Create hal-device module, fix GPIO, fix tests, fix TactilityC (#471)
* **New Features** * Added a HAL device module providing device enumeration, type queries and a HAL↔kernel bridge. * **Improvements** * Integrated HAL module into startup; standardized module names, includes and lifecycle logging; safer file append behavior; broader build support. * **API Changes** * Driver lifecycle now uses explicit add/remove semantics; C and HAL device type/lookup APIs clarified. * **Chores** * Added module README and Apache‑2.0 license; updated build configuration to include the new module. * **Fixes** * Updated tests and object file handling to behave correctly.
This commit is contained in:
Ken Van Hoeylandt
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parent
5993ceb232
commit
3fe1dc0312
@@ -0,0 +1,46 @@
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cmake_minimum_required(VERSION 3.20)
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if (DEFINED ENV{ESP_IDF_VERSION})
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file(GLOB_RECURSE SOURCE_FILES Source/*.c*)
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list(APPEND REQUIRES_LIST
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TactilityKernel
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TactilityCore
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TactilityFreeRtos
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)
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idf_component_register(
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SRCS ${SOURCE_FILES}
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INCLUDE_DIRS "Include/"
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REQUIRES ${REQUIRES_LIST}
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)
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if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
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target_compile_options(${COMPONENT_LIB} PUBLIC -Wno-unused-variable)
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endif ()
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else ()
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file(GLOB_RECURSE SOURCES "Source/*.c*")
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add_library(hal-device OBJECT)
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target_sources(hal-device PRIVATE ${SOURCES})
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target_include_directories(hal-device
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PRIVATE Private/
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PUBLIC Include/
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)
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add_definitions(-D_Nullable=)
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add_definitions(-D_Nonnull=)
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target_link_libraries(hal-device PUBLIC
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TactilityFreeRtos
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TactilityCore
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TactilityKernel
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freertos_kernel
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)
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endif ()
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@@ -0,0 +1,28 @@
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// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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enum class HalDeviceType {
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HAL_DEVICE_TYPE_I2C,
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HAL_DEVICE_TYPE_DISPLAY,
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HAL_DEVICE_TYPE_TOUCH,
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HAL_DEVICE_TYPE_SDCARD,
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HAL_DEVICE_TYPE_KEYBOARD,
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HAL_DEVICE_TYPE_ENCODER,
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HAL_DEVICE_TYPE_POWER,
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HAL_DEVICE_TYPE_GPS,
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HAL_DEVICE_TYPE_OTHER
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};
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HalDeviceType hal_device_get_type(struct Device* device);
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void hal_device_for_each_of_type(HalDeviceType type, void* context, bool(*onDevice)(struct Device* device, void* context));
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extern const struct DeviceType HAL_DEVICE_TYPE;
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#ifdef __cplusplus
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}
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#endif
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@@ -0,0 +1,21 @@
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// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#include "hal_device.h"
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#include <memory>
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#include <tactility/hal/Device.h>
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namespace tt::hal {
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/**
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* @brief Get a tt::hal::Device object from a Kernel device.
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* @warning The input device must be of type HAL_DEVICE_TYPE
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* @param kernelDevice The kernel device
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* @return std::shared_ptr<Device>
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*/
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std::shared_ptr<Device> hal_device_get_device(::Device* kernelDevice);
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void hal_device_set_device(::Device* kernelDevice, std::shared_ptr<Device> halDevice);
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}
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@@ -0,0 +1,144 @@
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// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#include <functional>
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#include <memory>
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#include <ranges>
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#include <string>
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#include <vector>
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#include <cassert>
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#include <tactility/device.h>
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typedef ::Device KernelDevice;
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namespace tt::hal {
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/** Base class for HAL-related devices. */
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class Device {
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public:
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enum class Type {
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I2c,
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Display,
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Touch,
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SdCard,
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Keyboard,
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Encoder,
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Power,
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Gps,
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Other
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};
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typedef uint32_t Id;
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struct KernelDeviceHolder {
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const std::string name;
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std::shared_ptr<KernelDevice> device = std::make_shared<KernelDevice>();
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explicit KernelDeviceHolder(std::string name) : name(name) {
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device->name = this->name.c_str();
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}
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};
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private:
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Id id;
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std::shared_ptr<KernelDeviceHolder> kernelDeviceHolder;
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public:
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Device();
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virtual ~Device() = default;
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/** Unique identifier */
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Id getId() const { return id; }
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/** The type of device */
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virtual Type getType() const = 0;
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/** The part number or hardware name e.g. TdeckTouch, TdeckDisplay, BQ24295, etc. */
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virtual std::string getName() const = 0;
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/** A short description of what this device does.
