TactilityKernel improvements (#464)

* **New Features** * Thread API with lifecycle, priority, affinity and state monitoring * Timer subsystem: one-shot/periodic timers, reset, pending callbacks, expiry queries * Expanded I²C: register-level ops, bulk writes, presence checks, ESP32 integration and new config properties * GPIO controller: pin level and options APIs * Error utilities: new error code, error-to-string, timeout helper and common macros * Device construction helpers (construct+start) * **Tests** * New unit tests for thread and timer behavior * **Documentation** * Expanded coding style guide (files/folders, C conventions)
2026-01-28 23:58:11 +01:00
parent f6ddb14ec1
commit 71f8369377
36 changed files with 1771 additions and 339 deletions
@@ -11,7 +11,7 @@
 #include <tactility/log.h>
 #include <atomic>

-#define TAG LOG_TAG("Dispatcher")
+#define TAG LOG_TAG(Dispatcher)

 static constexpr EventBits_t BACKPRESSURE_WARNING_COUNT = 100U;
 static constexpr EventBits_t WAIT_FLAG = 1U;
@@ -0,0 +1,278 @@
+// SPDX-License-Identifier: Apache-2.0
+#include <tactility/concurrent/thread.h>
+#include <tactility/concurrent/mutex.h>
+#include <tactility/check.h>
+#include <tactility/delay.h>
+#include <tactility/log.h>
+#include <tactility/time.h>
+
+#include <cstdlib>
+#include <cstring>
+#include <string>
+
+static const size_t LOCAL_STORAGE_SELF_POINTER_INDEX = 0;
+static const char* TAG = LOG_TAG(Thread);
+
+struct Thread {
+    TaskHandle_t taskHandle = nullptr;
+    ThreadState state = THREAD_STATE_STOPPED;
+    thread_main_fn_t mainFunction = nullptr;
+    void* mainFunctionContext = nullptr;
+    int32_t callbackResult = 0;
+    thread_state_callback_t stateCallback = nullptr;
+    void* stateCallbackContext = nullptr;
+    std::string name = "unnamed";
+    enum ThreadPriority priority = THREAD_PRIORITY_NORMAL;
+    struct Mutex mutex = { 0 };
+    configSTACK_DEPTH_TYPE stackSize = 4096;
+    portBASE_TYPE affinity = -1;
+
+    Thread() {
+        mutex_construct(&mutex);
+    }
+
+    ~Thread() {
+        mutex_destruct(&mutex);
+    }
+
+    void lock() { mutex_lock(&mutex); }
+
+    void unlock() { mutex_unlock(&mutex); }
+};
+
+static void thread_set_state_internal(Thread* thread, ThreadState newState) {
+    thread->lock();
+    thread->state = newState;
+    auto cb = thread->stateCallback;
+    auto cb_ctx = thread->stateCallbackContext;
+    thread->unlock();
+    if (cb) {
+        cb(newState, cb_ctx);
+    }
+}
+
+static void thread_main_body(void* context) {
+    check(context != nullptr);
+    auto* thread = static_cast<Thread*>(context);
+
+    // Save Thread instance pointer to task local storage
+    check(pvTaskGetThreadLocalStoragePointer(nullptr, LOCAL_STORAGE_SELF_POINTER_INDEX) == nullptr);
+    vTaskSetThreadLocalStoragePointer(nullptr, LOCAL_STORAGE_SELF_POINTER_INDEX, thread);
+
+    LOG_I(TAG, "Starting %s", thread->name.c_str()); // No need to lock as we don't allow mutation after thread start
+    check(thread->state == THREAD_STATE_STARTING);
+    thread_set_state_internal(thread, THREAD_STATE_RUNNING);
+
+    int32_t result = thread->mainFunction(thread->mainFunctionContext);
+    thread->lock();
+    thread->callbackResult = result;
+    thread->unlock();
+
+    check(thread->state == THREAD_STATE_RUNNING);
+    thread_set_state_internal(thread, THREAD_STATE_STOPPED);
+    LOG_I(TAG, "Stopped %s", thread->name.c_str()); // No need to lock as we don't allow mutation after thread start
+
+    vTaskSetThreadLocalStoragePointer(nullptr, LOCAL_STORAGE_SELF_POINTER_INDEX, nullptr);
+
+    thread->lock();
+    thread->taskHandle = nullptr;
+    thread->unlock();
+
+    vTaskDelete(nullptr);
+}
+
+extern "C" {
+
+Thread* thread_alloc(void) {
+    auto* thread = new(std::nothrow) Thread();
+    if (thread == nullptr) {
+        return nullptr;
+    }
+    return thread;
+}
+
+Thread* thread_alloc_full(
+    const char* name,
+    configSTACK_DEPTH_TYPE stack_size,
+    thread_main_fn_t function,
+    void* function_context,
+    portBASE_TYPE affinity
+) {
+    auto* thread = new(std::nothrow) Thread();
+    if (thread != nullptr) {
+        thread_set_name(thread, name);
+        thread_set_stack_size(thread, stack_size);
+        thread_set_main_function(thread, function, function_context);
