Create TactilityFreertos subproject (#440)

Tactility/Source/hal/Device.cpp

@@ -1,5 +1,6 @@
-#include "Tactility/hal/Device.h"
+#include <Tactility/hal/Device.h>
 
+#include <Tactility/Log.h>
 #include <Tactility/RecursiveMutex.h>
 #include <algorithm>
 
@@ -9,7 +10,7 @@ std::vector<std::shared_ptr<Device>> devices;
 RecursiveMutex mutex;
 static Device::Id nextId = 0;
 
-#define TAG "devices"
+constexpr auto TAG = "devices";
 
 Device::Device() : id(nextId++) {}
 

Tactility/Source/hal/gps/GpsDevice.cpp

@@ -1,7 +1,9 @@
-#include "Tactility/hal/gps/GpsDevice.h"
-#include "Tactility/hal/gps/GpsInit.h"
-#include "Tactility/hal/gps/Probe.h"
-#include "Tactility/hal/uart/Uart.h"
+#include <Tactility/hal/gps/GpsDevice.h>
+#include <Tactility/hal/gps/GpsInit.h>
+#include <Tactility/hal/gps/Probe.h>
+#include <Tactility/hal/uart/Uart.h>
+#include <Tactility/Log.h>
+
 #include <cstring>
 #include <minmea.h>
 

Tactility/Source/hal/gps/GpsInit.cpp

@@ -1,12 +1,16 @@
-#include "Tactility/hal/gps/Cas.h"
-#include "Tactility/hal/gps/GpsDevice.h"
-#include "Tactility/hal/gps/Ublox.h"
+#include <Tactility/Check.h>
+#include <Tactility/hal/gps/Cas.h>
+#include <Tactility/hal/gps/GpsDevice.h>
+#include <Tactility/hal/gps/Ublox.h>
+#include <Tactility/kernel/Kernel.h>
+#include <Tactility/Log.h>
+
 #include <cstring>
 
-#define TAG "gps"
-
 namespace tt::hal::gps {
 
+constexpr auto TAG = "gps";
+
 bool initMtk(uart::Uart& uart);
 bool initMtkL76b(uart::Uart& uart);
 bool initMtkPa1616s(uart::Uart& uart);

Tactility/Source/hal/gps/Satellites.cpp

@@ -1,12 +1,14 @@
-#include "Tactility/hal/gps/Satellites.h"
+#include <Tactility/hal/gps/Satellites.h>
+#include <Tactility/kernel/Kernel.h>
+#include <Tactility/Log.h>
 
 #include <algorithm>
 
-#define TAG "satellites"
-
 namespace tt::hal::gps {
 
-constexpr inline bool hasTimeElapsed(TickType_t now, TickType_t timeInThePast, TickType_t expireTimeInTicks) {
+constexpr auto TAG = "Satellites";
+
+constexpr bool hasTimeElapsed(TickType_t now, TickType_t timeInThePast, TickType_t expireTimeInTicks) {
     return (TickType_t)(now - timeInThePast) >= expireTimeInTicks;
 }
 
@@ -45,7 +47,7 @@ SatelliteStorage::SatelliteRecord* SatelliteStorage::findRecordToRecycle() {
     lock.lock();
 
     int candidate_index = -1;
-    auto candidate_age = portMAX_DELAY;
+    auto candidate_age = kernel::MAX_TICKS;
     TickType_t expire_duration = kernel::secondsToTicks(recycleTimeSeconds);
     TickType_t now = kernel::getTicks();
     for (int i = 0; i < records.size(); ++i) {

Tactility/Source/hal/gps/Ublox.cpp

@@ -1,12 +1,15 @@
-#include "Tactility/hal/gps/Ublox.h"
-#include "Tactility/hal/gps/UbloxMessages.h"
-#include "Tactility/hal/uart/Uart.h"
+#include <Tactility/hal/gps/Ublox.h>
+#include <Tactility/hal/gps/UbloxMessages.h>
+#include <Tactility/hal/uart/Uart.h>
+#include <Tactility/kernel/Kernel.h>
+#include <Tactility/Log.h>
+
 #include <cstring>
 
-#define TAG "ublox"
-
 namespace tt::hal::gps::ublox {
 
+constexpr auto TAG = "ublox";
+
 bool initUblox6(uart::Uart& uart);
 bool initUblox789(uart::Uart& uart, GpsModel model);
 bool initUblox10(uart::Uart& uart);

Tactility/Source/hal/i2c/I2c.cpp

@@ -2,15 +2,12 @@
 
 #include <Tactility/Log.h>
 #include <Tactility/Mutex.h>
-
-#ifdef ESP_PLATFORM
-#include <esp_check.h>
-#endif // ESP_PLATFORM
-
-#define TAG "i2c"
+#include <Tactility/Check.h>
 
 namespace tt::hal::i2c {
 
+constexpr auto TAG = "i2c";
+
 struct Data {
     Mutex mutex;
     bool isConfigured = false;

Tactility/Source/hal/spi/Spi.cpp

@@ -1,5 +1,6 @@
-#include "Tactility/hal/spi/Spi.h"
+#include <Tactility/hal/spi/Spi.h>
 
+#include <Tactility/Log.h>
 #include <Tactility/RecursiveMutex.h>
 
 namespace tt::hal::spi {

Tactility/Source/hal/uart/UartEsp.cpp

@@ -1,17 +1,18 @@
 #ifdef ESP_PLATFORM
 
-#include "Tactility/hal/uart/UartEsp.h"
+#include <Tactility/hal/uart/UartEsp.h>
 
 #include <Tactility/Log.h>
+#include <Tactility/kernel/Kernel.h>
 #include <Tactility/Mutex.h>
 
-#include <sstream>
 #include <esp_check.h>
-
-#define TAG "uart"
+#include <sstream>
 
 namespace tt::hal::uart {
 
+constexpr auto TAG  = "uart";
+
 bool UartEsp::start() {
     TT_LOG_I(TAG, "[%s] Starting", configuration.name.c_str());
 

Tactility/Source/hal/uart/UartPosix.cpp

@@ -1,8 +1,8 @@
 #ifndef ESP_PLATFORM
 
-#include "Tactility/hal/uart/UartPosix.h"
-#include "Tactility/hal/uart/Uart.h"
-
+#include <Tactility/hal/uart/UartPosix.h>
+#include <Tactility/hal/uart/Uart.h>
+#include <Tactility/kernel/Kernel.h>
 #include <Tactility/Log.h>
 
 #include <cstring>
@@ -10,10 +10,10 @@
 #include <sys/ioctl.h>
 #include <unistd.h>
 
-#define TAG "uart"
-
 namespace tt::hal::uart {
 
+constexpr auto TAG = "uart";
+
 bool UartPosix::start() {
     auto lock = mutex.asScopedLock();
     lock.lock();