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* e.g. "USB charging controller with I2C interface."
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*/
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virtual std::string getDescription() const = 0;
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void setKernelDeviceHolder(std::shared_ptr<KernelDeviceHolder> kernelDeviceHolder) { this->kernelDeviceHolder = kernelDeviceHolder; }
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std::shared_ptr<KernelDeviceHolder> getKernelDeviceHolder() const { return kernelDeviceHolder; }
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};
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/**
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* Adds a device to the registry.
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* @warning This will leak memory if you want to destroy a device and don't call deregisterDevice()!
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*/
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void registerDevice(const std::shared_ptr<Device>& device);
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/** Remove a device from the registry. */
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void deregisterDevice(const std::shared_ptr<Device>& device);
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/** Find a single device with a custom filter */
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std::shared_ptr<Device> _Nullable findDevice(const std::function<bool(const std::shared_ptr<Device>&)>& filterFunction);
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/** Find devices with a custom filter */
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std::vector<std::shared_ptr<Device>> findDevices(const std::function<bool(const std::shared_ptr<Device>&)>& filterFunction);
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/** Find a device in the registry by its name. */
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std::shared_ptr<Device> _Nullable findDevice(std::string name);
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/** Find a device in the registry by its identifier. */
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std::shared_ptr<Device> _Nullable findDevice(Device::Id id);
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/** Find 0, 1 or more devices in the registry by type. */
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std::vector<std::shared_ptr<Device>> findDevices(Device::Type type);
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/** Get a copy of the entire device registry in its current state. */
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std::vector<std::shared_ptr<Device>> getDevices();
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/** Find devices of a certain type and cast them to the specified class */
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template<class DeviceType>
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std::vector<std::shared_ptr<DeviceType>> findDevices(Device::Type type) {
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auto devices = findDevices(type);
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if (devices.empty()) {
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return {};
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} else {
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std::vector<std::shared_ptr<DeviceType>> result;
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result.reserve(devices.size());
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for (auto& device : devices) {
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auto target_device = std::static_pointer_cast<DeviceType>(device);
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assert(target_device != nullptr);
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result.push_back(target_device);
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}
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return result;
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}
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}
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template<class DeviceType>
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void findDevices(Device::Type type, std::function<bool(const std::shared_ptr<DeviceType>&)> onDeviceFound) {
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auto devices_view = findDevices(type);
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for (auto& device : devices_view) {
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auto typed_device = std::static_pointer_cast<DeviceType>(device);
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if (!onDeviceFound(typed_device)) {
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break;
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}
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}
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}
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/** Find the first device of the specified type and cast it to the specified class */
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template<class DeviceType>
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std::shared_ptr<DeviceType> findFirstDevice(Device::Type type) {
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auto devices = findDevices(type);
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if (devices.empty()) {
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return {};
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} else {
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auto& first = devices[0];
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return std::static_pointer_cast<DeviceType>(first);
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}
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}
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/** @return true if there are 1 or more devices of the specified type */
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bool hasDevice(Device::Type type);
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}
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@@ -0,0 +1,12 @@
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// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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extern struct Module hal_device_module;
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#ifdef __cplusplus
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}
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#endif
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@@ -0,0 +1,195 @@
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Apache License
|
||||
==============
|
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|
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@@ -0,0 +1,8 @@
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**WARNING: This module contains deprecated code**
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||||
|
||||
This module is the basis for the old Tactility HAL.
|
||||
This HAL existed before TactilityKernel.
|
||||
|
||||
The C++ `tt::hal::Device` class is replaced by `struct Device` from TactilityKernel.
