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
committed by
GitHub
GitHub
parent
5993ceb232
commit
3fe1dc0312
@@ -8,6 +8,7 @@ if (DEFINED ENV{ESP_IDF_VERSION})
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PlatformEsp32
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TactilityCore
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TactilityFreeRtos
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hal-device
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lvgl
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driver
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elf_loader
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@@ -71,6 +72,7 @@ else()
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TactilityCore
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TactilityKernel
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PlatformPosix
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hal-device
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freertos_kernel
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lvgl
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lv_screenshot
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@@ -1,125 +0,0 @@
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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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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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private:
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Id id;
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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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};
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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 std::move(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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@@ -1,6 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include <tactility/hal/Device.h>
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#include <lvgl.h>
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@@ -1,6 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include <tactility/hal/Device.h>
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#include <lvgl.h>
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@@ -1,6 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include <tactility/hal/Device.h>
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#include "GpsConfiguration.h"
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#include "Satellites.h"
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@@ -110,7 +110,7 @@ public:
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return lastRmcSubscriptionId;
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}
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void unsubscribeRmc(GgaSubscriptionId subscriptionId) {
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void unsubscribeRmc(RmcSubscriptionId subscriptionId) {
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auto lock = mutex.asScopedLock();
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lock.lock();
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std::erase_if(rmcSubscriptions, [subscriptionId](auto& subscription) { return subscription.id == subscriptionId; });
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@@ -1,6 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include <tactility/hal/Device.h>
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#include "I2c.h"
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namespace tt::hal::i2c {
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@@ -1,6 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include <tactility/hal/Device.h>
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#include <lvgl.h>
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@@ -1,6 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include <tactility/hal/Device.h>
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#include <cstdint>
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namespace tt::hal::power {
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@@ -44,4 +44,4 @@ public:
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virtual void powerOff() { /* NO-OP*/ }
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};
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} // namespace tt
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}
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@@ -1,6 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include <tactility/hal/Device.h>
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#include <Tactility/TactilityCore.h>
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#include <Tactility/Lock.h>
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@@ -5,7 +5,7 @@
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#include "SdCardDevice.h"
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#include <Tactility/RecursiveMutex.h>
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#include <Tactility/hal/Device.h>
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#include <tactility/hal/Device.h>
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#include <Tactility/hal/spi/Spi.h>
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#include <sd_protocol_types.h>
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#include <soc/gpio_num.h>
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@@ -1,6 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include <tactility/hal/Device.h>
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#include "TouchDriver.h"
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#include <lvgl.h>
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@@ -1,7 +1,7 @@
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#include "Tactility/MountPoints.h"
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#include "Tactility/TactilityConfig.h"
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#include "Tactility/hal/Device.h"
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#include <tactility/hal/Device.h>
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#include "Tactility/hal/sdcard/SdCardDevice.h"
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#include <Tactility/file/File.h>
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@@ -23,6 +23,7 @@
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#include <Tactility/settings/TimePrivate.h>
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#include <tactility/kernel_init.h>
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#include <tactility/hal_device_module.h>
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#include <map>
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#include <format>
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@@ -38,6 +39,11 @@ static auto LOGGER = Logger("Tactility");
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static const Configuration* config_instance = nullptr;
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static Dispatcher mainDispatcher;
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struct ModuleParent tactility_module_parent {
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"tactility",
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nullptr
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};
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// region Default services
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namespace service {
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// Primary
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@@ -330,6 +336,11 @@ void run(const Configuration& config, Module* platformModule, Module* deviceModu
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return;
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}
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// HAL compatibility module: it creates kernel driver wrappers for tt::hal::Device
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check(module_parent_construct(&tactility_module_parent) == ERROR_NONE);
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check(module_set_parent(&hal_device_module, &tactility_module_parent) == ERROR_NONE);
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check(module_start(&hal_device_module) == ERROR_NONE);
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const hal::Configuration& hardware = *config.hardware;
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// Assign early so starting services can use it
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@@ -5,7 +5,7 @@
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#include <Tactility/file/File.h>
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#include <Tactility/file/FileLock.h>
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#include <Tactility/file/PropertiesFile.h>
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#include <Tactility/hal/Device.h>
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#include <tactility/hal/Device.h>
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#include <Tactility/Logger.h>
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#include <Tactility/Paths.h>
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@@ -3,7 +3,7 @@
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#include <Tactility/app/crashdiagnostics/QrHelpers.h>
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#include <Tactility/app/crashdiagnostics/QrUrl.h>
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#include <Tactility/app/launcher/Launcher.h>
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#include <Tactility/hal/Device.h>
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#include <tactility/hal/Device.h>
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#include <Tactility/Logger.h>
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#include <Tactility/lvgl/Statusbar.h>
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#include <Tactility/service/loader/Loader.h>
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@@ -7,7 +7,7 @@
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#include <Tactility/hal/power/PowerDevice.h>
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#include <Tactility/Timer.h>
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#include <Tactility/Assets.h>
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#include <Tactility/hal/Device.h>
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#include <tactility/hal/Device.h>
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#include <lvgl.h>
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@@ -3,7 +3,7 @@
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#include <Tactility/lvgl/LvglSync.h>
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#include <Tactility/Assets.h>
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#include <Tactility/hal/Device.h>
