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Create hal-device module, fix GPIO, fix tests, fix TactilityC (#471)

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* **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
2026-02-01 01:05:16 +01:00
committed by GitHub
parent 5993ceb232
commit 3fe1dc0312
74 changed files with 836 additions and 211 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Tests/Tactility/CMakeLists.txt
+2
View File
@@ -22,6 +22,8 @@ target_link_libraries(TactilityTests PRIVATE
Tactility
TactilityCore
TactilityKernel
PlatformPosix
hal-device
Simulator
SDL2::SDL2-static SDL2-static
)
Tests/Tactility/HalDeviceTest.cpp
+1 -1
View File
@@ -1,5 +1,5 @@
#include "doctest.h"
#include <Tactility/hal/Device.h>
#include <tactility/hal/Device.h>
#include <utility>
Tests/Tactility/Main.cpp
+23
View File
@@ -5,12 +5,27 @@
#include "FreeRTOS.h"
#include "task.h"
#include <tactility/kernel_init.h>
#include <tactility/hal_device_module.h>
typedef struct {
int argc;
char** argv;
int result;
} TestTaskData;
extern "C" {
// From the relevant platform
extern struct Module platform_module;
// From the relevant device
extern struct Module device_module;
}
struct ModuleParent tactility_tests_module_parent {
"tactility-tests",
nullptr
};
void test_task(void* parameter) {
auto* data = (TestTaskData*)parameter;
@@ -21,6 +36,12 @@ void test_task(void* parameter) {
// overrides
context.setOption("no-breaks", true); // don't break in the debugger when assertions fail
check(kernel_init(&platform_module, &device_module, nullptr) == ERROR_NONE);
// HAL compatibility module: it creates kernel driver wrappers for tt::hal::Device
check(module_parent_construct(&tactility_tests_module_parent) == ERROR_NONE);
check(module_set_parent(&hal_device_module, &tactility_tests_module_parent) == ERROR_NONE);
check(module_start(&hal_device_module) == ERROR_NONE);
data->result = context.run();
vTaskEndScheduler();
@@ -46,4 +67,6 @@ int main(int argc, char** argv) {
assert(task_result == pdPASS);
vTaskStartScheduler();
return data.result;
}
Tests/Tactility/ObjectFileTest.cpp
+2
View File
@@ -56,8 +56,10 @@ TEST_CASE("Appending records to a file") {
CHECK_EQ(reader.open(), true);
CHECK_EQ(reader.hasNext(), true);
CHECK_EQ(reader.readNext(&record_in), true);
CHECK_EQ(record_in.value, 0xAAAAAAAA);
CHECK_EQ(reader.hasNext(), true);
CHECK_EQ(reader.readNext(&record_in), true);
CHECK_EQ(record_in.value, 0xBBBBBBBB);
CHECK_EQ(reader.hasNext(), false);
reader.close();
Tests/TactilityKernel/CMakeLists.txt
+5 -1
View File
@@ -11,4 +11,8 @@ target_include_directories(TactilityKernelTests PRIVATE ${DOCTESTINC})
add_test(NAME TactilityKernelTests COMMAND TactilityKernelTests)
target_link_libraries(TactilityKernelTests PUBLIC TactilityKernel)
target_link_libraries(TactilityKernelTests PUBLIC
TactilityKernel
PlatformPosix
hal-device
)
Tests/TactilityKernel/DeviceTest.cpp
+2 -2
View File
@@ -177,7 +177,7 @@ TEST_CASE("device_is_ready should return true only when it is started") {
Device device = { 0 };
CHECK_EQ(driver_construct(&driver), ERROR_NONE);
CHECK_EQ(driver_construct_add(&driver), ERROR_NONE);
CHECK_EQ(device_construct(&device), ERROR_NONE);
CHECK_EQ(device.internal.state.started, false);
@@ -192,6 +192,6 @@ TEST_CASE("device_is_ready should return true only when it is started") {
CHECK_EQ(device_remove(&device), ERROR_NONE);
CHECK_EQ(device.internal.state.started, false);
CHECK_EQ(driver_destruct(&driver), ERROR_NONE);
CHECK_EQ(device_destruct(&device), ERROR_NONE);
CHECK_EQ(driver_remove_destruct(&driver), ERROR_NONE);
}
Tests/TactilityKernel/DriverIntegrationTest.cpp
+2 -2
View File
@@ -55,7 +55,7 @@ TEST_CASE("driver with with start success and stop success should start and stop
.parent = nullptr,
};
CHECK_EQ(driver_construct(&integration_driver), ERROR_NONE);
CHECK_EQ(driver_construct_add(&integration_driver), ERROR_NONE);
CHECK_EQ(device_construct(&integration_device), ERROR_NONE);
device_add(&integration_device);
@@ -68,5 +68,5 @@ TEST_CASE("driver with with start success and stop success should start and stop
CHECK_EQ(device_remove(&integration_device), ERROR_NONE);
CHECK_EQ(device_destruct(&integration_device), ERROR_NONE);
CHECK_EQ(driver_destruct(&integration_driver), ERROR_NONE);
CHECK_EQ(driver_remove_destruct(&integration_driver), ERROR_NONE);
}
Tests/TactilityKernel/DriverTest.cpp
+4
View File
@@ -14,7 +14,9 @@ TEST_CASE("driver_construct and driver_destruct should set and unset the correct
driver.owner = &module;
CHECK_EQ(driver_construct(&driver), ERROR_NONE);
CHECK_EQ(driver_add(&driver), ERROR_NONE);
CHECK_NE(driver.driver_private, nullptr);
CHECK_EQ(driver_remove(&driver), ERROR_NONE);
CHECK_EQ(driver_destruct(&driver), ERROR_NONE);
CHECK_EQ(driver.driver_private, nullptr);
}
@@ -62,10 +64,12 @@ TEST_CASE("driver_find should only find a compatible driver when the driver was
CHECK_EQ(found_driver, nullptr);
CHECK_EQ(driver_construct(&driver), ERROR_NONE);
CHECK_EQ(driver_add(&driver), ERROR_NONE);
found_driver = driver_find_compatible("test_compatible");
CHECK_EQ(found_driver, &driver);
CHECK_EQ(driver_remove(&driver), ERROR_NONE);
CHECK_EQ(driver_destruct(&driver), ERROR_NONE);
found_driver = driver_find_compatible("test_compatible");
Tests/TactilityKernel/Main.cpp
+8
View File
@@ -3,6 +3,7 @@
#include <cassert>
#include <tactility/freertos/task.h>
#include <tactility/kernel_init.h>
typedef struct {
int argc;
@@ -10,6 +11,11 @@ typedef struct {
int result;
} TestTaskData;
extern "C" {
// From the relevant platform
extern struct Module platform_module;
}
void test_task(void* parameter) {
auto* data = (TestTaskData*)parameter;
@@ -20,6 +26,8 @@ void test_task(void* parameter) {
// overrides
context.setOption("no-breaks", true); // don't break in the debugger when assertions fail
check(kernel_init(&platform_module, nullptr, nullptr) == ERROR_NONE);
data->result = context.run();
vTaskEndScheduler();