),
    /// A notification that an IPv6 address was removed from the device
    AddressRemoved(core::net::Ipv6Addr),
    /// An incoming raw IPv6 packet
    Data(Ipv6Packet<'a>),
}

/// This struct provides a safe wrapper over the ESP IDF Thread C driver.
///
/// The driver works on Layer 2 (Data Link) in the OSI model, in that it provides
/// facilities for sending and receiving ethernet packets over the Thread radio.
///
/// For most use cases, utilizing `EspThread` - which provides a networking (IP)
/// layer as well - should be preferred. Using `ThreadDriver` directly is beneficial
/// only when one would like to utilize a custom, non-STD network stack like `smoltcp`.
///
/// The driver can work in two modes:
/// - RCP (Radio Co-Processor) mode: The driver operates as a co-processor to the host,
///   which is expected to be another chip connected to ours via SPI or UART. This is
///   of course only supported with MCUs that do have a Thread radio, like esp32c2 and esp32c6
/// - Host mode: The driver operates as a host, and if the chip does not have a Thread radio
///   it has to be connected via SPI or USB to a chip which runs the Thread stack in RCP mode
pub struct ThreadDriver<'d, T>
where
    T: Mode,
{
    inner: UnsafeCell<Box<ThreadDriverInner>>,
    //_subscription: EspSubscription<'static, System>,
    _nvs: EspDefaultNvsPartition,
    _mounted_event_fs: Arc<MountedEventfs>,
    _mode: T,
    _p: PhantomData<&'d mut ()>,
}

impl<'d> ThreadDriver<'d, Host> {
    /// Create a new Thread Host driver instance utilizing the
    /// native Thread radio on the MCU
    #[cfg(esp_idf_soc_ieee802154_supported)]
    pub fn new<M: crate::hal::modem::ThreadModemPeripheral + 'd>(
        modem: M,
        sysloop: EspSystemEventLoop,
        nvs: EspDefaultNvsPartition,
        mounted_event_fs: Arc<MountedEventfs>,
    ) -> Result<Self, EspError> {
        Self::internal_new(
            Self::host_native_cfg(modem),
            sysloop,
            nvs,
            mounted_event_fs,
            Host(()),
        )
    }

    /// Create a new Thread Host driver instance utilizing an SPI connection
    /// to another MCU running the Thread stack in RCP mode.
    #[cfg(not(esp_idf_version_major = "4"))]
    #[allow(clippy::too_many_arguments)]
    pub fn new_spi<S: crate::hal::spi::Spi + 'd>(
        spi: S,
        mosi: impl InputPin + 'd,
        miso: impl OutputPin + 'd,
        sclk: impl InputPin + OutputPin + 'd,
        cs: Option<impl InputPin + OutputPin + 'd>,
        intr: Option<impl InputPin + OutputPin + 'd>,
        config: &crate::hal::spi::config::Config,
        sysloop: EspSystemEventLoop,
        nvs: EspDefaultNvsPartition,
        mounted_event_fs: Arc<MountedEventfs>,
    ) -> Result<Self, EspError> {
        Self::internal_new(
            Self::host_spi_cfg(spi, mosi, miso, sclk, cs, intr, config),
            sysloop,
            nvs,
            mounted_event_fs,
            Host(()),
        )
    }

    /// Create a new Thread Host driver instance utilizing a UART connection
    /// to another MCU running the Thread stack in RCP mode.
    pub fn new_uart<U: Uart + 'd>(
        uart: U,
        tx: impl OutputPin + 'd,
        rx: impl InputPin + 'd,
        config: &crate::hal::uart::config::Config,
        sysloop: EspSystemEventLoop,
        nvs: EspDefaultNvsPartition,
        mounted_event_fs: Arc<MountedEventfs>,
    ) -> Result<Self, EspError> {
        Self::internal_new(
            Self::host_uart_cfg(uart, tx, rx, config),
            sysloop,
            nvs,
            mounted_event_fs,
            Host(()),
        )
    }

    /// Enable or disable the network interface of the Thread driver
    pub fn enable_ipv6(&self, enable: bool) -> Result<(), EspError> {
        let _lock = self.inner();

        ot_esp!(unsafe { otIp6SetEnabled(esp_openthread_get_instance(), enable) })
    }

    /// Enable or disable Thread
    ///
    /// When enabling, this should be called after the network interface is enabled
    pub fn enable_thread(&self, enable: bool) -> Result<(), EspError> {
        let _lock = self.inner();

        ot_esp!(unsafe { otThreadSetEnabled(esp_openthread_get_instance(), enable) })
    }

    /// Retrieve the current role of the device in the Thread network
    pub fn role(&self) -> Result<Role, EspError> {
        let _lock = self.inner();

        Ok(unsafe { otThreadGetDeviceRole(esp_openthread_get_instance()) }.into())
    }

    /// Initialize the Thread command-line interface (CLI) for debugging purposes.
    ///
    /// NOTE: This function can only be called once.
    #[cfg(esp_idf_openthread_cli)]
    pub fn init_cli(&mut self) -> Result<(), EspError> {
        // TODO: Can only be called once; track this

        unsafe {
            esp_openthread_cli_init();
        }

        #[cfg(esp_idf_openthread_cli_esp_extension)]
        unsafe {
            esp_cli_custom_command_init();
        }

        unsafe {
            esp_openthread_cli_create_task();
        }

        Ok(())
    }

    /// Retrieve the active TOD (Thread Operational Dataset) in the user-supplied buffer
    ///
    /// Return the size of the TOD data written to the buffer
    ///
    /// The TOD is in Thread TLV format.
    pub fn tod(&self, buf: &mut [u8]) -> Result<usize, EspError> {
        let mut inner = self.inner();

        Self::internal_tod(&mut inner, true, buf)
    }

    /// Retrieve the pending TOD (Thread Operational Dataset) in the user-supplied buffer
    ///
    /// Return the size of the TOD data written to the buffer
    ///
    /// The TOD is in Thread TLV format.
    pub fn pending_tod(&self, buf: &mut [u8]) -> Result<usize, EspError> {
        let mut inner = self.inner();

        Self::internal_tod(&mut inner, false, buf)
    }

    /// Set the active TOD (Thread Operational Dataset) to the provided data
    ///
    /// The TOD data should be in Thread TLV format.
    pub fn set_tod(&self, tod: &[u8]) -> Result<(), EspError> {
        let mut inner = self.inner();

        Self::fill_dataset_tlv(&mut inner.dataset_buf, tod)?;

        Self::internal_set_tod(&mut inner, true)
    }

    /// Set the pending TOD (Thread Operational Dataset) to the provided data
    ///
    /// The TOD data should be in Thread TLV format.
    pub fn set_pending_tod(&self, tod: &[u8]) -> Result<(), EspError> {
        let mut inner = self.inner();

        Self::fill_dataset_tlv(&mut inner.dataset_buf, tod)?;

        Self::internal_set_tod(&mut inner, false)
    }

    /// Set the active TOD (Thread Operational Dataset) to the provided data
    ///
    /// The TOD data should be in Thread TLV format.
    pub fn set_tod_hexstr(&self, tod: &str) -> Result<(), EspError> {
        let mut inner = self.inner();

        Self::fill_dataset_tlv_hexstr(&mut inner.dataset_buf, tod)?;

        Self::internal_set_tod(&mut inner, true)
    }

    /// Set the pending TOD (Thread Operational Dataset) to the provided data
    ///
    /// The TOD data should be in Thread TLV format.
    pub fn set_pending_tod_hexstr(&self, tod: &str) -> Result<(), EspError> {
        let mut inner = self.inner();

        Self::fill_dataset_tlv_hexstr(&mut inner.dataset_buf, tod)?;

        Self::internal_set_tod(&mut inner, false)
    }

    /// Set the active TOD (Thread Operational Dataset) according to the
    /// `CONFIG_OPENTHREAD_` TOD-related parameters compiled into the app
    /// during build (via `sdkconfig*`)
    #[cfg(not(esp_idf_version_major = "4"))]
    pub fn set_tod_from_cfg(&self) -> Result<(), EspError> {
        let _lock = self.inner();

        ot_esp!(unsafe { esp_openthread_auto_start(core::ptr::null_mut()) })
    }

    /// Perform an active scan for Thread networks
    ///
    /// The callback will be called for each found network
    /// At the end of the scan, the callback will be called with `None`
    pub fn scan<F: FnMut(Option<ActiveScanResult>) + Send + 'static>(
        &self,
        callback: F,
    ) -> Result<(), EspError> {
        let mut inner = self.inner();

        if inner.scan_cb.is_some() {
            return Err(EspError::from_infallible::<ESP_ERR_INVALID_STATE>());
        }

