Remove old HAL components and refactored GPS-related code (#583)
- Added generic GPS/GNSS support with device detection, configuration, and persistent settings. - Improved device and module lifecycle management. - Added flexible filesystem locking support for displays and storage. - Improved display-idle and keyboard backlight handling. - Updated architecture, driver, module, testing, and licensing documentation. - Removed old HAL device and related code.
This commit is contained in:
Ken Van Hoeylandt
committed by
GitHub
GitHub
parent
29e80cfd65
commit
2a2558b29a
@@ -0,0 +1,57 @@
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#include <gps/gps.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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const char* gps_model_to_string(GpsModel model) {
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switch (model) {
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case GPS_MODEL_AG3335: return "AG3335";
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case GPS_MODEL_AG3352: return "AG3352";
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case GPS_MODEL_ATGM336H: return "ATGM336H";
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case GPS_MODEL_LS20031: return "LS20031";
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case GPS_MODEL_MTK: return "MTK";
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case GPS_MODEL_MTK_L76B: return "MTK_L76B";
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case GPS_MODEL_MTK_PA1616S: return "MTK_PA1616S";
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case GPS_MODEL_UBLOX6: return "UBLOX6";
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case GPS_MODEL_UBLOX7: return "UBLOX7";
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case GPS_MODEL_UBLOX8: return "UBLOX8";
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case GPS_MODEL_UBLOX9: return "UBLOX9";
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case GPS_MODEL_UBLOX10: return "UBLOX10";
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case GPS_MODEL_UC6580: return "UC6580";
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default: return "Unknown";
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}
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}
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error_t gps_event_subscribe(Device* device, GpsSubscription* sub) {
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const auto* driver = device_get_driver(device);
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return static_cast<const GpsApi*>(driver->api)->event_subscribe(device, sub);
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}
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error_t gps_event_unsubscribe(Device* device, GpsSubscription* sub) {
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const auto* driver = device_get_driver(device);
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return static_cast<const GpsApi*>(driver->api)->event_unsubscribe(device, sub);
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}
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error_t gps_event_await(Device* device, GpsSubscription* sub, TickType_t timeout) {
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const auto* driver = device_get_driver(device);
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return static_cast<const GpsApi*>(driver->api)->event_await(device, sub, timeout);
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}
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GpsState gps_get_state(Device* device) {
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const auto* driver = device_get_driver(device);
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return static_cast<const GpsApi*>(driver->api)->get_state(device);
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}
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error_t gps_get_model_name(Device* device, char* model_name, size_t buffer_size) {
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const auto* driver = device_get_driver(device);
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return static_cast<const GpsApi*>(driver->api)->get_model_name(device, model_name, buffer_size);
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}
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const DeviceType GPS_TYPE {
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.name = "gps"
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};
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#ifdef __cplusplus
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}
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#endif
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@@ -0,0 +1,167 @@
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// SPDX-License-Identifier: Apache-2.0
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#include <gps/private/gps_ledger.h>
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#include <gps/gps.h>
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#include <gps/gps_settings.h>
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#include <tactility/device.h>
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#include <tactility/driver.h>
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#include <tactility/log.h>
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#include <cstdio>
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#include <cstring>
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#include <new>
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#include <vector>
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constexpr auto* TAG = "gps_ledger";
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struct GpsConfig {
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uint32_t baud_rate;
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enum GpsModel model;
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};
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// A GPS_TYPE device the ledger constructed for a persisted GpsConfiguration. Device is the first
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// member so `reinterpret_cast<GpsLedgerEntry*>(device)` is safe when a Device* obtained from the
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// device tree needs to be freed.
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struct GpsLedgerEntry {
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Device device {};
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GpsConfig config {};
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// device->name points into this buffer - must outlive the device (device->name only stores a
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// pointer, it doesn't copy).
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char name[16] {};
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};
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// Unique across every device the ledger creates, so device names ("gpsN") never collide.
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static uint32_t next_device_index = 0;
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static bool device_matches_configuration(Device* device, const GpsConfiguration& configuration) {
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auto* parent = device_get_parent(device);
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if (parent == nullptr || strcmp(parent->name, configuration.uart_name) != 0) {
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return false;
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}
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const auto* config = static_cast<const GpsConfig*>(device->config);
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return config->baud_rate == configuration.baud_rate && config->model == configuration.model;
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}
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// Constructs+adds (not started) a GPS_TYPE device wired to `configuration`'s named UART, tagged
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// DEVICE_FLAG_DYNAMIC so the ledger recognizes it as its own on a later sync.
