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Support for PC platform (#12)

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* improvements for cross-platform compiling

* moved tactility-core to libs/

* splitup improvements

* remove git/gitmodules from freertos

* better platformbetter platform checks

* added build scripts

* delete mbedtls

* re-add mbedtls

* fixes and improvements

* added pc build

* simplify build scripts

* revert build scrpit

* updated builds

* fix for pc

* fix for pc

* fix for build
This commit is contained in:
Ken Van Hoeylandt
2024-01-19 17:39:30 +01:00
committed by GitHub
parent c830c66063
commit a94baf0d00
2359 changed files with 674660 additions and 141 deletions
Download Patch File Download Diff File Expand all files Collapse all files
components/tactility-core/CMakeLists.txt
-8
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@@ -1,8 +0,0 @@
idf_component_register(
SRC_DIRS "src"
INCLUDE_DIRS "src"
REQUIRES mbedtls esp_hw_support nvs_flash
)
target_link_libraries(${COMPONENT_LIB} ${IDF_TARGET_NAME} mlib)
components/tactility-core/LICENSE.md
-636
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@@ -1,636 +0,0 @@
# GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 [Free Software Foundation, Inc.](http://fsf.org/)
Everyone is permitted to copy and distribute verbatim copies of this license
document, but changing it is not allowed.
## Preamble
The GNU General Public License is a free, copyleft license for software and
other kinds of works.
The licenses for most software and other practical works are designed to take
away your freedom to share and change the works. By contrast, the GNU General
Public License is intended to guarantee your freedom to share and change all
versions of a program--to make sure it remains free software for all its users.
We, the Free Software Foundation, use the GNU General Public License for most
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authors. You can apply it to your programs, too.
When we speak of free software, we are referring to freedom, not price. Our
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## TERMS AND CONDITIONS
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### 14. Revised Versions of this License.
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If the Program specifies that a proxy can decide which future versions of the
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Later license versions may give you additional or different permissions.
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### 15. Disclaimer of Warranty.
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CORRECTION.
### 16. Limitation of Liability.
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY
COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM AS
PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL,
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### 17. Interpretation of Sections 15 and 16.
If the disclaimer of warranty and limitation of liability provided above cannot
be given local legal effect according to their terms, reviewing courts shall
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liability in connection with the Program, unless a warranty or assumption of
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## END OF TERMS AND CONDITIONS ###
### How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest possible
use to the public, the best way to achieve this is to make it free software
which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest to attach
them to the start of each source file to most effectively state the exclusion
of warranty; and each file should have at least the *copyright* line and a
pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short notice like
this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w` and `show c` should show the appropriate
parts of the General Public License. Of course, your program's commands might
be different; for a GUI interface, you would use an *about box*.
You should also get your employer (if you work as a programmer) or school, if
any, to sign a *copyright disclaimer* for the program, if necessary. For more
information on this, and how to apply and follow the GNU GPL, see
[http://www.gnu.org/licenses/](http://www.gnu.org/licenses/).
The GNU General Public License does not permit incorporating your program into
proprietary programs. If your program is a subroutine library, you may consider
it more useful to permit linking proprietary applications with the library. If
this is what you want to do, use the GNU Lesser General Public License instead
of this License. But first, please read
[http://www.gnu.org/philosophy/why-not-lgpl.html](http://www.gnu.org/philosophy/why-not-lgpl.html).
components/tactility-core/README.md
-8
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@@ -1,8 +0,0 @@
## Description
A good portion of this code is derived from the "Furi" code in the [Flipper Zero firmware](https://github.com/flipperdevices/flipperzero-firmware/).