        #[allow(clippy::type_complexity)]
        let callback: Box<Box<dyn FnMut(Option<ActiveScanResult>) + Send + 'static>> =
            Box::new(Box::new(callback));

        // Store callback where on_active_scan_result can get to it
        inner.scan_cb = Some(callback);

        match ot_esp!(unsafe {
            otLinkActiveScan(
                esp_openthread_get_instance(),
                0xffff_ffffu32, // All channels
                200,            // ms scan per channel
                Some(Self::on_active_scan_result),
                &mut *inner as *mut ThreadDriverInner as *mut c_void,
            )
        }) {
            Ok(()) => Ok(()),
            Err(err) => {
                // Clean up inner if we fail to start the scan
                inner.scan_cb = None;
                Err(err)
            }
        }
    }

    /// Check if an active scan is in progress
    pub fn is_scan_in_progress(&self) -> Result<bool, EspError> {
        let _lock = self.inner();

        Ok(unsafe { otLinkIsActiveScanInProgress(esp_openthread_get_instance()) })
    }

    /// Perform an energy scan for Thread networks
    ///
    /// The callback will be called for each found network
    /// At the end of the scan, the callback will be called with `None`
    pub fn energy_scan<F: FnMut(Option<EnergyScanResult>) + Send + 'static>(
        &self,
        callback: F,
    ) -> Result<(), EspError> {
        let mut inner = self.inner();

        if inner.energy_cb.is_some() {
            return Err(EspError::from_infallible::<ESP_ERR_INVALID_STATE>());
        }

        #[allow(clippy::type_complexity)]
        let callback: Box<Box<dyn FnMut(Option<EnergyScanResult>) + Send + 'static>> =
            Box::new(Box::new(callback));

        // Store callback where on_energy_scan_result can get to it
        inner.energy_cb = Some(callback);

        match ot_esp!(unsafe {
            otLinkEnergyScan(
                esp_openthread_get_instance(),
                0xffff_ffffu32, // All channels
                200,            // ms scan per channel
                Some(Self::on_energy_scan_result),
                &mut *inner as *mut ThreadDriverInner as *mut c_void,
            )
        }) {
            Ok(()) => Ok(()),
            Err(err) => {
                // Clean up inner if we fail to start the scan
                inner.energy_cb = None;
                Err(err)
            }
        }
    }

    /// Check if an energy scan is in progress
    pub fn is_energy_scan_in_progress(&self) -> Result<bool, EspError> {
        let _lock = self.inner();

        Ok(unsafe { otLinkIsEnergyScanInProgress(esp_openthread_get_instance()) })
    }

    /// Send an Ipv6 raw packet over Thread
    pub fn tx(&self, packet: &[u8]) -> Result<(), EspError> {
        let _lock = self.inner();

        let message =
            unsafe { otIp6NewMessage(esp_openthread_get_instance(), core::ptr::null_mut()) };
        if message.is_null() {
            Err(EspError::from_infallible::<ESP_FAIL>())?;
        }

        let result = ot_esp!(unsafe {
            otMessageAppend(message, packet.as_ptr() as *const _, packet.len() as _)
        })
        .and_then(|_| ot_esp!(unsafe { otIp6Send(esp_openthread_get_instance(), message) }));

        unsafe { otMessageFree(message) };

        result
    }

    /// Set a callback function for receiving Ipv6 raw packets from Thread
    pub fn set_rx_callback<R>(&self, callback: Option<R>) -> Result<(), EspError>
    where
        R: FnMut(Ipv6Incoming) + Send + 'static,
    {
        let mut inner = self.inner();

        Self::internal_set_rx_callback(&mut inner, callback)
    }

    /// Set a callback function for receiving Ipv6 raw packets from Thread
    ///
    /// # Safety
    ///
    /// This method - in contrast to method `set_rx_callback` - allows the user to pass
    /// non-static callback/closure. This enables users to borrow
    /// - in the closure - variables that live on the stack - or more generally - in the same
    ///   scope where the service is created.
    ///
    /// HOWEVER: care should be taken NOT to call `core::mem::forget()` on the service,
    /// as that would immediately lead to an UB (crash).
    /// Also note that forgetting the service might happen with `Rc` and `Arc`
    /// when circular references are introduced: <https://github.com/rust-lang/rust/issues/24456>
    ///
    /// The reason is that the closure is actually sent to a hidden ESP IDF thread.
    /// This means that if the service is forgotten, Rust is free to e.g. unwind the stack
    /// and the closure now owned by this other thread will end up with references to variables that no longer exist.
    ///
    /// The destructor of the service takes care - prior to the service being dropped and e.g.
    /// the stack being unwind - to remove the closure from the hidden thread and destroy it.
    /// Unfortunately, when the service is forgotten, the un-subscription does not happen
    /// and invalid references are left dangling.
    ///
    /// This "local borrowing" will only be possible to express in a safe way once/if `!Leak` types
    /// are introduced to Rust (i.e. the impossibility to "forget" a type and thus not call its destructor).
    pub fn set_nonstatic_rx_callback<R>(&self, callback: Option<R>) -> Result<(), EspError>
    where
        R: FnMut(Ipv6Incoming) + Send + 'd,
    {
        let mut inner = self.inner();

        Self::internal_set_rx_callback(&mut inner, callback)
    }

    // NOTE: Methods starting with `internal_` have to be called only when the OpenThread lock is held

    fn internal_set_rx_callback<R>(
        inner: &mut ThreadDriverInner,
        callback: Option<R>,
    ) -> Result<(), EspError>
    where
        R: FnMut(Ipv6Incoming) + Send + 'd,
    {
        if let Some(callback) = callback {
            #[allow(clippy::type_complexity)]
            let callback: Box<Box<dyn FnMut(Ipv6Incoming) + Send + 'd>> =
                Box::new(Box::new(callback));

            #[allow(clippy::type_complexity)]
            let callback: Box<Box<dyn FnMut(Ipv6Incoming) + Send + 'static>> =
                unsafe { core::mem::transmute(callback) };

            // Stick the callback where Self::on_address/Self::on_packet can get to it
            inner.ipv6_cb = Some(callback);

            unsafe {
                otIp6SetAddressCallback(
                    esp_openthread_get_instance(),
                    Some(Self::on_address),
                    &mut *inner as *mut ThreadDriverInner as *mut c_void,
                );
                otIp6SetReceiveCallback(
                    esp_openthread_get_instance(),
                    Some(Self::on_packet),
                    &mut *inner as *mut ThreadDriverInner as *mut c_void,
                );
                otIp6SetReceiveFilterEnabled(esp_openthread_get_instance(), true);

                // TODO otIcmp6SetEchoMode(esp_openthread_get_instance(), OT_ICMP6_ECHO_HANDLER_RLOC_ALOC_ONLY);
            }
        } else {
            unsafe {
                otIp6SetAddressCallback(esp_openthread_get_instance(), None, core::ptr::null_mut());
                otIp6SetReceiveCallback(esp_openthread_get_instance(), None, core::ptr::null_mut());
                otIp6SetReceiveFilterEnabled(esp_openthread_get_instance(), true);
                // TODO otIcmp6SetEchoMode(esp_openthread_get_instance(), OT_ICMP6_ECHO_HANDLER_RLOC_ALOC_ONLY);
            }

            inner.ipv6_cb = None;
        }

        Ok(())
    }

    fn internal_tod(
        inner: &mut ThreadDriverInner,
        active: bool,
        buf: &mut [u8],
    ) -> Result<usize, EspError> {
        let dataset_buf = &mut inner.dataset_buf;

        ot_esp!(unsafe {
            if active {
                otDatasetGetActiveTlvs(esp_openthread_get_instance(), dataset_buf)
            } else {
                otDatasetGetPendingTlvs(esp_openthread_get_instance(), dataset_buf)
            }
        })?;

        let len = dataset_buf.mLength as usize;
        if buf.len() < len {
            Err(EspError::from_infallible::<ESP_ERR_INVALID_ARG>())?;
        }

        buf[..len].copy_from_slice(&dataset_buf.mTlvs[..len]);

        Ok(len)
    }

    fn internal_set_tod(inner: &mut ThreadDriverInner, active: bool) -> Result<(), EspError> {
        ot_esp!(unsafe {
            if active {
                otDatasetSetActiveTlvs(esp_openthread_get_instance(), &inner.dataset_buf)
            } else {
                otDatasetSetPendingTlvs(esp_openthread_get_instance(), &inner.dataset_buf)
            }
        })?;