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static bool create_device(const GpsConfiguration& configuration) {
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Device* uart = nullptr;
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if (device_get_by_name(configuration.uart_name, &uart) != ERROR_NONE) {
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LOG_E(TAG, "Failed to find device %s", configuration.uart_name);
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return false;
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}
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auto* entry = new(std::nothrow) GpsLedgerEntry();
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if (entry == nullptr) {
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device_put(uart);
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return false;
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}
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entry->config = GpsConfig { .baud_rate = configuration.baud_rate, .model = configuration.model };
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snprintf(entry->name, sizeof(entry->name), "gps%u", (unsigned)next_device_index++);
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auto* device = &entry->device;
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device->address = 0;
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device->name = entry->name;
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device->config = &entry->config;
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device->parent = nullptr;
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device->flags = DEVICE_FLAG_DYNAMIC;
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device->internal = nullptr;
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bool ok = false;
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if (device_construct(device) == ERROR_NONE) {
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device_set_parent(device, uart);
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Driver* driver = driver_find_compatible("tactility,gps-generic");
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if (driver != nullptr) {
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device_set_driver(device, driver);
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ok = device_add(device) == ERROR_NONE;
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if (!ok) {
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LOG_E(TAG, "Failed to add %s", device->name);
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}
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} else {
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LOG_E(TAG, "No driver registered for tactility,gps-generic");
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}
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if (!ok) {
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device_destruct(device);
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}
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} else {
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LOG_E(TAG, "Failed to construct %s", device->name);
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}
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device_put(uart);
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if (!ok) {
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delete entry;
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}
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return ok;
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}
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// Stops (if needed), removes and destructs a ledger-owned device, and frees its entry.
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static void destroy_device(Device* device) {
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if (device_is_ready(device)) {
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device_stop(device);
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}
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device_remove(device);
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device_destruct(device);
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delete reinterpret_cast<GpsLedgerEntry*>(device);
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}
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static bool is_ledger_owned(const Device* device) {
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return !(device->flags & DEVICE_FLAG_DTS) && (device->flags & DEVICE_FLAG_DYNAMIC);
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}
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// Collects the ledger-owned GPS_TYPE devices. device_remove()/device_stop() must not run while
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// device_for_each_of_type() holds the device ledger lock, so callers process the result afterwards.
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static std::vector<Device*> collect_owned_devices() {
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std::vector<Device*> owned;
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device_for_each_of_type(&GPS_TYPE, &owned, [](Device* device, void* context) {
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if (is_ledger_owned(device)) {
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static_cast<std::vector<Device*>*>(context)->push_back(device);
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}
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return true;
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});
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return owned;
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}
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void gps_ledger_sync() {
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std::vector<GpsConfiguration> configurations;
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gps_settings_for_each_configuration(&configurations, [](const GpsConfiguration* configuration, size_t, void* context) {
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static_cast<std::vector<GpsConfiguration>*>(context)->push_back(*configuration);
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});
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std::vector<bool> matched(configurations.size(), false);
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std::vector<Device*> stale;
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for (auto* device : collect_owned_devices()) {
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bool found = false;
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for (size_t i = 0; i < configurations.size(); i++) {
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if (!matched[i] && device_matches_configuration(device, configurations[i])) {
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matched[i] = true;
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found = true;
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break;
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}
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}
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if (!found) {
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stale.push_back(device);
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}
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}
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// Configuration disappeared - stop, destruct and drop the device that was created for it.
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for (auto* device : stale) {
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destroy_device(device);
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}
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// New configuration - create a (not started) device for it.
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for (size_t i = 0; i < configurations.size(); i++) {
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if (!matched[i]) {
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create_device(configurations[i]);
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}
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}
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}
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void gps_ledger_clear() {
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for (auto* device : collect_owned_devices()) {
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destroy_device(device);
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}
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}
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@@ -0,0 +1,169 @@
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// SPDX-License-Identifier: Apache-2.0
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#include <gps/gps_settings.h>
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#include <gps/private/gps_ledger.h>
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#include <tactility/filesystem/file_mutex.h>
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#include <tactility/log.h>
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#include <tactility/service/service_paths.h>
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#include <sys/stat.h>
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#include <cstdio>
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#include <cstring>
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#include <vector>
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constexpr auto* TAG = "gps_settings";
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// Storage key for the persisted configuration file (services would use their own service ID for
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// this; gps_settings has no service backing it, so it defines its own).
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constexpr auto* GPS_SETTINGS_STORAGE_ID = "gps";
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// region Configuration persistence
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// Recursively creates every missing directory component of `path` (best-effort - mkdir() failures
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// other than "already exists" are surfaced later, when the actual config file open fails).