Some of it is also inspired by the Android operating system.
## License
[GNU General Public License Version 3](LICENSE.md)
components/tactility-core/src/api_lock.h
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@@ -1,20 +0,0 @@
#pragma once
#include "core.h"
typedef EventFlag* ApiLock;
#define TT_API_LOCK_EVENT (1U << 0)
#define tt_api_lock_alloc_locked() tt_event_flag_alloc()
#define tt_api_lock_wait_unlock(_lock) \
tt_event_flag_wait(_lock, TT_API_LOCK_EVENT, TtFlagWaitAny, TtWaitForever)
#define tt_api_lock_free(_lock) tt_event_flag_free(_lock)
#define tt_api_lock_unlock(_lock) tt_event_flag_set(_lock, TT_API_LOCK_EVENT)
#define tt_api_lock_wait_unlock_and_free(_lock) \
tt_api_lock_wait_unlock(_lock); \
tt_api_lock_free(_lock);
components/tactility-core/src/app.c
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#include "app_i.h"
#include <stdio.h>
static AppFlags tt_app_get_flags_default(AppType type);
// region Alloc/free
App tt_app_alloc(const AppManifest* manifest, Bundle* _Nullable parameters) {
AppData* data = malloc(sizeof(AppData));
*data = (AppData) {
.mutex = tt_mutex_alloc(MutexTypeRecursive),
.state = APP_STATE_INITIAL,
.flags = tt_app_get_flags_default(manifest->type),
.manifest = manifest,
.parameters = parameters,
.data = NULL
};
return (App*)data;
}
void tt_app_free(App app) {
AppData* data = (AppData*)app;
if (data->parameters) {
tt_bundle_free(data->parameters);
}
tt_mutex_free(data->mutex);
free(data);
}
// endregion
// region Internal
static void tt_app_lock(AppData* data) {
tt_mutex_acquire(data->mutex, MutexTypeRecursive);
}
static void tt_app_unlock(AppData* data) {
tt_mutex_release(data->mutex);
}
static AppFlags tt_app_get_flags_default(AppType type) {
static const AppFlags DEFAULT_DESKTOP_FLAGS = {
.show_toolbar = false,
.show_statusbar = true
};
static const AppFlags DEFAULT_APP_FLAGS = {
.show_toolbar = true,
.show_statusbar = true
};
return type == AppTypeDesktop
? DEFAULT_DESKTOP_FLAGS
: DEFAULT_APP_FLAGS;
}
// endregion Internal
// region Public getters & setters
void tt_app_set_state(App app, AppState state) {
AppData* data = (AppData*)app;
tt_app_lock(data);
data->state = state;
tt_app_unlock(data);
}
AppState tt_app_get_state(App app) {
AppData* data = (AppData*)app;
tt_app_lock(data);
AppState state = data->state;
tt_app_unlock(data);
return state;
}
const AppManifest* tt_app_get_manifest(App app) {
AppData* data = (AppData*)app;
// No need to lock const data;
return data->manifest;
}
AppFlags tt_app_get_flags(App app) {
AppData* data = (AppData*)app;
tt_app_lock(data);
AppFlags flags = data->flags;
tt_app_unlock(data);
return flags;
}
void tt_app_set_flags(App app, AppFlags flags) {
AppData* data = (AppData*)app;
tt_app_lock(data);
data->flags = flags;
tt_app_unlock(data);
}
void* tt_app_get_data(App app) {
AppData* data = (AppData*)app;
tt_app_lock(data);
void* value = data->data;
tt_app_unlock(data);
return value;
}
void tt_app_set_data(App app, void* value) {
AppData* data = (AppData*)app;
tt_app_lock(data);
data->data = value;
tt_app_unlock(data);
}
/** TODO: Make this thread-safe.
* In practice, the bundle is writeable, so someone could be writing to it
* while it is being accessed from another thread.
* Consider creating MutableBundle vs Bundle.
* Consider not exposing bundle, but expose `app_get_bundle_int(key)` methods with locking in it.
*/
Bundle* _Nullable tt_app_get_parameters(App app) {
AppData* data = (AppData*)app;
tt_app_lock(data);
Bundle* bundle = data->parameters;
tt_app_unlock(data);
return bundle;
}
// endregion Public getters & setters
components/tactility-core/src/app.h
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@@ -1,51 +0,0 @@
#pragma once
#include "app_manifest.h"
#include "bundle.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef enum {
APP_STATE_INITIAL, // App is being activated in loader
APP_STATE_STARTED, // App is in memory
APP_STATE_SHOWING, // App view is created
APP_STATE_HIDING, // App view is destroyed
APP_STATE_STOPPED // App is not in memory
} AppState;
typedef union {
struct {
bool show_statusbar : 1;
bool show_toolbar : 1;
};
unsigned char flags;
} AppFlags;
typedef void* App;
/** @brief Create an app
* @param manifest
* @param parameters optional bundle. memory ownership is transferred to App
* @return
*/
App tt_app_alloc(const AppManifest* manifest, Bundle* _Nullable parameters);
void tt_app_free(App app);
void tt_app_set_state(App app, AppState state);
AppState tt_app_get_state(App app);
const AppManifest* tt_app_get_manifest(App app);
AppFlags tt_app_get_flags(App app);
void tt_app_set_flags(App app, AppFlags flags);
void* _Nullable tt_app_get_data(App app);
void tt_app_set_data(App app, void* data);
Bundle* _Nullable tt_app_get_parameters(App app);
#ifdef __cplusplus
}
#endif
components/tactility-core/src/app_i.h
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@@ -1,33 +0,0 @@
#pragma once
#include "app.h"
#include "app_manifest.h"
#include "mutex.h"
#include <stdbool.h>
#ifdef __cplusplus
extern "C" {
#endif
typedef struct {
Mutex* mutex;
const AppManifest* manifest;