        Ok(())
    }

    fn fill_dataset_tlv(
        dataset_buf: &mut otOperationalDatasetTlvs,
        data: &[u8],
    ) -> Result<(), EspError> {
        if data.len() > core::mem::size_of_val(&dataset_buf.mTlvs) {
            Err(EspError::from_infallible::<ESP_ERR_INVALID_ARG>())?;
        }

        dataset_buf.mLength = data.len() as _;
        dataset_buf.mTlvs[..data.len()].copy_from_slice(data);

        Ok(())
    }

    /// Populates the internal OT TLV dataset structure with the given dataset in HEX-TLV str format.
    fn fill_dataset_tlv_hexstr(
        dataset_buf: &mut otOperationalDatasetTlvs,
        dataset: &str,
    ) -> Result<(), EspError> {
        let dataset = dataset.trim();
        let mut offset = 0;

        for (chf, chs) in dataset
            .chars()
            .step_by(2)
            .zip(dataset.chars().skip(1).step_by(2))
        {
            let byte = (chf
                .to_digit(16)
                .ok_or(ot_esp_err(otError_OT_ERROR_INVALID_ARGS))?
                << 4)
                | chs
                    .to_digit(16)
                    .ok_or(ot_esp_err(otError_OT_ERROR_INVALID_ARGS))?;

            if offset >= dataset_buf.mTlvs.len() {
                Err(ot_esp_err(otError_OT_ERROR_NO_BUFS))?;
            }

            dataset_buf.mTlvs[offset] = byte as _;
            offset += 1;
        }

        dataset_buf.mLength = offset as _;

        Ok(())
    }

    unsafe extern "C" fn on_address(
        address_info: *const otIp6AddressInfo,
        is_added: bool,
        context: *mut c_void,
    ) {
        let inner = unsafe { (context as *mut ThreadDriverInner).as_mut().unwrap() };

        if let Some(ipv6_cb) = inner.ipv6_cb.as_mut() {
            let address_info = unsafe { address_info.as_ref() }.unwrap();
            let ot_address = unsafe { address_info.mAddress.as_ref() }.unwrap();

            let address = core::net::Ipv6Addr::from(ot_address.mFields.m8);

            if is_added {
                ipv6_cb(Ipv6Incoming::AddressAdded(address));
            } else {
                ipv6_cb(Ipv6Incoming::AddressRemoved(address));
            }
        }
    }

    unsafe extern "C" fn on_packet(message: *mut otMessage, context: *mut c_void) {
        let inner = unsafe { (context as *mut ThreadDriverInner).as_mut().unwrap() };

        if let Some(ipv6_cb) = inner.ipv6_cb.as_mut() {
            ipv6_cb(Ipv6Incoming::Data(Ipv6Packet(
                unsafe { message.as_ref() }.unwrap(),
            )));
        }

        otMessageFree(message);
    }

    unsafe extern "C" fn on_active_scan_result(
        result: *mut otActiveScanResult,
        context: *mut c_void,
    ) {
        let inner = unsafe { (context as *mut ThreadDriverInner).as_mut().unwrap() };

        if let Some(scan_cb) = inner.scan_cb.as_mut() {
            if result.is_null() {
                scan_cb(None);
            } else {
                scan_cb(Some(ActiveScanResult(unsafe { result.as_ref() }.unwrap())));
            }
        }

        if result.is_null() {
            inner.scan_cb = None;
        }
    }

    unsafe extern "C" fn on_energy_scan_result(
        result: *mut otEnergyScanResult,
        context: *mut c_void,
    ) {
        let inner = unsafe { (context as *mut ThreadDriverInner).as_mut().unwrap() };

        if let Some(energy_cb) = inner.energy_cb.as_mut() {
            if result.is_null() {
                energy_cb(None);
            } else {
                energy_cb(Some(EnergyScanResult(unsafe { result.as_ref() }.unwrap())));
            }
        }

        if result.is_null() {
            inner.energy_cb = None;
        }
    }

    #[cfg(esp_idf_soc_ieee802154_supported)]
    fn host_native_cfg<M: crate::hal::modem::ThreadModemPeripheral + 'd>(
        _modem: M,
    ) -> esp_openthread_platform_config_t {
        esp_openthread_platform_config_t {
            radio_config: esp_openthread_radio_config_t {
                radio_mode: esp_openthread_radio_mode_t_RADIO_MODE_NATIVE,
                ..Default::default()
            },
            host_config: esp_openthread_host_connection_config_t {
                host_connection_mode:
                    esp_openthread_host_connection_mode_t_HOST_CONNECTION_MODE_NONE,
                ..Default::default()
            },
            port_config: Self::PORT_CONFIG,
        }
    }

    #[cfg(not(esp_idf_version_major = "4"))]
    #[allow(clippy::too_many_arguments)]
    fn host_spi_cfg<S: crate::hal::spi::Spi + 'd>(
        _spi: S,
        mosi: impl InputPin + 'd,
        miso: impl OutputPin + 'd,
        sclk: impl InputPin + OutputPin + 'd,
        cs: Option<impl InputPin + OutputPin + 'd>,
        intr: Option<impl InputPin + OutputPin + 'd>,
        config: &crate::hal::spi::config::Config,
    ) -> esp_openthread_platform_config_t {
        let cs_pin = if let Some(cs) = cs { cs.pin() as _ } else { -1 };

        let intr_pin = if let Some(intr) = intr {
            intr.pin() as _
        } else {
            -1
        };

        let mut icfg: spi_device_interface_config_t = config.into();
        icfg.spics_io_num = cs_pin as _;

        esp_openthread_platform_config_t {
            radio_config: esp_openthread_radio_config_t {
                radio_mode: esp_openthread_radio_mode_t_RADIO_MODE_SPI_RCP,
                __bindgen_anon_1: esp_openthread_radio_config_t__bindgen_ty_1 {
                    radio_spi_config: esp_openthread_spi_host_config_t {
                        host_device: S::device() as _,
                        dma_channel: spi_common_dma_t_SPI_DMA_CH_AUTO,
                        #[cfg(not(esp_idf_version_at_least_6_0_0))]
                        spi_interface: spi_bus_config_t {
                            __bindgen_anon_1: spi_bus_config_t__bindgen_ty_1 {
                                mosi_io_num: mosi.pin() as _,
                            },
                            __bindgen_anon_2: spi_bus_config_t__bindgen_ty_2 {
                                miso_io_num: miso.pin() as _,
                            },
                            sclk_io_num: sclk.pin() as _,
                            ..Default::default()
                        },
                        #[cfg(esp_idf_version_at_least_6_0_0)]
                        spi_interface: spi_bus_config_t {
                            __bindgen_anon_1: spi_bus_config_t__bindgen_ty_1 {
                                __bindgen_anon_1: spi_bus_config_t__bindgen_ty_1__bindgen_ty_1 {
                                    data4_io_num: -1,
                                    data5_io_num: -1,
                                    data6_io_num: -1,
                                    data7_io_num: -1,
                                    __bindgen_anon_1:
                                        spi_bus_config_t__bindgen_ty_1__bindgen_ty_1__bindgen_ty_1 {
                                            mosi_io_num: mosi.pin() as _,
                                        },
                                    __bindgen_anon_2:
                                        spi_bus_config_t__bindgen_ty_1__bindgen_ty_1__bindgen_ty_2 {
                                            miso_io_num: miso.pin() as _,
                                        },
                                    __bindgen_anon_3:
                                        spi_bus_config_t__bindgen_ty_1__bindgen_ty_1__bindgen_ty_3 {
                                            quadwp_io_num: -1,
                                        },
                                    __bindgen_anon_4:
                                        spi_bus_config_t__bindgen_ty_1__bindgen_ty_1__bindgen_ty_4 {
                                            quadhd_io_num: -1,
                                        },
                                    sclk_io_num: sclk.pin() as _,
                                },
                            },
                            ..Default::default()
                        },
                        spi_device: icfg,
                        intr_pin,
                    },
                },
            },
            host_config: esp_openthread_host_connection_config_t {
                host_connection_mode:
                    esp_openthread_host_connection_mode_t_HOST_CONNECTION_MODE_NONE,
                ..Default::default()
            },
            port_config: Self::PORT_CONFIG,
        }
    }

    fn host_uart_cfg<U: Uart + 'd>(
        _uart: U,
        tx: impl OutputPin + 'd,
        rx: impl InputPin + 'd,
        config: &crate::hal::uart::config::Config,
    ) -> esp_openthread_platform_config_t {
        #[cfg(esp_idf_version_major = "4")]
        let cfg = esp_openthread_platform_config_t {
            radio_config: esp_openthread_radio_config_t {
                radio_mode: esp_openthread_radio_mode_t_RADIO_MODE_UART_RCP,
                radio_uart_config: esp_openthread_uart_config_t {
                    port: U::port() as _,
                    uart_config: config.into(),
                    rx_pin: rx.pin() as _,
                    tx_pin: tx.pin() as _,
                },
            },
            host_config: esp_openthread_host_connection_config_t {
                host_connection_mode:
                    esp_openthread_host_connection_mode_t_HOST_CONNECTION_MODE_NONE,
                ..Default::default()
            },
            port_config: Self::PORT_CONFIG,
        };