|
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||||
License: Apache v2.0
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@@ -0,0 +1,126 @@
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
#include <tactility/drivers/hal_device.h>
|
||||
#include <tactility/device.h>
|
||||
#include <tactility/driver.h>
|
||||
|
||||
#include <tactility/log.h>
|
||||
#include <tactility/hal/Device.h>
|
||||
#include <memory>
|
||||
#include <utility>
|
||||
|
||||
#define TAG LOG_TAG(HalDevice)
|
||||
|
||||
struct HalDevicePrivate {
|
||||
std::shared_ptr<tt::hal::Device> halDevice;
|
||||
};
|
||||
|
||||
#define GET_DATA(device) ((struct HalDevicePrivate*)device->internal.driver_data)
|
||||
|
||||
static enum HalDeviceType getHalDeviceType(tt::hal::Device::Type type) {
|
||||
switch (type) {
|
||||
case tt::hal::Device::Type::I2c:
|
||||
return HalDeviceType::HAL_DEVICE_TYPE_I2C;
|
||||
case tt::hal::Device::Type::Display:
|
||||
return HalDeviceType::HAL_DEVICE_TYPE_DISPLAY;
|
||||
case tt::hal::Device::Type::Touch:
|
||||
return HalDeviceType::HAL_DEVICE_TYPE_TOUCH;
|
||||
case tt::hal::Device::Type::SdCard:
|
||||
return HalDeviceType::HAL_DEVICE_TYPE_SDCARD;
|
||||
case tt::hal::Device::Type::Keyboard:
|
||||
return HalDeviceType::HAL_DEVICE_TYPE_KEYBOARD;
|
||||
case tt::hal::Device::Type::Encoder:
|
||||
return HalDeviceType::HAL_DEVICE_TYPE_ENCODER;
|
||||
case tt::hal::Device::Type::Power:
|
||||
return HalDeviceType::HAL_DEVICE_TYPE_POWER;
|
||||
case tt::hal::Device::Type::Gps:
|
||||
return HalDeviceType::HAL_DEVICE_TYPE_GPS;
|
||||
case tt::hal::Device::Type::Other:
|
||||
return HalDeviceType::HAL_DEVICE_TYPE_OTHER;
|
||||
default:
|
||||
LOG_W(TAG, "Device type %d is not implemented", static_cast<int>(type));
|
||||
return HalDeviceType::HAL_DEVICE_TYPE_OTHER;
|
||||
}
|
||||
}
|
||||
|
||||
extern "C" {
|
||||
|
||||
HalDeviceType hal_device_get_type(struct Device* device) {
|
||||
auto type = GET_DATA(device)->halDevice->getType();
|
||||
return getHalDeviceType(type);
|
||||
}
|
||||
|
||||
void hal_device_for_each_of_type(HalDeviceType type, void* context, bool(*onDevice)(struct Device* device, void* context)) {
|
||||
struct InternalContext {
|
||||
HalDeviceType typeParam;
|
||||
void* contextParam;
|
||||
bool(*onDeviceParam)(struct Device* device, void* context);
|
||||
};
|
||||
|
||||
InternalContext internal_context = {
|
||||
.typeParam = type,
|
||||
.contextParam = context,
|
||||
.onDeviceParam = onDevice
|
||||
};
|
||||
|
||||
for_each_device_of_type(&HAL_DEVICE_TYPE, &internal_context, [](Device* device, void* context){
|
||||
auto* hal_device_private = GET_DATA(device);
|
||||
auto* internal_context = static_cast<InternalContext*>(context);
|
||||
auto hal_device_type = getHalDeviceType(hal_device_private->halDevice->getType());
|
||||
if (hal_device_type == internal_context->typeParam) {
|
||||
if (!internal_context->onDeviceParam(device, internal_context->contextParam)) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
});
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
namespace tt::hal {
|
||||
|
||||
std::shared_ptr<Device> hal_device_get_device(::Device* device) {
|
||||
auto* hal_device_private = GET_DATA(device);
|
||||
return hal_device_private->halDevice;
|
||||
}
|
||||
|
||||
void hal_device_set_device(::Device* kernelDevice, std::shared_ptr<Device> halDevice) {
|
||||
GET_DATA(kernelDevice)->halDevice = std::move(halDevice);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#pragma region Lifecycle
|
||||
|
||||
static error_t start(Device* device) {
|
||||
LOG_I(TAG, "start %s", device->name);
|
||||
device->internal.driver_data = new HalDevicePrivate();