AppState state;
AppFlags flags;
/** @brief Optional parameters to start the app with
* When these are stored in the app struct, the struct takes ownership.
* Do not mutate after app creation.
*/
Bundle* _Nullable parameters;
/** @brief @brief Contextual data related to the running app's instance
* The app can attach its data to this.
* The lifecycle is determined by the on_start and on_stop methods in the AppManifest.
* These manifest methods can optionally allocate/free data that is attached here.
*/
void* _Nullable data;
} AppData;
#ifdef __cplusplus
}
#endif
components/tactility-core/src/app_manifest.h
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@@ -1,69 +0,0 @@
#pragma once
#include <stdio.h>
#ifdef __cplusplus
extern "C" {
#endif
// Forward declarations
typedef struct _lv_obj_t lv_obj_t;
typedef void* App;
typedef enum {
AppTypeDesktop,
AppTypeSystem,
AppTypeSettings,
AppTypeUser
} AppType;
typedef void (*AppOnStart)(App app);
typedef void (*AppOnStop)(App app);
typedef void (*AppOnShow)(App app, lv_obj_t* parent);
typedef void (*AppOnHide)(App app);
typedef struct {
/**
* The identifier by which the app is launched by the system and other apps.
*/
const char* id;
/**
* The user-readable name of the app. Used in UI.
*/
const char* name;
/**
* Optional icon.
*/
const char* _Nullable icon;
/**
* App type affects launch behaviour.
*/
const AppType type;
/**
* Non-blocking method to call when app is started.
*/
const AppOnStart _Nullable on_start;
/**
* Non-blocking method to call when app is stopped.
*/
const AppOnStop _Nullable on_stop;
/**
* Non-blocking method to create the GUI
*/
const AppOnShow _Nullable on_show;
/**
* Non-blocking method, called before gui is destroyed
*/
const AppOnHide _Nullable on_hide;
} AppManifest;
#ifdef __cplusplus
}
#endif
components/tactility-core/src/app_manifest_registry.c
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@@ -1,76 +0,0 @@
#include "app_manifest_registry.h"
#include "m-dict.h"
#include "m_cstr_dup.h"
#include "mutex.h"
#include "tactility_core.h"
#define TAG "app_registry"
DICT_DEF2(AppManifestDict, const char*, M_CSTR_DUP_OPLIST, const AppManifest*, M_PTR_OPLIST)
#define APP_REGISTRY_FOR_EACH(manifest_var_name, code_to_execute) \
{ \
app_registry_lock(); \
AppManifestDict_it_t it; \
for (AppManifestDict_it(it, app_manifest_dict); !AppManifestDict_end_p(it); AppManifestDict_next(it)) { \
const AppManifest*(manifest_var_name) = AppManifestDict_cref(it)->value; \
code_to_execute; \
} \
app_registry_unlock(); \
}
AppManifestDict_t app_manifest_dict;
Mutex* hash_mutex = NULL;
void tt_app_manifest_registry_init() {
tt_assert(hash_mutex == NULL);
hash_mutex = tt_mutex_alloc(MutexTypeNormal);
AppManifestDict_init(app_manifest_dict);
}
void app_registry_lock() {
tt_assert(hash_mutex != NULL);
tt_mutex_acquire(hash_mutex, TtWaitForever);
}
void app_registry_unlock() {
tt_assert(hash_mutex != NULL);
tt_mutex_release(hash_mutex);
}
void tt_app_manifest_registry_add(const AppManifest _Nonnull* manifest) {
TT_LOG_I(TAG, "adding %s", manifest->id);
app_registry_lock();
AppManifestDict_set_at(app_manifest_dict, manifest->id, manifest);
app_registry_unlock();
}
void tt_app_manifest_registry_remove(const AppManifest _Nonnull* manifest) {
TT_LOG_I(TAG, "removing %s", manifest->id);
app_registry_lock();
AppManifestDict_erase(app_manifest_dict, manifest->id);
app_registry_unlock();
}
const AppManifest _Nullable* tt_app_manifest_registry_find_by_id(const char* id) {
app_registry_lock();
const AppManifest _Nullable** manifest = AppManifestDict_get(app_manifest_dict, id);
app_registry_unlock();
return (manifest != NULL) ? *manifest : NULL;
}
void tt_app_manifest_registry_for_each_of_type(AppType type, void* _Nullable context, AppManifestCallback callback) {
APP_REGISTRY_FOR_EACH(manifest, {
if (manifest->type == type) {
callback(manifest, context);
}
});
}
void tt_app_manifest_registry_for_each(AppManifestCallback callback, void* _Nullable context) {
APP_REGISTRY_FOR_EACH(manifest, {
callback(manifest, context);
});
}
components/tactility-core/src/app_manifest_registry.h
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@@ -1,20 +0,0 @@
#pragma once
#include "app_manifest.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef void (*AppManifestCallback)(const AppManifest*, void* context);
void tt_app_manifest_registry_init();
void tt_app_manifest_registry_add(const AppManifest _Nonnull* manifest);
void tt_app_manifest_registry_remove(const AppManifest _Nonnull* manifest);
const AppManifest _Nullable* tt_app_manifest_registry_find_by_id(const char* id);
void tt_app_manifest_registry_for_each(AppManifestCallback callback, void* _Nullable context);
void tt_app_manifest_registry_for_each_of_type(AppType type, void* _Nullable context, AppManifestCallback callback);
#ifdef __cplusplus
}
#endif
components/tactility-core/src/bundle.c
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@@ -1,205 +0,0 @@
#include "bundle.h"
#include "m-dict.h"
#include "m_cstr_dup.h"
#include "check.h"
// region BundleEntry
typedef enum {