        #[cfg(not(esp_idf_version_major = "4"))]
        let cfg = esp_openthread_platform_config_t {
            radio_config: esp_openthread_radio_config_t {
                radio_mode: esp_openthread_radio_mode_t_RADIO_MODE_UART_RCP,
                __bindgen_anon_1: esp_openthread_radio_config_t__bindgen_ty_1 {
                    radio_uart_config: esp_openthread_uart_config_t {
                        port: U::port() as _,
                        uart_config: config.into(),
                        rx_pin: rx.pin() as _,
                        tx_pin: tx.pin() as _,
                    },
                },
            },
            host_config: esp_openthread_host_connection_config_t {
                host_connection_mode:
                    esp_openthread_host_connection_mode_t_HOST_CONNECTION_MODE_NONE,
                ..Default::default()
            },
            port_config: Self::PORT_CONFIG,
        };

        cfg
    }
}

#[cfg(esp_idf_soc_ieee802154_supported)]
impl<'d> ThreadDriver<'d, RCP> {
    /// Create a new Thread RCP driver instance utilizing an SPI connection
    /// to another MCU running the Thread Host stack.
    #[cfg(not(esp_idf_version_major = "4"))]
    #[allow(clippy::too_many_arguments)]
    pub fn new_rcp_spi<
        M: crate::hal::modem::ThreadModemPeripheral + 'd,
        S: crate::hal::spi::Spi + 'd,
    >(
        modem: M,
        spi: S,
        mosi: impl InputPin + 'd,
        miso: impl OutputPin + 'd,
        sclk: impl InputPin + OutputPin + 'd,
        cs: Option<impl InputPin + OutputPin + 'd>,
        intr: Option<impl InputPin + OutputPin + 'd>,
        sysloop: EspSystemEventLoop,
        nvs: EspDefaultNvsPartition,
        mounted_event_fs: Arc<MountedEventfs>,
    ) -> Result<Self, EspError> {
        Self::internal_new(
            Self::rcp_spi_cfg(modem, spi, mosi, miso, sclk, cs, intr),
            sysloop,
            nvs,
            mounted_event_fs,
            RCP(()),
        )
    }

    /// Create a new Thread RCP driver instance utilizing a UART connection
    /// to another MCU running the Thread Host stack.
    #[allow(clippy::too_many_arguments)]
    pub fn new_rcp_uart<M: crate::hal::modem::ThreadModemPeripheral + 'd, U: Uart + 'd>(
        modem: M,
        uart: U,
        tx: impl OutputPin + 'd,
        rx: impl InputPin + 'd,
        config: &crate::hal::uart::config::Config,
        sysloop: EspSystemEventLoop,
        nvs: EspDefaultNvsPartition,
        mounted_event_fs: Arc<MountedEventfs>,
    ) -> Result<Self, EspError> {
        Self::internal_new(
            Self::rcp_uart_cfg(modem, uart, tx, rx, config),
            sysloop,
            nvs,
            mounted_event_fs,
            RCP(()),
        )
    }

    #[cfg(not(esp_idf_version_major = "4"))]
    #[allow(clippy::too_many_arguments)]
    fn rcp_spi_cfg<
        M: crate::hal::modem::ThreadModemPeripheral + 'd,
        S: crate::hal::spi::Spi + 'd,
    >(
        _modem: M,
        _spi: S,
        mosi: impl InputPin + 'd,
        miso: impl OutputPin + 'd,
        sclk: impl InputPin + OutputPin + 'd,
        cs: Option<impl InputPin + OutputPin + 'd>,
        intr: Option<impl InputPin + OutputPin + 'd>,
    ) -> esp_openthread_platform_config_t {
        let cs_pin = if let Some(cs) = cs { cs.pin() as _ } else { -1 };

        let intr_pin = if let Some(intr) = intr {
            intr.pin() as _
        } else {
            -1
        };

        esp_openthread_platform_config_t {
            radio_config: esp_openthread_radio_config_t {
                radio_mode: esp_openthread_radio_mode_t_RADIO_MODE_NATIVE,
                ..Default::default()
            },
            host_config: esp_openthread_host_connection_config_t {
                host_connection_mode:
                    esp_openthread_host_connection_mode_t_HOST_CONNECTION_MODE_RCP_UART,
                __bindgen_anon_1: esp_openthread_host_connection_config_t__bindgen_ty_1 {
                    spi_slave_config: esp_openthread_spi_slave_config_t {
                        host_device: S::device() as _,
                        #[cfg(not(esp_idf_version_at_least_6_0_0))]
                        bus_config: spi_bus_config_t {
                            __bindgen_anon_1: spi_bus_config_t__bindgen_ty_1 {
                                mosi_io_num: mosi.pin() as _,
                            },
                            __bindgen_anon_2: spi_bus_config_t__bindgen_ty_2 {
                                miso_io_num: miso.pin() as _,
                            },
                            sclk_io_num: sclk.pin() as _,
                            ..Default::default()
                        },
                        #[cfg(esp_idf_version_at_least_6_0_0)]
                        bus_config: spi_bus_config_t {
                            __bindgen_anon_1: spi_bus_config_t__bindgen_ty_1 {
                                __bindgen_anon_1: spi_bus_config_t__bindgen_ty_1__bindgen_ty_1 {
                                    data4_io_num: -1,
                                    data5_io_num: -1,
                                    data6_io_num: -1,
                                    data7_io_num: -1,
                                    __bindgen_anon_1:
                                        spi_bus_config_t__bindgen_ty_1__bindgen_ty_1__bindgen_ty_1 {
                                            mosi_io_num: mosi.pin() as _,
                                        },
                                    __bindgen_anon_2:
                                        spi_bus_config_t__bindgen_ty_1__bindgen_ty_1__bindgen_ty_2 {
                                            miso_io_num: miso.pin() as _,
                                        },
                                    __bindgen_anon_3:
                                        spi_bus_config_t__bindgen_ty_1__bindgen_ty_1__bindgen_ty_3 {
                                            quadwp_io_num: -1,
                                        },
                                    __bindgen_anon_4:
                                        spi_bus_config_t__bindgen_ty_1__bindgen_ty_1__bindgen_ty_4 {
                                            quadhd_io_num: -1,
                                        },
                                    sclk_io_num: sclk.pin() as _,
                                },
                            },
                            ..Default::default()
                        },
                        slave_config: spi_slave_interface_config_t {
                            spics_io_num: cs_pin as _,
                            ..Default::default()
                        },
                        intr_pin,
                    },
                },
            },
            port_config: Self::PORT_CONFIG,
        }
    }

    fn rcp_uart_cfg<M: crate::hal::modem::ThreadModemPeripheral + 'd, U: Uart + 'd>(
        _modem: M,
        _uart: U,
        tx: impl OutputPin + 'd,
        rx: impl InputPin + 'd,
        config: &crate::hal::uart::config::Config,
    ) -> esp_openthread_platform_config_t {
        #[cfg(esp_idf_version_major = "4")]
        let cfg = esp_openthread_platform_config_t {
            radio_config: esp_openthread_radio_config_t {
                radio_mode: esp_openthread_radio_mode_t_RADIO_MODE_NATIVE,
                ..Default::default()
            },
            host_config: esp_openthread_host_connection_config_t {
                host_connection_mode:
                    esp_openthread_host_connection_mode_t_HOST_CONNECTION_MODE_RCP_UART,
                host_uart_config: esp_openthread_uart_config_t {
                    port: U::port() as _,
                    uart_config: config.into(),
                    rx_pin: rx.pin() as _,
                    tx_pin: tx.pin() as _,
                },
            },
            port_config: Self::PORT_CONFIG,
        };