+        thread_set_affinity(thread, affinity);
+    }
+    return thread;
+}
+
+void thread_free(Thread* thread) {
+    check(thread);
+    check(thread->state == THREAD_STATE_STOPPED);
+    check(thread->taskHandle == nullptr);
+    delete thread;
+}
+
+void thread_set_name(Thread* thread, const char* name) {
+    check(name != nullptr);
+    thread->lock();
+    check(thread->state == THREAD_STATE_STOPPED);
+    thread->name = name;
+    thread->unlock();
+}
+
+void thread_set_stack_size(Thread* thread, size_t stack_size) {
+    thread->lock();
+    check(stack_size > 0);
+    check(thread->state == THREAD_STATE_STOPPED);
+    thread->stackSize = stack_size;
+    thread->unlock();
+}
+
+void thread_set_affinity(Thread* thread, portBASE_TYPE affinity) {
+    thread->lock();
+    check(thread->state == THREAD_STATE_STOPPED);
+    thread->affinity = affinity;
+    thread->unlock();
+}
+
+void thread_set_main_function(Thread* thread, thread_main_fn_t function, void* context) {
+    thread->lock();
+    check(function != nullptr);
+    check(thread->state == THREAD_STATE_STOPPED);
+    thread->mainFunction = function;
+    thread->mainFunctionContext = context;
+    thread->unlock();
+}
+
+void thread_set_priority(Thread* thread, enum ThreadPriority priority) {
+    thread->lock();
+    check(thread->state == THREAD_STATE_STOPPED);
+    thread->priority = priority;
+    thread->unlock();
+}
+
+void thread_set_state_callback(Thread* thread, thread_state_callback_t callback, void* context) {
+    thread->lock();
+    check(callback != nullptr);
+    check(thread->state == THREAD_STATE_STOPPED);
+    thread->stateCallback = callback;
+    thread->stateCallbackContext = context;
+    thread->unlock();
+}
+
+ThreadState thread_get_state(Thread* thread) {
+    check(xPortInIsrContext() == pdFALSE);
+    thread->lock();
+    ThreadState state = thread->state;
+    thread->unlock();
+    return state;
+}
+
+error_t thread_start(Thread* thread) {
+    thread->lock();
+    check(thread->mainFunction != nullptr);
+    check(thread->state == THREAD_STATE_STOPPED);
+    check(thread->stackSize);
+    thread->unlock();
+
+    thread_set_state_internal(thread, THREAD_STATE_STARTING);
+
+    thread->lock();
+    uint32_t stack_depth = thread->stackSize / sizeof(StackType_t);
+    enum ThreadPriority priority = thread->priority;
+    portBASE_TYPE affinity = thread->affinity;
+    thread->unlock();
+
+    BaseType_t result;
+    if (affinity != -1) {
+#ifdef ESP_PLATFORM
+        result = xTaskCreatePinnedToCore(
+            thread_main_body,
+            thread->name.c_str(),
+            stack_depth,
+            thread,
+            (UBaseType_t)priority,
+            &thread->taskHandle,
+            affinity
+        );
+#else
+        result = xTaskCreate(
+            thread_main_body,
+            thread->name.c_str(),
+            stack_depth,
+            thread,
+            (UBaseType_t)priority,
+            &thread->taskHandle
+        );
+#endif
+    } else {
+        result = xTaskCreate(
+            thread_main_body,
+            thread->name.c_str(),
+            stack_depth,
+            thread,
+            (UBaseType_t)priority,
+            &thread->taskHandle
+        );
+    }
+
+    if (result != pdPASS) {
+        thread_set_state_internal(thread, THREAD_STATE_STOPPED);
+        thread->lock();
+        thread->taskHandle = nullptr;
+        thread->unlock();
+        return ERROR_UNDEFINED;
+    }
+
+    return ERROR_NONE;
+}
+
+error_t thread_join(Thread* thread, TickType_t timeout, TickType_t poll_interval) {
+    check(thread_get_current() != thread);
+
+    TickType_t start_ticks = get_ticks();
+    while (thread_get_task_handle(thread)) {
+        delay_ticks(poll_interval);
+        if (get_ticks() - start_ticks > timeout) {
+            return ERROR_TIMEOUT;
+        }
+    }
+
+    return ERROR_NONE;
+}
+
+TaskHandle_t thread_get_task_handle(Thread* thread) {
+    thread->lock();
+    auto* handle = thread->taskHandle;
+    thread->unlock();
+    return handle;
+}
+
+int32_t thread_get_return_code(Thread* thread) {
+    thread->lock();
+    check(thread->state == THREAD_STATE_STOPPED);
+    auto result = thread->callbackResult;
+    thread->unlock();
+    return result;
+}
+