BUNDLE_ENTRY_TYPE_BOOL,
BUNDLE_ENTRY_TYPE_INT,
BUNDLE_ENTRY_TYPE_STRING,
} BundleEntryType;
typedef struct {
BundleEntryType type;
union {
bool bool_value;
int int_value;
char* string_ptr;
};
} BundleEntry;
BundleEntry* bundle_entry_alloc_bool(bool value) {
BundleEntry* entry = malloc(sizeof(BundleEntry));
entry->type = BUNDLE_ENTRY_TYPE_BOOL;
entry->bool_value = value;
return entry;
}
BundleEntry* bundle_entry_alloc_int(int value) {
BundleEntry* entry = malloc(sizeof(BundleEntry));
entry->type = BUNDLE_ENTRY_TYPE_INT;
entry->int_value = value;
return entry;
}
BundleEntry* bundle_entry_alloc_string(const char* text) {
BundleEntry* entry = malloc(sizeof(BundleEntry));
entry->type = BUNDLE_ENTRY_TYPE_STRING;
entry->string_ptr = malloc(strlen(text) + 1);
strcpy(entry->string_ptr, text);
return entry;
}
BundleEntry* bundle_entry_alloc_copy(BundleEntry* source) {
BundleEntry* entry = malloc(sizeof(BundleEntry));
entry->type = source->type;
if (source->type == BUNDLE_ENTRY_TYPE_STRING) {
entry->string_ptr = malloc(strlen(source->string_ptr) + 1);
strcpy(entry->string_ptr, source->string_ptr);
} else {
entry->int_value = source->int_value;
}
return entry;
}
void bundle_entry_free(BundleEntry* entry) {
if (entry->type == BUNDLE_ENTRY_TYPE_STRING) {
free(entry->string_ptr);
}
free(entry);
}
// endregion BundleEntry
// region Bundle
DICT_DEF2(BundleDict, const char*, M_CSTR_DUP_OPLIST, BundleEntry*, M_PTR_OPLIST)
typedef struct {
BundleDict_t dict;
} BundleData;
Bundle tt_bundle_alloc() {
BundleData* bundle = malloc(sizeof(BundleData));
BundleDict_init(bundle->dict);
return bundle;
}
Bundle tt_bundle_alloc_copy(Bundle source) {
BundleData* source_data = (BundleData*)source;
BundleData* target_data = tt_bundle_alloc();
BundleDict_it_t it;
for (BundleDict_it(it, source_data->dict); !BundleDict_end_p(it); BundleDict_next(it)) {
const char* key = BundleDict_cref(it)->key;
BundleEntry* entry = BundleDict_cref(it)->value;
BundleEntry* entry_copy = bundle_entry_alloc_copy(entry);
BundleDict_set_at(target_data->dict, key, entry_copy);
}
return target_data;
}
void tt_bundle_free(Bundle bundle) {
BundleData* data = (BundleData*)bundle;
BundleDict_it_t it;
for (BundleDict_it(it, data->dict); !BundleDict_end_p(it); BundleDict_next(it)) {
bundle_entry_free(BundleDict_cref(it)->value);
}
BundleDict_clear(data->dict);
free(data);
}
bool tt_bundle_get_bool(Bundle bundle, const char* key) {
BundleData* data = (BundleData*)bundle;
BundleEntry** entry = BundleDict_get(data->dict, key);
tt_check(entry != NULL);
return (*entry)->bool_value;
}
int tt_bundle_get_int(Bundle bundle, const char* key) {
BundleData* data = (BundleData*)bundle;
BundleEntry** entry = BundleDict_get(data->dict, key);
tt_check(entry != NULL);
return (*entry)->int_value;
}
const char* tt_bundle_get_string(Bundle bundle, const char* key) {
BundleData* data = (BundleData*)bundle;
BundleEntry** entry = BundleDict_get(data->dict, key);
tt_check(entry != NULL);
return (*entry)->string_ptr;
}
bool tt_bundle_opt_bool(Bundle bundle, const char* key, bool* out) {
BundleData* data = (BundleData*)bundle;
BundleEntry** entry = BundleDict_get(data->dict, key);
if (entry != NULL) {
*out = (*entry)->bool_value;
return true;
} else {
return false;
}
}
bool tt_bundle_opt_int(Bundle bundle, const char* key, int* out) {
BundleData* data = (BundleData*)bundle;
BundleEntry** entry = BundleDict_get(data->dict, key);
if (entry != NULL) {
*out = (*entry)->int_value;
return true;
} else {
return false;
}
}
bool tt_bundle_opt_string(Bundle bundle, const char* key, char** out) {
BundleData* data = (BundleData*)bundle;
BundleEntry** entry = BundleDict_get(data->dict, key);
if (entry != NULL) {
*out = (*entry)->string_ptr;
return true;
} else {
return false;
}
}
void tt_bundle_put_bool(Bundle bundle, const char* key, bool value) {
BundleData* data = (BundleData*)bundle;
BundleEntry** entry_handle = BundleDict_get(data->dict, key);
if (entry_handle != NULL) {
BundleEntry* entry = *entry_handle;
tt_assert(entry->type == BUNDLE_ENTRY_TYPE_BOOL);
entry->bool_value = value;
} else {
BundleEntry* entry = bundle_entry_alloc_bool(value);
BundleDict_set_at(data->dict, key, entry);
}
}
void tt_bundle_put_int(Bundle bundle, const char* key, int value) {
BundleData* data = (BundleData*)bundle;
BundleEntry** entry_handle = BundleDict_get(data->dict, key);
if (entry_handle != NULL) {
BundleEntry* entry = *entry_handle;
tt_assert(entry->type == BUNDLE_ENTRY_TYPE_INT);
entry->int_value = value;
} else {
BundleEntry* entry = bundle_entry_alloc_int(value);
BundleDict_set_at(data->dict, key, entry);
}
}
void tt_bundle_put_string(Bundle bundle, const char* key, const char* value) {
BundleData* data = (BundleData*)bundle;
BundleEntry** entry_handle = BundleDict_get(data->dict, key);
if (entry_handle != NULL) {
BundleEntry* entry = *entry_handle;
tt_assert(entry->type == BUNDLE_ENTRY_TYPE_STRING);
if (entry->string_ptr != NULL) {
free(entry->string_ptr);
}
entry->string_ptr = malloc(strlen(value) + 1);
strcpy(entry->string_ptr, value);
} else {
BundleEntry* entry = bundle_entry_alloc_string(value);