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#include <tactility/hal/Device.h>
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#include <Tactility/Tactility.h>
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#include <Tactility/Timer.h>
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@@ -16,7 +16,7 @@ bool ObjectFileWriter::open() {
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}
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// Edit existing or create a new file
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auto opening_file = std::unique_ptr<FILE, FileCloser>(std::fopen(filePath.c_str(), "wb"));
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auto opening_file = std::unique_ptr<FILE, FileCloser>(std::fopen(filePath.c_str(), edit_existing ? "rb+" : "wb"));
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if (opening_file == nullptr) {
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LOGGER.error("Failed to open file {}", filePath);
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return false;
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@@ -1,106 +0,0 @@
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#include <Tactility/hal/Device.h>
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#include <Tactility/Logger.h>
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#include <Tactility/RecursiveMutex.h>
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#include <algorithm>
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namespace tt::hal {
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std::vector<std::shared_ptr<Device>> devices;
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RecursiveMutex mutex;
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static Device::Id nextId = 0;
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static const auto LOGGER = Logger("Devices");
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Device::Device() : id(nextId++) {}
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template <std::ranges::range RangeType>
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auto toVector(RangeType&& range) {
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auto view = range | std::views::common;
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return std::vector(view.begin(), view.end());
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}
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void registerDevice(const std::shared_ptr<Device>& device) {
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auto scoped_mutex = mutex.asScopedLock();
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scoped_mutex.lock();
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if (findDevice(device->getId()) == nullptr) {
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devices.push_back(device);
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LOGGER.info("Registered {} with id {}", device->getName(), device->getId());
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} else {
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LOGGER.warn("Device {} with id {} was already registered", device->getName(), device->getId());
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}
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}
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void deregisterDevice(const std::shared_ptr<Device>& device) {
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auto scoped_mutex = mutex.asScopedLock();
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scoped_mutex.lock();
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auto id_to_remove = device->getId();
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auto remove_iterator = std::remove_if(devices.begin(), devices.end(), [id_to_remove](const auto& device) {
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return device->getId() == id_to_remove;
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});
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if (remove_iterator != devices.end()) {
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LOGGER.info("Deregistering {} with id {}", device->getName(), device->getId());
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devices.erase(remove_iterator);
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} else {
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LOGGER.warn("Deregistering {} with id {} failed: not found", device->getName(), device->getId());
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}
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}
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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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auto scoped_mutex = mutex.asScopedLock();
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scoped_mutex.lock();
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auto devices_view = devices | std::views::filter([&filterFunction](auto& device) {
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return filterFunction(device);
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});
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return toVector(devices_view);
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}
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std::shared_ptr<Device> _Nullable findDevice(const std::function<bool(const std::shared_ptr<Device>&)>& filterFunction) {
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auto scoped_mutex = mutex.asScopedLock();
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scoped_mutex.lock();
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auto result_set = devices | std::views::filter([&filterFunction](auto& device) {
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return filterFunction(device);
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});
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if (!result_set.empty()) {
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return result_set.front();
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} else {
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return nullptr;
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}
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}
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std::shared_ptr<Device> _Nullable findDevice(std::string name) {
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return findDevice([&name](auto& device){
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return device->getName() == name;
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});
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}
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std::shared_ptr<Device> _Nullable findDevice(Device::Id id) {
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return findDevice([id](auto& device){
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return device->getId() == id;
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});
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}
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std::vector<std::shared_ptr<Device>> findDevices(Device::Type type) {
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return findDevices([type](auto& device) {
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return device->getType() == type;
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});
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}
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std::vector<std::shared_ptr<Device>> getDevices() {
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return devices;
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}
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bool hasDevice(Device::Type type) {
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auto scoped_mutex = mutex.asScopedLock();
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scoped_mutex.lock();
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auto result_set = devices | std::views::filter([&type](auto& device) {
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return device->getType() == type;
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});
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return !result_set.empty();
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}
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}
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@@ -2,7 +2,7 @@
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#include <Tactility/Tactility.h>
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#include <tactility/check.h>
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#include <Tactility/hal/Configuration.h>
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#include <Tactility/hal/Device.h>
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#include <tactility/hal/Device.h>
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#include <Tactility/hal/power/PowerDevice.h>
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#include <Tactility/hal/spi/SpiInit.h>
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#include <Tactility/hal/uart/UartInit.h>
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@@ -1,4 +1,4 @@
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#include "Tactility/hal/Device.h"
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#include <tactility/hal/Device.h>
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#include "Tactility/hal/sdcard/SdCardDevice.h"
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namespace tt::hal::sdcard {
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@@ -14,7 +14,7 @@
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#include <Tactility/Tactility.h>
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#include <Tactility/TactilityConfig.h>
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#include <Tactility/hal/Device.h>
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#include <tactility/hal/Device.h>
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#include <Tactility/app/AppRegistration.h>
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#include <Tactility/app/AppManifest.h>
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#include <Tactility/app/App.h>
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@@ -1,7 +1,7 @@
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#include <Tactility/settings/DisplaySettings.h>
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#include <Tactility/file/PropertiesFile.h>
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#include <Tactility/hal/Device.h>
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#include <tactility/hal/Device.h>
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#include <Tactility/hal/display/DisplayDevice.h>
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#include <map>
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