        #[cfg(not(esp_idf_version_major = "4"))]
        let cfg = esp_openthread_platform_config_t {
            radio_config: esp_openthread_radio_config_t {
                radio_mode: esp_openthread_radio_mode_t_RADIO_MODE_NATIVE,
                ..Default::default()
            },
            host_config: esp_openthread_host_connection_config_t {
                host_connection_mode:
                    esp_openthread_host_connection_mode_t_HOST_CONNECTION_MODE_RCP_UART,
                __bindgen_anon_1: esp_openthread_host_connection_config_t__bindgen_ty_1 {
                    host_uart_config: esp_openthread_uart_config_t {
                        port: U::port() as _,
                        uart_config: config.into(),
                        rx_pin: rx.pin() as _,
                        tx_pin: tx.pin() as _,
                    },
                },
            },
            port_config: Self::PORT_CONFIG,
        };

        cfg
    }
}

impl<T> ThreadDriver<'_, T>
where
    T: Mode,
{
    const PORT_CONFIG: esp_openthread_port_config_t = esp_openthread_port_config_t {
        storage_partition_name: b"nvs\0" as *const _ as *const _,
        netif_queue_size: 10,
        task_queue_size: 10,
    };

    /// Initialize the coexistence between the Thread stack and a Wifi/BT stack on the modem
    #[cfg(all(esp_idf_openthread_radio_native, esp_idf_soc_ieee802154_supported))]
    pub fn init_coex(&mut self) -> Result<(), EspError> {
        let _lock = self.inner();

        Self::internal_init_coex()
    }

    /// Start the Thread driver
    ///
    /// If the driver is already started, an error is returned.
    pub fn start(&mut self) -> Result<(), EspError> {
        {
            let mut inner = self.inner();

            if *inner.started.lock() {
                Err(EspError::from_infallible::<ESP_ERR_INVALID_STATE>())?;
            }

            #[allow(clippy::manual_c_str_literals)]
            unsafe {
                crate::hal::task::create(
                    Self::run,
                    CStr::from_bytes_with_nul_unchecked(b"ThreadDriver Runner\0"),
                    12288,
                    &mut *inner as *mut _ as *mut _,
                    6,
                    None,
                )?;
            }
        }

        loop {
            let inner = unsafe { self.inner.get().as_mut().unwrap() };

            let started = inner.started.lock();

            if *started {
                break;
            }

            inner.started_condvar.wait(started);
        }

        info!("ThreadDriver started");

        Ok(())
    }

    /// Stop the Thread driver
    ///
    /// If the driver is not started, an error is returned.
    pub fn stop(&mut self) -> Result<(), EspError> {
        {
            let inner = self.inner();

            if !*inner.started.lock() {
                Err(EspError::from_infallible::<ESP_ERR_INVALID_STATE>())?;
            }

            #[allow(unused_mut)]
            #[allow(unused_assignments)]
            let mut stop_supported = false;

            #[cfg(any(
                esp_idf_version_at_least_5_5_0,
                all(esp_idf_version = "5.1", esp_idf_version_at_least_5_1_7),
                all(esp_idf_version = "5.2", esp_idf_version_at_least_5_2_6),
                all(esp_idf_version = "5.3", esp_idf_version_at_least_5_3_4),
                all(esp_idf_version = "5.4", esp_idf_version_at_least_5_4_3)
            ))]
            {
                unsafe {
                    esp_openthread_mainloop_exit();
                }

                stop_supported = true;
            }

            if !stop_supported {
                panic!("Stopping the Thread driver is supported since ESP-IDF patch-level 5.3.3+, 5.4.3+ and 5.5.1+. Please update to a newer version or don't call `stop`.")
            }
        }

        loop {
            let inner = unsafe { self.inner.get().as_mut().unwrap() };

            let started = inner.started.lock();

            if !*started {
                break;
            }

            inner.started_condvar.wait(started);
        }

        info!("ThreadDriver stopped");

        Ok(())
    }

    /// Check if the Thread driver is started
    pub fn is_started(&self) -> Result<bool, EspError> {
        let inner = self.inner();

        let started = *inner.started.lock();

        Ok(started)
    }

    /// Return a mutable reference to the inner driver state
    /// by locking the OpenThread lock first.
    #[allow(clippy::mut_from_ref)]
    fn inner(&self) -> ThreadDriverInnerGuard<'_> {
        ThreadDriverInnerGuard {
            inner: unsafe { &mut *self.inner.get() },
            _lock: OtLock::acquire().unwrap(),
        }
    }

    // NOTE: Methods starting with `internal_` have to be called only when the OpenThread lock is held

    #[cfg(all(esp_idf_openthread_radio_native, esp_idf_soc_ieee802154_supported))]
    fn internal_init_coex() -> Result<(), EspError> {
        #[cfg(esp_idf_esp_coex_sw_coexist_enable)]
        {
            esp!(unsafe { esp_coex_wifi_i154_enable() })?;
        }

        Ok(())
    }

    fn internal_new(
        cfg: esp_openthread_platform_config_t,
        _sysloop: EspSystemEventLoop,
        nvs: EspDefaultNvsPartition,
        mounted_event_fs: Arc<MountedEventfs>,
        mode: T,
    ) -> Result<Self, EspError> {
        let mut inner = {
            let mut inner = Box::new_uninit();

            unsafe {
                ThreadDriverInner::init(inner.as_mut_ptr(), cfg);

                inner.assume_init()
            }
        };

        esp!(unsafe { esp_openthread_init(&inner.cfg) })?;

        let instance = unsafe { esp_openthread_get_instance() };

        #[cfg(not(esp_idf_openthread_radio))]
        unsafe {
            otLoggingSetLevel(CONFIG_LOG_DEFAULT_LEVEL as _);
        }

        let srp = &mut inner.srp;

        unsafe {
            crate::sys::otSrpClientSetCallback(
                instance,
                Some(OtSrp::plat_c_srp_state_change_callback),
                srp as *mut _ as *mut _,
            )
        }

        T::init();

        info!("ThreadDriver initialized");

        Ok(Self {
            inner: UnsafeCell::new(inner),
            _nvs: nvs,
            _mounted_event_fs: mounted_event_fs,
            _mode: mode,
            _p: PhantomData,
        })
    }

    fn internal_deinit(&mut self) -> Result<(), EspError> {
        let _ = self.stop();

        esp!(unsafe { esp_openthread_deinit() })?;

        Ok(())
    }

    extern "C" fn run(arg: *mut core::ffi::c_void) {
        {
            let _lock = OtLock::acquire().unwrap();

            let inner = unsafe { (arg as *mut ThreadDriverInner).as_mut().unwrap() };

            *inner.started.lock() = true;
            inner.started_condvar.notify_all();
        }

        unsafe {
            esp_openthread_launch_mainloop();
        }

        {
            let _lock = OtLock::acquire().unwrap();

            let inner = unsafe { (arg as *mut ThreadDriverInner).as_mut().unwrap() };

            *inner.started.lock() = false;
            inner.started_condvar.notify_all();
        }

        unsafe { crate::hal::task::destroy(core::ptr::null_mut()) }
    }
}

impl<T> Drop for ThreadDriver<'_, T>
where
    T: Mode,
{
    fn drop(&mut self) {
        self.internal_deinit().unwrap();
        info!("ThreadDriver deinitialized");
    }
}

unsafe impl<T> Send for ThreadDriver<'_, T> where T: Mode {}
unsafe impl<T> Sync for ThreadDriver<'_, T> where T: Mode {}

struct ThreadDriverInner {
    cfg: esp_openthread_platform_config_t,
    dataset_buf: otOperationalDatasetTlvs,
    srp: OtSrp,
    #[allow(clippy::type_complexity)]
    ipv6_cb: Option<Box<Box<dyn FnMut(Ipv6Incoming) + Send + 'static>>>,
    #[allow(clippy::type_complexity)]
    scan_cb: Option<Box<Box<dyn FnMut(Option<ActiveScanResult>) + Send + 'static>>>,
    #[allow(clippy::type_complexity)]
    energy_cb: Option<Box<Box<dyn FnMut(Option<EnergyScanResult>) + Send + 'static>>>,
    started: Mutex<bool>,
    started_condvar: Condvar,
}

impl ThreadDriverInner {
    unsafe fn init(this: *mut Self, cfg: esp_openthread_platform_config_t) {
        addr_of_mut!((*this).cfg).write(cfg);
        addr_of_mut!((*this).dataset_buf).write_bytes(0, 1);

        OtSrp::init(addr_of_mut!((*this).srp));

        addr_of_mut!((*this).ipv6_cb).write(None);
        addr_of_mut!((*this).scan_cb).write(None);
        addr_of_mut!((*this).energy_cb).write(None);
        addr_of_mut!((*this).started).write(Mutex::new(false));
        addr_of_mut!((*this).started_condvar).write(Condvar::new());
    }
}

struct ThreadDriverInnerGuard<'a> {
    inner: &'a mut ThreadDriverInner,
    _lock: OtLock,
}

impl Deref for ThreadDriverInnerGuard<'_> {
    type Target = ThreadDriverInner;

    fn deref(&self) -> &Self::Target {
        self.inner
    }
}

impl DerefMut for ThreadDriverInnerGuard<'_> {
    fn deref_mut(&mut self) -> &mut Self::Target {
        self.inner
    }
}

struct OtLock(PhantomData<*const ()>);

impl OtLock {
    pub fn acquire() -> Result<Self, EspError> {
        if !unsafe { esp_openthread_lock_acquire(delay::BLOCK) } {
            Err(EspError::from_infallible::<ESP_ERR_TIMEOUT>())?;
        }