BundleDict_set_at(data->dict, key, entry);
}
}
// endregion Bundle
components/tactility-core/src/bundle.h
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@@ -1,34 +0,0 @@
/**
* @brief key-value storage for general purpose.
* Maps strings on a fixed set of data types.
*/
#pragma once
#include <stdio.h>
#include <stdbool.h>
#ifdef __cplusplus
extern "C" {
#endif
typedef void* Bundle;
Bundle tt_bundle_alloc();
Bundle tt_bundle_alloc_copy(Bundle source);
void tt_bundle_free(Bundle bundle);
bool tt_bundle_get_bool(Bundle bundle, const char* key);
int tt_bundle_get_int(Bundle bundle, const char* key);
const char* tt_bundle_get_string(Bundle bundle, const char* key);
bool tt_bundle_opt_bool(Bundle bundle, const char* key, bool* out);
bool tt_bundle_opt_int(Bundle bundle, const char* key, int* out);
bool tt_bundle_opt_string(Bundle bundle, const char* key, char** out);
void tt_bundle_put_bool(Bundle bundle, const char* key, bool value);
void tt_bundle_put_int(Bundle bundle, const char* key, int value);
void tt_bundle_put_string(Bundle bundle, const char* key, const char* value);
#ifdef __cplusplus
}
#endif
components/tactility-core/src/check.c
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@@ -1,34 +0,0 @@
#include "check.h"
#include "core_defines.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "log.h"
#define TAG "kernel"
static void tt_print_memory_info() {
TT_LOG_E(TAG, "default caps:");
TT_LOG_E(TAG, " total: %u", heap_caps_get_total_size(MALLOC_CAP_DEFAULT));
TT_LOG_E(TAG, " free: %u", heap_caps_get_free_size(MALLOC_CAP_DEFAULT));
TT_LOG_E(TAG, " min free: %u", heap_caps_get_minimum_free_size(MALLOC_CAP_DEFAULT));
TT_LOG_E(TAG, "internal caps:");
TT_LOG_E(TAG, " total: %u", heap_caps_get_total_size(MALLOC_CAP_INTERNAL));
TT_LOG_E(TAG, " free: %u", heap_caps_get_free_size(MALLOC_CAP_INTERNAL));
TT_LOG_E(TAG, " min free: %u", heap_caps_get_minimum_free_size(MALLOC_CAP_INTERNAL));
}
static void tt_print_task_info() {
const char* name = pcTaskGetName(NULL);
const char* safe_name = name ? name : "main";
TT_LOG_E(TAG, "Task: %s", safe_name);
TT_LOG_E(TAG, "Stack watermark: %u", uxTaskGetStackHighWaterMark(NULL) * 4);
}
TT_NORETURN void tt_crash_implementation() {
tt_print_task_info();
tt_print_memory_info();
// TODO: Add breakpoint when debugger is attached.
esp_system_abort("System halted. Connect debugger for more info.");
__builtin_unreachable();
}
components/tactility-core/src/check.h
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@@ -1,103 +0,0 @@
/**
* @file check.h
*
* Tactility crash and assert functions.
*
* The main problem with crashing is that you can't do anything without disturbing registers,
* and if you disturb registers, you won't be able to see the correct register values in the debugger.
*
* Current solution works around it by passing the message through r12 and doing some magic with registers in crash function.
* r0-r10 are stored in the ram2 on crash routine start and restored at the end.
* The only register that is going to be lost is r11.
*
*/
#pragma once
#include <esp_log.h>
#include <m-core.h>
#ifdef __cplusplus
extern "C" {
#define TT_NORETURN [[noreturn]]
#else
#include <stdnoreturn.h>
#define TT_NORETURN noreturn
#endif
/** Crash system */
TT_NORETURN void tt_crash_implementation();
/** Crash system with message. */
#define __tt_crash(message) \
do { \
ESP_LOGE("crash", "%s\n\tat %s:%d", ((message) ? (message) : ""), __FILE__, __LINE__); \
tt_crash_implementation(); \
} while (0)
/** Crash system
*
* @param optional message (const char*)
*/
#define tt_crash(...) M_APPLY(__tt_crash, M_IF_EMPTY(__VA_ARGS__)((NULL), (__VA_ARGS__)))
/** Halt system
*
* @param optional message (const char*)
*/
#define tt_halt(...) M_APPLY(__tt_halt, M_IF_EMPTY(__VA_ARGS__)((NULL), (__VA_ARGS__)))
/** Check condition and crash if check failed */
#define __tt_check(__e, __m) \
do { \
if (!(__e)) { \
ESP_LOGE("check", "%s", #__e); \
if (__m) { \
__tt_crash(#__m); \
} else { \
__tt_crash(""); \
} \
} \
} while (0)
/** Check condition and crash if failed
*
* @param condition to check
* @param optional message (const char*)
*/
#define tt_check(...) \
M_APPLY(__tt_check, M_DEFAULT_ARGS(2, NULL, __VA_ARGS__))
/** Only in debug build: Assert condition and crash if assert failed */
#ifdef TT_DEBUG
#define __tt_assert(__e, __m) \
do { \
if (!(__e)) { \
ESP_LOGE("assert", "%s", #__e); \
if (__m) { \
__tt_crash(#__m); \
} else { \
__tt_crash(""); \
} \
} \
} while (0)
#else
#define __tt_assert(__e, __m) \
do { \
((void)(__e)); \
((void)(__m)); \
} while (0)
#endif
/** Assert condition and crash if failed
*
* @warning only will do check if firmware compiled in debug mode
*
* @param condition to check
* @param optional message (const char*)
*/
#define tt_assert(...) \
M_APPLY(__tt_assert, M_DEFAULT_ARGS(2, NULL, __VA_ARGS__))
#ifdef __cplusplus
}
#endif
components/tactility-core/src/core.c
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#include "core.h"
#include "app_manifest_registry.h"
#include "service_registry.h"
#define TAG "tactility"
