Added WiFi kernel drivers and refactored Wifi service (#557)

+ other improvements

TactilityKernel/include/tactility/drivers/wifi.h

@@ -200,6 +200,23 @@ struct WifiApi {
 
 extern const struct DeviceType WIFI_TYPE;
 
+/** @return the first registered WiFi device, regardless of started state, or NULL if none exists */
+struct Device* wifi_find_first_registered_device(void);
+
+error_t wifi_get_radio_state(struct Device* device, enum WifiRadioState* state);
+error_t wifi_get_station_state(struct Device* device, enum WifiStationState* state);
+error_t wifi_get_access_point_state(struct Device* device, enum WifiAccessPointState* state);
+bool wifi_is_scanning(struct Device* device);
+error_t wifi_scan(struct Device* device);
+error_t wifi_get_scan_results(struct Device* device, struct WifiApRecord* results, size_t* num_results);
+error_t wifi_station_get_ipv4_address(struct Device* device, char* ipv4);
+error_t wifi_station_get_target_ssid(struct Device* device, char* ssid);
+error_t wifi_station_connect(struct Device* device, const char* ssid, const char* password, int32_t channel);
+error_t wifi_station_disconnect(struct Device* device);
+error_t wifi_station_get_rssi(struct Device* device, int32_t* rssi);
+error_t wifi_add_event_callback(struct Device* device, void* callback_context, WifiEventCallback callback);
+error_t wifi_remove_event_callback(struct Device* device, WifiEventCallback callback);
+
 #ifdef __cplusplus
 }
 #endif

TactilityKernel/source/concurrent/thread.cpp

@@ -10,7 +10,8 @@
 #include <cstring>
 #include <string>
 
-static const size_t LOCAL_STORAGE_SELF_POINTER_INDEX = 0;
+// Slot 0 is reserved by ESP-IDF's pthread API (see esp_wifi/lwip use of pthread_getspecific).
+static const size_t LOCAL_STORAGE_SELF_POINTER_INDEX = 1;
 static const char* TAG = "Thread";
 
 struct Thread {

TactilityKernel/source/drivers/wifi.cpp

@@ -0,0 +1,75 @@
+// SPDX-License-Identifier: Apache-2.0
+#include <tactility/drivers/wifi.h>
+#include <tactility/device.h>
+#include <tactility/driver.h>
+
+#define WIFI_API(device) ((const struct WifiApi*)device_get_driver(device)->api)
+
+extern "C" {
+
+struct Device* wifi_find_first_registered_device() {
+    struct Device* found = nullptr;
+    device_for_each_of_type(&WIFI_TYPE, &found, [](struct Device* dev, void* ctx) -> bool {
+        *static_cast<struct Device**>(ctx) = dev;
+        return false;
+    });
+    return found;
+}
+
+error_t wifi_get_radio_state(struct Device* device, enum WifiRadioState* state) {
+    return WIFI_API(device)->get_radio_state(device, state);
+}
+
+error_t wifi_get_station_state(struct Device* device, enum WifiStationState* state) {
+    return WIFI_API(device)->get_station_state(device, state);
+}
+
+error_t wifi_get_access_point_state(struct Device* device, enum WifiAccessPointState* state) {
+    return WIFI_API(device)->get_access_point_state(device, state);
+}
+
+bool wifi_is_scanning(struct Device* device) {
+    return WIFI_API(device)->is_scanning(device);
+}
+
+error_t wifi_scan(struct Device* device) {
+    return WIFI_API(device)->scan(device);
+}
+
+error_t wifi_get_scan_results(struct Device* device, struct WifiApRecord* results, size_t* num_results) {
+    return WIFI_API(device)->get_scan_results(device, results, num_results);
+}
+
+error_t wifi_station_get_ipv4_address(struct Device* device, char* ipv4) {
+    return WIFI_API(device)->station_get_ipv4_address(device, ipv4);
+}
+
+error_t wifi_station_get_target_ssid(struct Device* device, char* ssid) {
+    return WIFI_API(device)->station_get_target_ssid(device, ssid);
+}
+
+error_t wifi_station_connect(struct Device* device, const char* ssid, const char* password, int32_t channel) {
+    return WIFI_API(device)->station_connect(device, ssid, password, channel);
+}
+
+error_t wifi_station_disconnect(struct Device* device) {
+    return WIFI_API(device)->station_disconnect(device);
+}
+
+error_t wifi_station_get_rssi(struct Device* device, int32_t* rssi) {
+    return WIFI_API(device)->station_get_rssi(device, rssi);
+}
+
+error_t wifi_add_event_callback(struct Device* device, void* callback_context, WifiEventCallback callback) {
+    return WIFI_API(device)->add_event_callback(device, callback_context, callback);
+}
+
+error_t wifi_remove_event_callback(struct Device* device, WifiEventCallback callback) {
+    return WIFI_API(device)->remove_event_callback(device, callback);
+}
+
+const struct DeviceType WIFI_TYPE = {
+    .name = "wifi"
+};
+
+} // extern "C"

TactilityKernel/source/kernel_symbols.c

@@ -18,6 +18,7 @@
 #include <tactility/drivers/root.h>
 #include <tactility/drivers/spi_controller.h>
 #include <tactility/drivers/uart_controller.h>
+#include <tactility/drivers/wifi.h>
 #include <tactility/error.h>
 #include <tactility/filesystem/file_system.h>
 #include <tactility/module.h>
@@ -181,6 +182,22 @@ const struct ModuleSymbol KERNEL_SYMBOLS[] = {
     DEFINE_MODULE_SYMBOL(bluetooth_hid_device_send_gamepad),
     DEFINE_MODULE_SYMBOL(bluetooth_hid_device_is_connected),
     DEFINE_MODULE_SYMBOL(BLUETOOTH_HID_DEVICE_TYPE),
+    // drivers/wifi
+    DEFINE_MODULE_SYMBOL(wifi_find_first_registered_device),
+    DEFINE_MODULE_SYMBOL(wifi_get_radio_state),
+    DEFINE_MODULE_SYMBOL(wifi_get_station_state),
+    DEFINE_MODULE_SYMBOL(wifi_get_access_point_state),
+    DEFINE_MODULE_SYMBOL(wifi_is_scanning),
+    DEFINE_MODULE_SYMBOL(wifi_scan),
+    DEFINE_MODULE_SYMBOL(wifi_get_scan_results),
+    DEFINE_MODULE_SYMBOL(wifi_station_get_ipv4_address),
+    DEFINE_MODULE_SYMBOL(wifi_station_get_target_ssid),
+    DEFINE_MODULE_SYMBOL(wifi_station_connect),
+    DEFINE_MODULE_SYMBOL(wifi_station_disconnect),
+    DEFINE_MODULE_SYMBOL(wifi_station_get_rssi),
+    DEFINE_MODULE_SYMBOL(wifi_add_event_callback),
+    DEFINE_MODULE_SYMBOL(wifi_remove_event_callback),
+    DEFINE_MODULE_SYMBOL(WIFI_TYPE),
     // drivers/usb_host_hid
     DEFINE_MODULE_SYMBOL(usb_host_hid_is_connected),
     DEFINE_MODULE_SYMBOL(USB_HOST_HID_TYPE),