        Ok(Self(PhantomData))
    }
}

impl Drop for OtLock {
    fn drop(&mut self) {
        unsafe {
            esp_openthread_lock_release();
        }
    }
}

/// Trait shared between the modes of operation of the `EspThread` instance
pub trait NetifMode {
    fn init(&mut self) -> Result<(), EspError>;
    fn deinit(&mut self) -> Result<(), EspError>;
}

/// The regular mode of operation for the `EspThread` instance
///
/// This is the only available mode if the Border Router functionality in ESP-IDF is not enabled
pub struct Node(());

impl NetifMode for Node {
    fn init(&mut self) -> Result<(), EspError> {
        Ok(())
    }

    fn deinit(&mut self) -> Result<(), EspError> {
        Ok(())
    }
}

/// The Border Router mode of operation for the `EspThread` instance
#[cfg(all(esp_idf_comp_esp_netif_enabled, esp_idf_openthread_border_router))]
pub struct BorderRouter(());

#[cfg(all(esp_idf_comp_esp_netif_enabled, esp_idf_openthread_border_router))]
impl NetifMode for BorderRouter {
    fn init(&mut self) -> Result<(), EspError> {
        #[cfg(not(esp_idf_version_major = "4"))]
        {
            esp!(unsafe { esp_openthread_border_router_init() })?;
        }

        // TODO: This is probably best left to the user to call, as it is
        // not strictly necessary for the border router to function
        // #[cfg(any(esp_idf_comp_mdns_enabled, esp_idf_comp_espressif__mdns_enabled))]
        // {
        //     esp!(unsafe { mdns_init() })?;
        //     esp!(unsafe { mdns_hostname_set(b"esp-ot-br\0" as *const _ as *const _) })?;
        // }

        debug!("Border router initialized");

        Ok(())
    }

    fn deinit(&mut self) -> Result<(), EspError> {
        esp!(unsafe { esp_openthread_border_router_deinit() })?;

        debug!("Border router deinitialized");

        Ok(())
    }
}

/// `EspThread` wraps a `ThreadDriver` Data Link layer instance, and binds the OSI
/// Layer 3 (network) facilities of ESP IDF to it.
///
/// In other words, it connects the ESP IDF Netif interface to the Thread driver.
/// This allows users to utilize the Rust STD APIs for working with TCP and UDP sockets.
///
/// This struct should be the default option for a Thread driver in all use cases
/// but the niche one where bypassing the ESP IDF Netif and lwIP stacks is
/// desirable. E.g., using `smoltcp` or other custom IP stacks on top of the
/// ESP IDF Thread radio.
#[cfg(all(esp_idf_comp_esp_netif_enabled, not(esp_idf_openthread_radio)))]
pub struct EspThread<'d, T>
where
    T: NetifMode,
{
    driver: ThreadDriver<'d, Host>,
    netif: EspNetif,
    mode: T,
}

#[cfg(all(esp_idf_comp_esp_netif_enabled, not(esp_idf_openthread_radio)))]
impl<'d> EspThread<'d, Node> {
    /// Create a new `EspThread` instance utilizing the native Thread radio on the MCU
    #[cfg(esp_idf_soc_ieee802154_supported)]
    pub fn new<M: crate::hal::modem::ThreadModemPeripheral + 'd>(
        modem: M,
        sysloop: EspSystemEventLoop,
        nvs: EspDefaultNvsPartition,
        mounted_event_fs: Arc<MountedEventfs>,
    ) -> Result<Self, EspError> {
        Self::wrap(ThreadDriver::new(modem, sysloop, nvs, mounted_event_fs)?)
    }

    /// Create a new `EspThread` instance utilizing an SPI connection to another MCU
    /// which is expected to run the Thread RCP driver mode over SPI
    #[cfg(not(esp_idf_version_major = "4"))]
    #[allow(clippy::too_many_arguments)]
    pub fn new_spi<S: crate::hal::spi::Spi + 'd>(
        _spi: S,
        mosi: impl InputPin + 'd,
        miso: impl OutputPin + 'd,
        sclk: impl InputPin + OutputPin + 'd,
        cs: Option<impl InputPin + OutputPin + 'd>,
        intr: Option<impl InputPin + OutputPin + 'd>,
        config: &crate::hal::spi::config::Config,
        _sysloop: EspSystemEventLoop,
        nvs: EspDefaultNvsPartition,
        mounted_event_fs: Arc<MountedEventfs>,
    ) -> Result<Self, EspError> {
        Self::wrap(ThreadDriver::new_spi(
            _spi,
            mosi,
            miso,
            sclk,
            cs,
            intr,
            config,
            _sysloop,
            nvs,
            mounted_event_fs,
        )?)
    }

    /// Create a new `EspThread` instance utilizing a UART connection to another MCU
    /// which is expected to run the Thread RCP driver mode over UART
    pub fn new_uart<U: Uart + 'd>(
        _uart: U,
        tx: impl OutputPin + 'd,
        rx: impl InputPin + 'd,
        config: &crate::hal::uart::config::Config,
        _sysloop: EspSystemEventLoop,
        nvs: EspDefaultNvsPartition,
        mounted_event_fs: Arc<MountedEventfs>,
    ) -> Result<Self, EspError> {
        Self::wrap(ThreadDriver::new_uart(
            _uart,
            tx,
            rx,
            config,
            _sysloop,
            nvs,
            mounted_event_fs,
        )?)
    }

    /// Wrap an already created Thread L2 driver instance
    pub fn wrap(driver: ThreadDriver<'d, Host>) -> Result<Self, EspError> {
        Self::wrap_all(driver, EspNetif::new(NetifStack::Thread)?)
    }

    /// Wrap an already created Thread L2 driver instance and a network interface
    pub fn wrap_all(driver: ThreadDriver<'d, Host>, netif: EspNetif) -> Result<Self, EspError> {
        Self::internal_init(driver, netif, Node(()))
    }
}

#[cfg(all(esp_idf_comp_esp_netif_enabled, esp_idf_openthread_border_router))]
impl<'d> EspThread<'d, BorderRouter> {
    /// Set or clear the backbone network interface to be used by the Border Router instance.
    ///
    /// This method _must_ be called _before_ the Border Router is constructed
    /// and _after_ the Border Router is dropped.
    ///
    /// # Safety
    ///
    /// This method is unsafe, because the framework will internally store a raw pointer
    /// to the provided `EspNetif` instance, and use it later when the Border Router
    /// is initialized. If the provided `EspNetif` instance is dropped before
    /// the Border Router is dropped, a use-after-free will occur.
    ///
    /// Make sure that the following conditions are met:
    /// - The provided `EspNetif` instance outlives the Thread Border Router instance;
    /// - The method is called _before_ both the Thread driver (`ThreadDriver`) and the `EspThread` instances are constructed;
    /// - Additionally, that the driver behind the provided `EspNetif` instance is _already started_ (e.g. `EspWifi::start()` or `EspEth::start()` had been called).
    #[cfg(not(esp_idf_version_major = "4"))]
    pub unsafe fn set_backbone_netif(backbone_netif: Option<&EspNetif>) {
        unsafe {
            esp_openthread_set_backbone_netif(
                backbone_netif
                    .map(|netif| netif.handle())
                    .unwrap_or(core::ptr::null_mut()),
            );
        }
    }

    /// Create a new `EspThread` Border Router instance utilizing the native Thread radio on the MCU
    #[cfg(esp_idf_soc_ieee802154_supported)]
    pub fn new_br<M: crate::hal::modem::ThreadModemPeripheral + 'd>(
        modem: M,
        sysloop: EspSystemEventLoop,
        nvs: EspDefaultNvsPartition,
        mounted_event_fs: Arc<MountedEventfs>,
    ) -> Result<Self, EspError> {
        Self::wrap_br(ThreadDriver::new(modem, sysloop, nvs, mounted_event_fs)?)
    }