void tt_core_init() {
TT_LOG_I(TAG, "core init start");
tt_assert(!tt_kernel_is_irq());
#if defined(__ARM_ARCH_7A__) && (__ARM_ARCH_7A__ == 0U)
/* Service Call interrupt might be configured before kernel start */
/* and when its priority is lower or equal to BASEPRI, svc instruction */
/* causes a Hard Fault. */
NVIC_SetPriority(SVCall_IRQn, 0U);
#endif
tt_service_registry_init();
tt_app_manifest_registry_init();
TT_LOG_I(TAG, "core init complete");
}
components/tactility-core/src/core.h
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@@ -1,26 +0,0 @@
#pragma once
#include <stdlib.h>
#include "tactility_core.h"
#include "event_flag.h"
#include "kernel.h"
#include "message_queue.h"
#include "mutex.h"
#include "pubsub.h"
#include "semaphore.h"
#include "stream_buffer.h"
#include "string.h"
#include "thread.h"
#include "timer.h"
#ifdef __cplusplus
extern "C" {
#endif
void tt_core_init();
#ifdef __cplusplus
}
#endif
components/tactility-core/src/core_defines.h
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#pragma once
#include "core_extra_defines.h"
#include "freertos/portmacro.h"
#include <stdbool.h>
#ifdef __cplusplus
extern "C" {
#endif
#define TT_RETURNS_NONNULL __attribute__((returns_nonnull))
#define TT_WARN_UNUSED __attribute__((warn_unused_result))
#define TT_WEAK __attribute__((weak))
#define TT_PACKED __attribute__((packed))
// Used by portENABLE_INTERRUPTS and portDISABLE_INTERRUPTS?
#define TT_IS_IRQ_MODE() (xPortInIsrContext() == pdTRUE)
#define TT_IS_ISR() (TT_IS_IRQ_MODE())
#define TT_CHECK_RETURN __attribute__((__warn_unused_result__))
#ifdef __cplusplus
}
#endif
components/tactility-core/src/core_extra_defines.h
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#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#ifndef MAX
#define MAX(a, b) \
({ \
__typeof__(a) _a = (a); \
__typeof__(b) _b = (b); \
_a > _b ? _a : _b; \
})
#endif
#ifndef MIN
#define MIN(a, b) \
({ \
__typeof__(a) _a = (a); \
__typeof__(b) _b = (b); \
_a < _b ? _a : _b; \
})
#endif
#ifndef ABS
#define ABS(a) ({ (a) < 0 ? -(a) : (a); })
#endif
#ifndef ROUND_UP_TO
#define ROUND_UP_TO(a, b) \
({ \
__typeof__(a) _a = (a); \
__typeof__(b) _b = (b); \
_a / _b + !!(_a % _b); \
})
#endif
#ifndef CLAMP
#define CLAMP(x, upper, lower) (MIN(upper, MAX(x, lower)))
#endif
#ifndef COUNT_OF
#define COUNT_OF(x) (sizeof(x) / sizeof(x[0]))
#endif
#ifndef TT_SWAP
#define TT_SWAP(x, y) \
do { \
typeof(x) SWAP = x; \
x = y; \
y = SWAP; \
} while (0)
#endif
#ifndef PLACE_IN_SECTION
#define PLACE_IN_SECTION(x) __attribute__((section(x)))
#endif
#ifndef ALIGN
#define ALIGN(n) __attribute__((aligned(n)))
#endif
#ifndef __weak
#define __weak __attribute__((weak))
#endif
#ifndef UNUSED
#define UNUSED(X) (void)(X)
#endif
#ifndef STRINGIFY
#define STRINGIFY(x) #x
#endif
#ifndef TOSTRING
#define TOSTRING(x) STRINGIFY(x)
#endif
#ifndef CONCATENATE
#define CONCATENATE(a, b) CONCATENATE_(a, b)
#define CONCATENATE_(a, b) a##b
#endif
#ifndef REVERSE_BYTES_U32
#define REVERSE_BYTES_U32(x) \
((((x) & 0x000000FF) << 24) | (((x) & 0x0000FF00) << 8) | (((x) & 0x00FF0000) >> 8) | \
(((x) & 0xFF000000) >> 24))
#endif
#ifndef TT_BIT
#define TT_BIT(x, n) (((x) >> (n)) & 1)
#endif
#ifndef TT_BIT_SET
#define TT_BIT_SET(x, n) \
({ \
__typeof__(x) _x = (1); \
(x) |= (_x << (n)); \
})
#endif
#ifndef TT_BIT_CLEAR
#define TT_BIT_CLEAR(x, n) \
({ \
__typeof__(x) _x = (1); \
(x) &= ~(_x << (n)); \
})
#endif
#define TT_SW_MEMBARRIER() asm volatile("" : : : "memory")
#ifdef __cplusplus
}
#endif
components/tactility-core/src/core_types.h
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#pragma once
#include <stdbool.h>
#include <stdint.h>
#include <tactility_core_config.h>
#ifdef __cplusplus
extern "C" {
#endif
typedef enum {
TtWaitForever = 0xFFFFFFFFU,
} TtWait;
typedef enum {
TtFlagWaitAny = 0x00000000U, ///< Wait for any flag (default).
TtFlagWaitAll = 0x00000001U, ///< Wait for all flags.
TtFlagNoClear = 0x00000002U, ///< Do not clear flags which have been specified to wait for.
TtFlagError = 0x80000000U, ///< Error indicator.
TtFlagErrorUnknown = 0xFFFFFFFFU, ///< TtStatusError (-1).
TtFlagErrorTimeout = 0xFFFFFFFEU, ///< TtStatusErrorTimeout (-2).
TtFlagErrorResource = 0xFFFFFFFDU, ///< TtStatusErrorResource (-3).
TtFlagErrorParameter = 0xFFFFFFFCU, ///< TtStatusErrorParameter (-4).
TtFlagErrorISR = 0xFFFFFFFAU, ///< TtStatusErrorISR (-6).
} TtFlag;
typedef enum {
TtStatusOk = 0, ///< Operation completed successfully.
TtStatusError =
-1, ///< Unspecified RTOS error: run-time error but no other error message fits.
TtStatusErrorTimeout = -2, ///< Operation not completed within the timeout period.
TtStatusErrorResource = -3, ///< Resource not available.
TtStatusErrorParameter = -4, ///< Parameter error.
TtStatusErrorNoMemory =
-5, ///< System is out of memory: it was impossible to allocate or reserve memory for the operation.
TtStatusErrorISR =
-6, ///< Not allowed in ISR context: the function cannot be called from interrupt service routines.
TtStatusReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
} TtStatus;