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static void ensure_directory_exists(const char* path) {
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char buffer[224];
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std::strncpy(buffer, path, sizeof(buffer) - 1);
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buffer[sizeof(buffer) - 1] = '\0';
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for (char* p = buffer + 1; *p != '\0'; p++) {
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if (*p == '/') {
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*p = '\0';
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mkdir(buffer, 0777);
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*p = '/';
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}
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}
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mkdir(buffer, 0777);
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}
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static bool get_configuration_path(char* out_path, size_t out_path_size) {
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return service_paths_get_user_data_path(GPS_SETTINGS_STORAGE_ID, "config.bin", out_path, out_path_size) == ERROR_NONE;
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}
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// Holds the lock (if any) that `path` needs for the lifetime of the guard - see file_find_lock().
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class FileLockGuard {
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FileMutex mutex;
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bool locked;
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public:
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explicit FileLockGuard(const char* path) {
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file_mutex_get(&mutex, path);
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file_mutex_lock(&mutex);
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locked = true;
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}
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~FileLockGuard() {
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unlock();
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}
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void unlock() {
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if (locked) {
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file_mutex_unlock(&mutex);
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locked = false;
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}
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}
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};
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void gps_settings_for_each_configuration(void* context, void (*on_configuration)(const GpsConfiguration* configuration, size_t index, void* context)) {
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char path[224];
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if (!get_configuration_path(path, sizeof(path))) {
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return;
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}
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FileLockGuard lock(path);
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FILE* file = fopen(path, "rb");
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if (file == nullptr) {
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return; // No configurations saved yet
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}
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GpsConfiguration configuration;
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size_t index = 0;
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while (fread(&configuration, sizeof(configuration), 1, file) == 1) {
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on_configuration(&configuration, index, context);
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index++;
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}
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fclose(file);
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}
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static void collect_configuration(const GpsConfiguration* configuration, size_t, void* context) {
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static_cast<std::vector<GpsConfiguration>*>(context)->push_back(*configuration);
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}
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static void load_configurations(std::vector<GpsConfiguration>& out) {
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gps_settings_for_each_configuration(&out, collect_configuration);
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}
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static error_t write_configurations(const std::vector<GpsConfiguration>& configurations) {
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char directory[224];
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if (service_paths_get_user_data_directory(GPS_SETTINGS_STORAGE_ID, directory, sizeof(directory)) != ERROR_NONE) {
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return ERROR_RESOURCE;
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}
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char path[256];
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if (!get_configuration_path(path, sizeof(path))) {
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return ERROR_RESOURCE;
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}
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FileLockGuard lock(path);
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ensure_directory_exists(directory);
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FILE* file = fopen(path, "wb");
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if (file == nullptr) {
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LOG_E(TAG, "Failed to open %s for writing", path);
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return ERROR_RESOURCE;
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}
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bool ok = true;
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for (auto& configuration : configurations) {
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if (fwrite(&configuration, sizeof(configuration), 1, file) != 1) {
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ok = false;
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break;
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}
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}
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fclose(file);
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if (!ok) {
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return ERROR_RESOURCE;
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}
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lock.unlock();
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gps_ledger_sync();
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return ERROR_NONE;
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}
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// endregion
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error_t gps_settings_add_configuration(const GpsConfiguration* configuration) {
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std::vector<GpsConfiguration> configurations;
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load_configurations(configurations);
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configurations.push_back(*configuration);
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error_t error = write_configurations(configurations);
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if (error != ERROR_NONE) {
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return error;
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}
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return ERROR_NONE;
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}
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error_t gps_settings_remove_configuration_at(size_t index) {
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std::vector<GpsConfiguration> configurations;
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load_configurations(configurations);
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if (index >= configurations.size()) {
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return ERROR_NOT_FOUND;
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}
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configurations.erase(configurations.begin() + static_cast<ptrdiff_t>(index));
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error_t error = write_configurations(configurations);
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if (error != ERROR_NONE) {
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return error;
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}
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return ERROR_NONE;
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}
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@@ -0,0 +1,30 @@
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// SPDX-License-Identifier: Apache-2.0
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#include <gps/gps_module.h>
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#include <gps/private/gps_ledger.h>
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#include <tactility/error.h>
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#include <tactility/module.h>
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extern "C" {
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static error_t start() {
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// Materializes devices for configurations persisted in previous sessions.
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gps_ledger_sync();
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return ERROR_NONE;
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}
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static error_t stop() {
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gps_ledger_clear();
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return ERROR_NONE;
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}
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Module gps_module = {
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.name = "gps",
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.start = start,
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.stop = stop,
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.drivers = nullptr,
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.symbols = nullptr,
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.internal = nullptr
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};
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}
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Block a user