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
static error_t stop(Device* device) {
|
||||
LOG_I(TAG, "stop %s", device->name);
|
||||
delete GET_DATA(device);
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
#pragma endregion
|
||||
|
||||
extern "C" {
|
||||
|
||||
const struct DeviceType HAL_DEVICE_TYPE {0};
|
||||
|
||||
extern struct Module hal_device_module;
|
||||
|
||||
Driver hal_device_driver = {
|
||||
.name = "hal-device",
|
||||
.compatible = (const char*[]) {"hal-device", nullptr},
|
||||
.startDevice = start,
|
||||
.stopDevice = stop,
|
||||
.api = nullptr,
|
||||
.deviceType = &HAL_DEVICE_TYPE,
|
||||
.owner = &hal_device_module,
|
||||
.driver_private = nullptr
|
||||
};
|
||||
|
||||
}
|
||||
@@ -0,0 +1,143 @@
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
#include <tactility/hal/Device.h>
|
||||
#include <tactility/driver.h>
|
||||
#include <tactility/drivers/hal_device.hpp>
|
||||
|
||||
#include <Tactility/Logger.h>
|
||||
#include <Tactility/RecursiveMutex.h>
|
||||
#include <algorithm>
|
||||
|
||||
namespace tt::hal {
|
||||
|
||||
RecursiveMutex mutex;
|
||||
static Device::Id nextId = 0;
|
||||
|
||||
static const auto LOGGER = Logger("Devices");
|
||||
|
||||
Device::Device() : id(nextId++) {}
|
||||
|
||||
static std::shared_ptr<Device::KernelDeviceHolder> createKernelDeviceHolder(const std::shared_ptr<Device>& device) {
|
||||
auto kernel_device_name = std::format("hal-device-{}", device->getId());
|
||||
LOGGER.info("Registering {} with id {} as kernel device {}", device->getName(), device->getId(), kernel_device_name);
|
||||
auto kernel_device_holder = std::make_shared<Device::KernelDeviceHolder>(kernel_device_name);
|
||||
auto* kernel_device = kernel_device_holder->device.get();
|
||||
check(device_construct(kernel_device) == ERROR_NONE);
|
||||
check(device_add(kernel_device) == ERROR_NONE);
|
||||
auto* driver = driver_find_compatible("hal-device");
|
||||
check(driver);
|
||||
device_set_driver(kernel_device, driver);
|
||||
check(device_start(kernel_device) == ERROR_NONE);
|
||||
hal_device_set_device(kernel_device, device);
|
||||
return kernel_device_holder;
|
||||
}
|
||||
|
||||
static void destroyKernelDeviceHolder(std::shared_ptr<Device::KernelDeviceHolder>& holder) {
|
||||
auto kernel_device = holder->device.get();
|
||||
hal_device_set_device(kernel_device, nullptr);
|
||||
check(device_stop(kernel_device) == ERROR_NONE);
|
||||
check(device_remove(kernel_device) == ERROR_NONE);
|
||||
check(device_destruct(kernel_device) == ERROR_NONE);
|
||||
holder->device = nullptr;
|
||||
}
|
||||
|
||||
void registerDevice(const std::shared_ptr<Device>& device) {
|
||||
auto scoped_mutex = mutex.asScopedLock();
|
||||
scoped_mutex.lock();
|
||||
|
||||
if (device->getKernelDeviceHolder() == nullptr) {
|
||||
// Kernel device
|
||||
auto kernel_device_holder = createKernelDeviceHolder(device);
|
||||
device->setKernelDeviceHolder(kernel_device_holder);
|
||||
} else {
|
||||
LOGGER.warn("Device {} with id {} was already registered", device->getName(), device->getId());
|
||||
}
|
||||
}
|
||||
|
||||
void deregisterDevice(const std::shared_ptr<Device>& device) {
|
||||
auto scoped_mutex = mutex.asScopedLock();
|
||||
scoped_mutex.lock();
|
||||
|
||||
// Kernel device
|
||||
auto kernel_device_holder = device->getKernelDeviceHolder();
|
||||
if (kernel_device_holder) {
|
||||
destroyKernelDeviceHolder(kernel_device_holder);
|
||||
device->setKernelDeviceHolder(nullptr);
|
||||
} else {
|
||||
LOGGER.warn("Device {} with id {} was not registered", device->getName(), device->getId());
|
||||
}
|
||||
}
|
||||
|
||||
template<typename R>
|
||||
auto toVector(R&& range) {
|
||||