#ifdef __cplusplus
}
#endif
components/tactility-core/src/critical.c
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#include "critical.h"
#include "core_defines.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
static portMUX_TYPE critical_mutex;
__TtCriticalInfo __tt_critical_enter(void) {
__TtCriticalInfo info;
info.isrm = 0;
info.from_isr = TT_IS_ISR();
info.kernel_running = (xTaskGetSchedulerState() == taskSCHEDULER_RUNNING);
if (info.from_isr) {
info.isrm = taskENTER_CRITICAL_FROM_ISR();
} else if (info.kernel_running) {
taskENTER_CRITICAL(&critical_mutex);
} else {
portDISABLE_INTERRUPTS();
}
return info;
}
void __tt_critical_exit(__TtCriticalInfo info) {
if (info.from_isr) {
taskEXIT_CRITICAL_FROM_ISR(info.isrm);
} else if (info.kernel_running) {
taskEXIT_CRITICAL(&critical_mutex);
} else {
portENABLE_INTERRUPTS();
}
}
components/tactility-core/src/critical.h
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#pragma once
#include <stdio.h>
#include <stdbool.h>
#ifndef TT_CRITICAL_ENTER
#define TT_CRITICAL_ENTER() __TtCriticalInfo __tt_critical_info = __tt_critical_enter();
#endif
#ifndef TT_CRITICAL_EXIT
#define TT_CRITICAL_EXIT() __tt_critical_exit(__tt_critical_info);
#endif
typedef struct {
uint32_t isrm;
bool from_isr;
bool kernel_running;
} __TtCriticalInfo;
__TtCriticalInfo __tt_critical_enter(void);
void __tt_critical_exit(__TtCriticalInfo info);
components/tactility-core/src/event_flag.c
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#include "event_flag.h"
#include "check.h"
#include "core_defines.h"
#include "freertos/FreeRTOS.h"
#include "freertos/event_groups.h"
#define TT_EVENT_FLAG_MAX_BITS_EVENT_GROUPS 24U
#define TT_EVENT_FLAG_INVALID_BITS (~((1UL << TT_EVENT_FLAG_MAX_BITS_EVENT_GROUPS) - 1U))
EventFlag* tt_event_flag_alloc() {
tt_assert(!TT_IS_IRQ_MODE());
EventGroupHandle_t handle = xEventGroupCreate();
tt_check(handle);
return ((EventFlag*)handle);
}
void tt_event_flag_free(EventFlag* instance) {
tt_assert(!TT_IS_IRQ_MODE());
vEventGroupDelete((EventGroupHandle_t)instance);
}
uint32_t tt_event_flag_set(EventFlag* instance, uint32_t flags) {
tt_assert(instance);
tt_assert((flags & TT_EVENT_FLAG_INVALID_BITS) == 0U);
EventGroupHandle_t hEventGroup = (EventGroupHandle_t)instance;
uint32_t rflags;
BaseType_t yield;
if (TT_IS_IRQ_MODE()) {
yield = pdFALSE;
if (xEventGroupSetBitsFromISR(hEventGroup, (EventBits_t)flags, &yield) == pdFAIL) {
rflags = (uint32_t)TtFlagErrorResource;
} else {
rflags = flags;
portYIELD_FROM_ISR(yield);
}
} else {
rflags = xEventGroupSetBits(hEventGroup, (EventBits_t)flags);
}
/* Return event flags after setting */
return (rflags);
}
uint32_t tt_event_flag_clear(EventFlag* instance, uint32_t flags) {
tt_assert(instance);
tt_assert((flags & TT_EVENT_FLAG_INVALID_BITS) == 0U);
EventGroupHandle_t hEventGroup = (EventGroupHandle_t)instance;
uint32_t rflags;
if (TT_IS_IRQ_MODE()) {
rflags = xEventGroupGetBitsFromISR(hEventGroup);
if (xEventGroupClearBitsFromISR(hEventGroup, (EventBits_t)flags) == pdFAIL) {
rflags = (uint32_t)TtStatusErrorResource;
} else {
/* xEventGroupClearBitsFromISR only registers clear operation in the timer command queue. */
/* Yield is required here otherwise clear operation might not execute in the right order. */
/* See https://github.com/FreeRTOS/FreeRTOS-Kernel/issues/93 for more info. */
portYIELD_FROM_ISR(pdTRUE);
}
} else {
rflags = xEventGroupClearBits(hEventGroup, (EventBits_t)flags);
}
/* Return event flags before clearing */
return (rflags);
}
uint32_t tt_event_flag_get(EventFlag* instance) {
tt_assert(instance);
EventGroupHandle_t hEventGroup = (EventGroupHandle_t)instance;
uint32_t rflags;
if (TT_IS_IRQ_MODE()) {
rflags = xEventGroupGetBitsFromISR(hEventGroup);
} else {
rflags = xEventGroupGetBits(hEventGroup);
}
/* Return current event flags */
return (rflags);
}
uint32_t tt_event_flag_wait(
EventFlag* instance,
uint32_t flags,
uint32_t options,
uint32_t timeout
) {
tt_assert(!TT_IS_IRQ_MODE());
tt_assert(instance);
tt_assert((flags & TT_EVENT_FLAG_INVALID_BITS) == 0U);
EventGroupHandle_t hEventGroup = (EventGroupHandle_t)instance;
BaseType_t wait_all;
BaseType_t exit_clr;
uint32_t rflags;
if (options & TtFlagWaitAll) {
wait_all = pdTRUE;
} else {
wait_all = pdFAIL;
}
if (options & TtFlagNoClear) {
exit_clr = pdFAIL;
} else {
exit_clr = pdTRUE;
}
rflags = xEventGroupWaitBits(
hEventGroup,
(EventBits_t)flags,
exit_clr,
wait_all,
(TickType_t)timeout
);
if (options & TtFlagWaitAll) {
if ((flags & rflags) != flags) {
if (timeout > 0U) {
rflags = (uint32_t)TtStatusErrorTimeout;
} else {
rflags = (uint32_t)TtStatusErrorResource;
}
}
} else {
if ((flags & rflags) == 0U) {
if (timeout > 0U) {
rflags = (uint32_t)TtStatusErrorTimeout;
} else {
rflags = (uint32_t)TtStatusErrorResource;
}
}
}
/* Return event flags before clearing */
return (rflags);
}
components/tactility-core/src/event_flag.h
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#pragma once
#include "core_types.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef void EventFlag;
/** Allocate EventFlag
*