    /// Create a new `EspThread` Border Router instance utilizing an SPI connection to another MCU
    /// which is expected to run the Thread RCP driver mode over SPI
    #[cfg(not(esp_idf_version_major = "4"))]
    #[allow(clippy::too_many_arguments)]
    pub fn new_br_spi<S: crate::hal::spi::Spi + 'd>(
        _spi: S,
        mosi: impl InputPin + 'd,
        miso: impl OutputPin + 'd,
        sclk: impl InputPin + OutputPin + 'd,
        cs: Option<impl InputPin + OutputPin + 'd>,
        intr: Option<impl InputPin + OutputPin + 'd>,
        config: &crate::hal::spi::config::Config,
        _sysloop: EspSystemEventLoop,
        nvs: EspDefaultNvsPartition,
        mounted_event_fs: Arc<MountedEventfs>,
    ) -> Result<Self, EspError> {
        Self::wrap_br(ThreadDriver::new_spi(
            _spi,
            mosi,
            miso,
            sclk,
            cs,
            intr,
            config,
            _sysloop,
            nvs,
            mounted_event_fs,
        )?)
    }

    /// Create a new `EspThread` Border Router instance utilizing a UART connection to another MCU
    /// which is expected to run the Thread RCP driver mode over UART
    #[allow(clippy::too_many_arguments)]
    pub fn new_br_uart<U: Uart + 'd>(
        _uart: U,
        tx: impl OutputPin + 'd,
        rx: impl InputPin + 'd,
        config: &crate::hal::uart::config::Config,
        _sysloop: EspSystemEventLoop,
        nvs: EspDefaultNvsPartition,
        mounted_event_fs: Arc<MountedEventfs>,
    ) -> Result<Self, EspError> {
        Self::wrap_br(ThreadDriver::new_uart(
            _uart,
            tx,
            rx,
            config,
            _sysloop,
            nvs,
            mounted_event_fs,
        )?)
    }

    /// Wrap an already created Thread L2 driver instance and a backbone network interface
    /// to the outside world
    pub fn wrap_br(driver: ThreadDriver<'d, Host>) -> Result<Self, EspError> {
        Self::wrap_br_all(driver, EspNetif::new(NetifStack::Thread)?)
    }

    /// Wrap an already created Thread L2 driver instance, a network interface to be used for the
    /// Thread network, and a backbone network interface to the outside world
    pub fn wrap_br_all(driver: ThreadDriver<'d, Host>, netif: EspNetif) -> Result<Self, EspError> {
        Self::internal_init(driver, netif, BorderRouter(()))
    }
}

#[cfg(all(esp_idf_comp_esp_netif_enabled, not(esp_idf_openthread_radio)))]
impl<'d, T> EspThread<'d, T>
where
    T: NetifMode,
{
    /// Return a reference to the underlying [`ThreadDriver`]
    pub fn driver(&self) -> &ThreadDriver<'d, Host> {
        &self.driver
    }

    /// Return a mutable reference to the underlying [`ThreadDriver`]
    pub fn driver_mut(&mut self) -> &mut ThreadDriver<'d, Host> {
        &mut self.driver
    }

    /// Initialize the coexistence between the Thread stack and a Wifi/BT stack on the modem
    #[cfg(all(esp_idf_openthread_radio_native, esp_idf_soc_ieee802154_supported))]
    pub fn init_coex(&mut self) -> Result<(), EspError> {
        self.driver.init_coex()
    }

    /// Return a reference to the underlying [`EspNetif`]
    pub fn netif(&self) -> &EspNetif {
        &self.netif
    }

    /// Enable or disable the Thread network interface
    pub fn enable_ipv6(&self, enabled: bool) -> Result<(), EspError> {
        self.driver().enable_ipv6(enabled)
    }

    /// Enable or disable Thread
    ///
    /// When enabling, this should be called after the network interface is enabled
    pub fn enable_thread(&self, enabled: bool) -> Result<(), EspError> {
        self.driver().enable_thread(enabled)
    }

    /// Retrieve the current role of the device in the Thread network
    pub fn role(&self) -> Result<Role, EspError> {
        self.driver().role()
    }

    /// Retrieve the active TOD (Thread Operational Dataset) in the user-supplied buffer
    ///
    /// Return the size of the TOD data written to the buffer
    ///
    /// The TOD is in Thread TLV format.
    pub fn tod(&self, buf: &mut [u8]) -> Result<usize, EspError> {
        self.driver().tod(buf)
    }

    /// Retrieve the pending TOD (Thread Operational Dataset) in the user-supplied buffer
    ///
    /// Return the size of the TOD data written to the buffer
    ///
    /// The TOD is in Thread TLV format.
    pub fn pending_tod(&self, buf: &mut [u8]) -> Result<usize, EspError> {
        self.driver().pending_tod(buf)
    }

    /// Set the active TOD (Thread Operational Dataset) to the provided data
    ///
    /// The TOD data should be in Thread TLV format.
    pub fn set_tod(&self, tod: &[u8]) -> Result<(), EspError> {
        self.driver().set_tod(tod)
    }

    /// Set the active TOD (Thread Operational Dataset) to the provided data
    ///
    /// The TOD data should be in Thread TLV format.
    pub fn set_tod_hexstr(&self, tod: &str) -> Result<(), EspError> {
        self.driver().set_tod_hexstr(tod)
    }

    /// Set the pending TOD (Thread Operational Dataset) to the provided data
    ///
    /// The TOD data should be in Thread TLV format.
    pub fn set_pending_tod(&self, tod: &[u8]) -> Result<(), EspError> {
        self.driver().set_pending_tod(tod)
    }

    /// Set the pending TOD (Thread Operational Dataset) to the provided data
    ///
    /// The TOD data should be in Thread TLV format.
    pub fn set_pending_tod_hexstr(&self, tod: &str) -> Result<(), EspError> {
        self.driver().set_pending_tod_hexstr(tod)
    }

    /// Set the active TOD (Thread Operational Dataset) according to the
    /// `CONFIG_OPENTHREAD_` TOD-related parameters compiled into the app
    /// during build (via `sdkconfig*`)
    #[cfg(not(esp_idf_version_major = "4"))]
    pub fn set_tod_from_cfg(&self) -> Result<(), EspError> {
        self.driver().set_tod_from_cfg()
    }

    /// Perform an active scan for Thread networks
    /// The callback will be called for each found network
    ///
    /// At the end of the scan, the callback will be called with `None`
    pub fn scan<F: FnMut(Option<ActiveScanResult>) + Send + 'static>(
        &self,
        callback: F,
    ) -> Result<(), EspError> {
        self.driver().scan(callback)
    }

    /// Check if an active scan is in progress
    pub fn is_scan_in_progress(&self) -> Result<bool, EspError> {
        self.driver().is_scan_in_progress()
    }

    /// Perform an energy scan for Thread networks
    /// The callback will be called for each found network
    ///
    /// At the end of the scan, the callback will be called with `None`
    pub fn energy_scan<F: FnMut(Option<EnergyScanResult>) + Send + 'static>(
        &self,
        callback: F,
    ) -> Result<(), EspError> {
        self.driver().energy_scan(callback)
    }

    /// Check if an energy scan is in progress
    pub fn is_energy_scan_in_progress(&self) -> Result<bool, EspError> {
        self.driver().is_energy_scan_in_progress()
    }

    /// Start the Thread driver
    ///
    /// If the driver is already started, an error is returned.
    pub fn start(&mut self) -> Result<(), EspError> {
        self.driver_mut().start()
    }

    /// Stop the Thread driver
    ///
    /// If the driver is not started, an error is returned.
    pub fn stop(&mut self) -> Result<(), EspError> {
        self.driver_mut().start()
    }

    /// Check if the Thread driver is started
    pub fn is_started(&self) -> Result<bool, EspError> {
        self.driver().is_started()
    }

    // NOTE: Methods starting with `internal_` have to be called only when the OpenThread lock is held

    fn internal_init(
        driver: ThreadDriver<'d, Host>,
        netif: EspNetif,
        mut mode: T,
    ) -> Result<Self, EspError> {
        let inner = driver.inner();

        let glue = unsafe { esp_openthread_netif_glue_init(&inner.cfg) };
        assert!(!glue.is_null());

        esp!(unsafe { esp_netif_attach(netif.handle() as *mut _, glue) })?;

        mode.init()?;

        info!("EspThread initialized");

        Ok(Self {
            netif,
            mode,
            driver,
        })
    }

    fn internal_deinit(&mut self) -> Result<(), EspError> {
        let _lock = self.driver.inner();

        self.mode.deinit()?;

        unsafe {
            esp_openthread_netif_glue_deinit();
        }

        Ok(())
    }
}

#[cfg(all(esp_idf_comp_esp_netif_enabled, not(esp_idf_openthread_radio)))]
impl<T> Drop for EspThread<'_, T>
where
    T: NetifMode,
{
    fn drop(&mut self) {
        self.internal_deinit().unwrap();
        info!("EspThread deinitialized");
    }
}