using T = std::ranges::range_value_t<R>;
|
||||
std::vector<T> result;
|
||||
if constexpr (std::ranges::common_range<R>) {
|
||||
result.reserve(std::ranges::distance(range));
|
||||
}
|
||||
std::ranges::copy(range, std::back_inserter(result));
|
||||
return result;
|
||||
}
|
||||
|
||||
std::vector<std::shared_ptr<Device>> findDevices(const std::function<bool(const std::shared_ptr<Device>&)>& filterFunction) {
|
||||
auto scoped_mutex = mutex.asScopedLock();
|
||||
scoped_mutex.lock();
|
||||
|
||||
auto devices_view = getDevices() | std::views::filter([&filterFunction](auto& device) {
|
||||
return filterFunction(device);
|
||||
});
|
||||
return toVector(devices_view);
|
||||
}
|
||||
|
||||
std::shared_ptr<Device> _Nullable findDevice(const std::function<bool(const std::shared_ptr<Device>&)>& filterFunction) {
|
||||
auto scoped_mutex = mutex.asScopedLock();
|
||||
scoped_mutex.lock();
|
||||
|
||||
auto result_set = getDevices() | std::views::filter([&filterFunction](auto& device) {
|
||||
return filterFunction(device);
|
||||
});
|
||||
if (!result_set.empty()) {
|
||||
return result_set.front();
|
||||
} else {
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
std::shared_ptr<Device> _Nullable findDevice(std::string name) {
|
||||
return findDevice([&name](auto& device){
|
||||
return device->getName() == name;
|
||||
});
|
||||
}
|
||||
|
||||
std::shared_ptr<Device> _Nullable findDevice(Device::Id id) {
|
||||
return findDevice([id](auto& device){
|
||||
return device->getId() == id;
|
||||
});
|
||||
}
|
||||
|
||||
std::vector<std::shared_ptr<Device>> findDevices(Device::Type type) {
|
||||
return findDevices([type](auto& device) {
|
||||
return device->getType() == type;
|
||||
});
|
||||
}
|
||||
|
||||
std::vector<std::shared_ptr<Device>> getDevices() {
|
||||
std::vector<std::shared_ptr<Device>> devices;
|
||||
for_each_device_of_type(&HAL_DEVICE_TYPE, &devices ,[](auto* kernelDevice, auto* context) {
|
||||
auto devices_ptr = static_cast<std::vector<std::shared_ptr<Device>>*>(context);
|
||||
auto hal_device = hal_device_get_device(kernelDevice);
|
||||
(*devices_ptr).push_back(hal_device);
|
||||
return true;
|
||||
});
|
||||
return devices;
|
||||
}
|
||||
|
||||
bool hasDevice(Device::Type type) {
|
||||
auto scoped_mutex = mutex.asScopedLock();
|
||||
scoped_mutex.lock();
|
||||
auto result_set = getDevices() | std::views::filter([&type](auto& device) {
|
||||
return device->getType() == type;
|
||||
});
|
||||
return !result_set.empty();
|
||||
}
|
||||
|
||||
}
|
||||
@@ -0,0 +1,31 @@
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
#include <tactility/check.h>
|
||||
#include <tactility/driver.h>
|
||||
#include <tactility/module.h>
|
||||
|
||||
extern "C" {
|
||||
|
||||
extern Driver hal_device_driver;
|
||||
|
||||
static error_t start() {
|
||||
/* We crash when construct fails, because if a single driver fails to construct,
|
||||
* there is no guarantee that the previously constructed drivers can be destroyed */
|
||||
check(driver_construct_add(&hal_device_driver) == ERROR_NONE);
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
static error_t stop() {
|
||||
/* We crash when destruct fails, because if a single driver fails to destruct,
|
||||
* there is no guarantee that the previously destroyed drivers can be recovered */
|
||||
check(driver_remove(&hal_device_driver) == ERROR_NONE);
|
||||
check(driver_destruct(&hal_device_driver) == ERROR_NONE);
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
struct Module hal_device_module = {
|
||||
.name = "hal-device",
|
||||
.start = start,
|
||||
.stop = stop
|
||||
};
|
||||
|
||||
}
|
||||
Reference in New Issue
Block a user