+uint32_t thread_get_stack_space(Thread* thread) {
+    if (xPortInIsrContext() == pdTRUE) {
+        return 0;
+    }
+    thread->lock();
+    check(thread->state == THREAD_STATE_RUNNING);
+    auto result = uxTaskGetStackHighWaterMark(thread->taskHandle) * sizeof(StackType_t);
+    thread->unlock();
+    return result;
+}
+
+Thread* thread_get_current(void) {
+    check(xPortInIsrContext() == pdFALSE);
+    return (Thread*)pvTaskGetThreadLocalStoragePointer(nullptr, LOCAL_STORAGE_SELF_POINTER_INDEX);
+}
+
+}
@@ -0,0 +1,110 @@
+// SPDX-License-Identifier: Apache-2.0
+#include <tactility/concurrent/timer.h>
+#include <tactility/check.h>
+#include <tactility/freertos/timers.h>
+#include <stdlib.h>
+
+struct Timer {
+    TimerHandle_t handle;
+    timer_callback_t callback;
+    void* context;
+};
+
+static void timer_callback_internal(TimerHandle_t xTimer) {
+    struct Timer* timer = (struct Timer*)pvTimerGetTimerID(xTimer);
+    if (timer != NULL && timer->callback != NULL) {
+        timer->callback(timer->context);
+    }
+}
+
+struct Timer* timer_alloc(enum TimerType type, TickType_t ticks, timer_callback_t callback, void* context) {
+    check(xPortInIsrContext() == pdFALSE);
+    check(callback != NULL);
+
+    struct Timer* timer = (struct Timer*)malloc(sizeof(struct Timer));
+    if (timer == NULL) {
+        return NULL;
+    }
+
+    timer->callback = callback;
+    timer->context = context;
+
+    BaseType_t auto_reload = (type == TIMER_TYPE_ONCE) ? pdFALSE : pdTRUE;
+    timer->handle = xTimerCreate(NULL, ticks, auto_reload, timer, timer_callback_internal);
+
+    if (timer->handle == NULL) {
+        free(timer);
+        return NULL;
+    }
+
+    return timer;
+}
+
+void timer_free(struct Timer* timer) {
+    check(xPortInIsrContext() == pdFALSE);
+    check(timer != NULL);
+    // MAX_TICKS or a reasonable timeout for the timer command queue
+    xTimerDelete(timer->handle, portMAX_DELAY);
+    free(timer);
+}
+
+error_t timer_start(struct Timer* timer) {
+    check(xPortInIsrContext() == pdFALSE);
+    check(timer != NULL);
+    return (xTimerStart(timer->handle, portMAX_DELAY) == pdPASS) ? ERROR_NONE : ERROR_TIMEOUT;
+}
+
+error_t timer_stop(struct Timer* timer) {
+    check(xPortInIsrContext() == pdFALSE);
+    check(timer != NULL);
+    return (xTimerStop(timer->handle, portMAX_DELAY) == pdPASS) ? ERROR_NONE : ERROR_TIMEOUT;
+}
+
+error_t timer_reset_with_interval(struct Timer* timer, TickType_t interval) {
+    check(xPortInIsrContext() == pdFALSE);
+    check(timer != NULL);
+    if (xTimerChangePeriod(timer->handle, interval, portMAX_DELAY) != pdPASS) {
+        return ERROR_TIMEOUT;
+    }
+    return (xTimerReset(timer->handle, portMAX_DELAY) == pdPASS) ? ERROR_NONE : ERROR_TIMEOUT;
+}
+
+error_t timer_reset(struct Timer* timer) {
+    check(xPortInIsrContext() == pdFALSE);
+    check(timer != NULL);
+    return (xTimerReset(timer->handle, portMAX_DELAY) == pdPASS) ? ERROR_NONE : ERROR_TIMEOUT;
+}
+
+bool timer_is_running(struct Timer* timer) {
+    check(xPortInIsrContext() == pdFALSE);
+    check(timer != NULL);
+    return xTimerIsTimerActive(timer->handle) != pdFALSE;
+}
+
+TickType_t timer_get_expiry_time(struct Timer* timer) {
+    check(xPortInIsrContext() == pdFALSE);
+    check(timer != NULL);
+    return xTimerGetExpiryTime(timer->handle);
+}
+
+error_t timer_set_pending_callback(struct Timer* timer, timer_pending_callback_t callback, void* context, uint32_t arg, TickType_t timeout) {
+    (void)timer; // Unused in this implementation but kept for API consistency if needed later
+    BaseType_t result;
+    if (xPortInIsrContext() == pdTRUE) {
+        check(timeout == 0);
+        result = xTimerPendFunctionCallFromISR(callback, context, arg, NULL);
+    } else {
+        result = xTimerPendFunctionCall(callback, context, arg, timeout);
+    }
+    return (result == pdPASS) ? ERROR_NONE : ERROR_TIMEOUT;
+}
+
+void timer_set_callback_priority(struct Timer* timer, enum ThreadPriority priority) {
+    (void)timer; // Unused in this implementation but kept for API consistency if needed later
+    check(xPortInIsrContext() == pdFALSE);
+
+    TaskHandle_t task_handle = xTimerGetTimerDaemonTaskHandle();
+    check(task_handle != NULL);
+
+    vTaskPrioritySet(task_handle, (UBaseType_t)priority);
+}