#[cfg(all(esp_idf_comp_esp_netif_enabled, not(esp_idf_openthread_radio)))]
unsafe impl<T> Send for EspThread<'_, T> where T: NetifMode {}
#[cfg(all(esp_idf_comp_esp_netif_enabled, not(esp_idf_openthread_radio)))]
unsafe impl<T> Sync for EspThread<'_, T> where T: NetifMode {}

/// Events reported by the Thread stack on the system event loop
#[derive(Copy, Clone, Debug)]
pub enum ThreadEvent {
    /// Thread stack started
    Started,
    /// Thread stack stopped
    Stopped,
    /// Thread stack detached
    #[cfg(not(esp_idf_version_major = "4"))]
    Detached,
    /// Thread stack attached
    #[cfg(not(esp_idf_version_major = "4"))]
    Attached,
    /// Thread role changed
    #[cfg(not(esp_idf_version_major = "4"))]
    RoleChanged {
        current_role: Role,
        previous_role: Role,
    },
    /// Thread network interface up
    IfUp,
    /// Thread network interface down
    IfDown,
    /// Thread got IPv6 address
    GotIpv6,
    /// Thread lost IPv6 address
    LostIpv6,
    /// Thread multicast group joined
    MulticastJoined,
    /// Thread multicast group left
    MulticastLeft,
    /// Thread TREL IPv6 address added
    #[cfg(not(esp_idf_version_major = "4"))]
    TrelIpv6Added,
    /// Thread TREL IPv6 address removed
    #[cfg(not(esp_idf_version_major = "4"))]
    TrelIpv6Removed,
    /// Thread TREL multicast group joined
    #[cfg(not(esp_idf_version_major = "4"))]
    TrelMulticastJoined,
    /// Thread DNS server set
    // Since 5.1
    #[cfg(all(
        not(esp_idf_version_major = "4"),
        not(all(esp_idf_version_major = "5", esp_idf_version_minor = "0"))
    ))]
    DnsServerSet,
    /// Thread Meshcop E Publish started
    // Since 5.2.2
    #[cfg(any(
        not(any(esp_idf_version_major = "4", esp_idf_version_major = "5")),
        all(
            esp_idf_version_major = "5",
            not(esp_idf_version_minor = "0"),
            not(esp_idf_version_minor = "1"),
            not(all(
                esp_idf_version_minor = "2",
                any(esp_idf_version_patch = "0", esp_idf_version_patch = "1")
            )),
        ),
    ))]
    MeshcopEPublishStarted,
    /// Thread Meshcop E Remove started
    // Since 5.2.2
    #[cfg(any(
        not(any(esp_idf_version_major = "4", esp_idf_version_major = "5")),
        all(
            esp_idf_version_major = "5",
            not(esp_idf_version_minor = "0"),
            not(esp_idf_version_minor = "1"),
            not(all(
                esp_idf_version_minor = "2",
                any(esp_idf_version_patch = "0", esp_idf_version_patch = "1")
            )),
        ),
    ))]
    MeshcopERemoveStarted,
    #[cfg(any(
        esp_idf_version_patch_at_least_5_1_6,
        esp_idf_version_patch_at_least_5_2_4,
        esp_idf_version_patch_at_least_5_3_2,
        esp_idf_version_at_least_5_4_0
    ))]
    DatasetChanged,

    /// An event ID not recognised by this version of the library was received.
    ///
    /// This variant is produced instead of panicking when an unknown event ID
    /// arrives, allowing applications to remain forward-compatible with
    /// ESP-IDF versions that introduce new Thread events.
    Other(i32),
}

unsafe impl EspEventSource for ThreadEvent {
    fn source() -> Option<&'static ffi::CStr> {
        Some(unsafe { ffi::CStr::from_ptr(OPENTHREAD_EVENT) })
    }
}

impl EspEventDeserializer for ThreadEvent {
    type Data<'d> = ThreadEvent;

    #[allow(non_upper_case_globals, non_snake_case)]
    fn deserialize(data: &crate::eventloop::EspEvent) -> ThreadEvent {
        let event_id = data.event_id as u32;

        match event_id {
            esp_openthread_event_t_OPENTHREAD_EVENT_START => ThreadEvent::Started,
            esp_openthread_event_t_OPENTHREAD_EVENT_STOP => ThreadEvent::Stopped,
            #[cfg(not(esp_idf_version_major = "4"))]
            esp_openthread_event_t_OPENTHREAD_EVENT_DETACHED => ThreadEvent::Detached,
            #[cfg(not(esp_idf_version_major = "4"))]
            esp_openthread_event_t_OPENTHREAD_EVENT_ATTACHED => ThreadEvent::Attached,
            #[cfg(not(esp_idf_version_major = "4"))]
            esp_openthread_event_t_OPENTHREAD_EVENT_ROLE_CHANGED => {
                let payload = unsafe {
                    (data.payload.unwrap() as *const _
                        as *const esp_openthread_role_changed_event_t)
                        .as_ref()
                }
                .unwrap();

                ThreadEvent::RoleChanged {
                    current_role: payload.current_role.into(),
                    previous_role: payload.previous_role.into(),
                }
            }
            esp_openthread_event_t_OPENTHREAD_EVENT_IF_UP => ThreadEvent::IfUp,
            esp_openthread_event_t_OPENTHREAD_EVENT_IF_DOWN => ThreadEvent::IfDown,
            esp_openthread_event_t_OPENTHREAD_EVENT_GOT_IP6 => ThreadEvent::GotIpv6,
            esp_openthread_event_t_OPENTHREAD_EVENT_LOST_IP6 => ThreadEvent::LostIpv6,
            esp_openthread_event_t_OPENTHREAD_EVENT_MULTICAST_GROUP_JOIN => {
                ThreadEvent::MulticastJoined
            }
            esp_openthread_event_t_OPENTHREAD_EVENT_MULTICAST_GROUP_LEAVE => {
                ThreadEvent::MulticastLeft
            }
            #[cfg(not(esp_idf_version_major = "4"))]
            esp_openthread_event_t_OPENTHREAD_EVENT_TREL_ADD_IP6 => ThreadEvent::TrelIpv6Added,
            #[cfg(not(esp_idf_version_major = "4"))]
            esp_openthread_event_t_OPENTHREAD_EVENT_TREL_REMOVE_IP6 => ThreadEvent::TrelIpv6Removed,
            #[cfg(not(esp_idf_version_major = "4"))]
            esp_openthread_event_t_OPENTHREAD_EVENT_TREL_MULTICAST_GROUP_JOIN => {
                ThreadEvent::TrelMulticastJoined
            }
            #[cfg(all(
                not(esp_idf_version_major = "4"),
                not(all(esp_idf_version_major = "5", esp_idf_version_minor = "0"))
            ))]
            esp_openthread_event_t_OPENTHREAD_EVENT_SET_DNS_SERVER => ThreadEvent::DnsServerSet,
            // Since 5.2.2
            #[cfg(any(
                not(any(esp_idf_version_major = "4", esp_idf_version_major = "5")),
                all(
                    esp_idf_version_major = "5",
                    not(esp_idf_version_minor = "0"),
                    not(esp_idf_version_minor = "1"),
                    not(all(
                        esp_idf_version_minor = "2",
                        any(esp_idf_version_patch = "0", esp_idf_version_patch = "1")
                    )),
                ),
            ))]
            esp_openthread_event_t_OPENTHREAD_EVENT_PUBLISH_MESHCOP_E => {
                ThreadEvent::MeshcopEPublishStarted
            }
            // Since 5.2.2
            #[cfg(any(
                not(any(esp_idf_version_major = "4", esp_idf_version_major = "5")),
                all(
                    esp_idf_version_major = "5",
                    not(esp_idf_version_minor = "0"),
                    not(esp_idf_version_minor = "1"),
                    not(all(
                        esp_idf_version_minor = "2",
                        any(esp_idf_version_patch = "0", esp_idf_version_patch = "1")
                    )),
                ),
            ))]
            esp_openthread_event_t_OPENTHREAD_EVENT_REMOVE_MESHCOP_E => {
                ThreadEvent::MeshcopERemoveStarted
            }
            #[cfg(any(
                esp_idf_version_patch_at_least_5_1_6,
                esp_idf_version_patch_at_least_5_2_4,
                esp_idf_version_patch_at_least_5_3_2,
                esp_idf_version_at_least_5_4_0
            ))]
            esp_openthread_event_t_OPENTHREAD_EVENT_DATASET_CHANGED => ThreadEvent::DatasetChanged,
            _ => {
                warn!("ThreadEvent: unknown event ID {event_id}, ignoring");
                ThreadEvent::Other(event_id as i32)
            }
        }
    }
}