* @return pointer to EventFlag
*/
EventFlag* tt_event_flag_alloc();
/** Deallocate EventFlag
*
* @param instance pointer to EventFlag
*/
void tt_event_flag_free(EventFlag* instance);
/** Set flags
*
* @param instance pointer to EventFlag
* @param[in] flags The flags
*
* @return Resulting flags or error (TtStatus)
*/
uint32_t tt_event_flag_set(EventFlag* instance, uint32_t flags);
/** Clear flags
*
* @param instance pointer to EventFlag
* @param[in] flags The flags
*
* @return Resulting flags or error (TtStatus)
*/
uint32_t tt_event_flag_clear(EventFlag* instance, uint32_t flags);
/** Get flags
*
* @param instance pointer to EventFlag
*
* @return Resulting flags
*/
uint32_t tt_event_flag_get(EventFlag* instance);
/** Wait flags
*
* @param instance pointer to EventFlag
* @param[in] flags The flags
* @param[in] options The option flags
* @param[in] timeout The timeout
*
* @return Resulting flags or error (TtStatus)
*/
uint32_t tt_event_flag_wait(
EventFlag* instance,
uint32_t flags,
uint32_t options,
uint32_t timeout
);
#ifdef __cplusplus
}
#endif
components/tactility-core/src/hash.c
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@@ -1,11 +0,0 @@
#include "hash.h"
uint32_t tt_hash_string_djb2(const char* str) {
uint32_t hash = 5381;
char c = (char)*str++;
while (c != 0) {
hash = ((hash << 5) + hash) + (uint32_t)c; // hash * 33 + c
c = (char)*str++;
}
return hash;
}
components/tactility-core/src/hash.h
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@@ -1,19 +0,0 @@
#pragma once
#include <stdio.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
* This is quicker than the m-string.h hashing, as the latter
* operates on raw memory blocks and thus a strlen() call is required first.
* @param[in] str the string to calculate the hash for
* @return the hash
*/
uint32_t tt_hash_string_djb2(const char* str);
#ifdef __cplusplus
}
#endif
components/tactility-core/src/kernel.c
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#include "kernel.h"
#include "check.h"
#include "core_defines.h"
#include "core_types.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include <rom/ets_sys.h>
bool tt_kernel_is_irq() {
return TT_IS_IRQ_MODE();
}
bool tt_kernel_is_running() {
return xTaskGetSchedulerState() != taskSCHEDULER_RUNNING;
}
int32_t tt_kernel_lock() {
tt_assert(!tt_kernel_is_irq());
int32_t lock;
switch (xTaskGetSchedulerState()) {
case taskSCHEDULER_SUSPENDED:
lock = 1;
break;
case taskSCHEDULER_RUNNING:
vTaskSuspendAll();
lock = 0;
break;
case taskSCHEDULER_NOT_STARTED:
default:
lock = (int32_t)TtStatusError;
break;
}
/* Return previous lock state */
return (lock);
}
int32_t tt_kernel_unlock() {
tt_assert(!tt_kernel_is_irq());
int32_t lock;
switch (xTaskGetSchedulerState()) {
case taskSCHEDULER_SUSPENDED:
lock = 1;
if (xTaskResumeAll() != pdTRUE) {
if (xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED) {
lock = (int32_t)TtStatusError;
}
}
break;
case taskSCHEDULER_RUNNING:
lock = 0;
break;
case taskSCHEDULER_NOT_STARTED:
default:
lock = (int32_t)TtStatusError;
break;
}
/* Return previous lock state */
return (lock);
}
int32_t tt_kernel_restore_lock(int32_t lock) {
tt_assert(!tt_kernel_is_irq());
switch (xTaskGetSchedulerState()) {
case taskSCHEDULER_SUSPENDED:
case taskSCHEDULER_RUNNING:
if (lock == 1) {
vTaskSuspendAll();
} else {
if (lock != 0) {
lock = (int32_t)TtStatusError;
} else {
if (xTaskResumeAll() != pdTRUE) {
if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING) {
lock = (int32_t)TtStatusError;
}
}
}
}
break;
case taskSCHEDULER_NOT_STARTED:
default:
lock = (int32_t)TtStatusError;
break;
}
/* Return new lock state */
return (lock);
}
uint32_t tt_kernel_get_tick_frequency() {
/* Return frequency in hertz */
return (configTICK_RATE_HZ_RAW);
}
void tt_delay_tick(uint32_t ticks) {
tt_assert(!tt_kernel_is_irq());
if (ticks == 0U) {
taskYIELD();
} else {
vTaskDelay(ticks);
}
}
TtStatus tt_delay_until_tick(uint32_t tick) {
tt_assert(!tt_kernel_is_irq());
TickType_t tcnt, delay;
TtStatus stat;
stat = TtStatusOk;
tcnt = xTaskGetTickCount();
/* Determine remaining number of tick to delay */
delay = (TickType_t)tick - tcnt;
/* Check if target tick has not expired */
if ((delay != 0U) && (0 == (delay >> (8 * sizeof(TickType_t) - 1)))) {
if (xTaskDelayUntil(&tcnt, delay) == pdFALSE) {
/* Did not delay */
stat = TtStatusError;
}
} else {
/* No delay or already expired */
stat = TtStatusErrorParameter;
}
/* Return execution status */
return (stat);
}
uint32_t tt_get_tick() {
TickType_t ticks;
if (tt_kernel_is_irq() != 0U) {
ticks = xTaskGetTickCountFromISR();
} else {
ticks = xTaskGetTickCount();
}
return ticks;
}
uint32_t tt_ms_to_ticks(uint32_t milliseconds) {
#if configTICK_RATE_HZ_RAW == 1000
return milliseconds;
#else
return (uint32_t)((float)configTICK_RATE_HZ_RAW) / 1000.0f * (float)milliseconds;
#endif
}
void tt_delay_ms(uint32_t milliseconds) {
if (xTaskGetSchedulerState() == taskSCHEDULER_RUNNING) {
if (milliseconds > 0 && milliseconds < portMAX_DELAY - 1) {
milliseconds += 1;
}
#if configTICK_RATE_HZ_RAW == 1000
tt_delay_tick(milliseconds);
#else
tt_delay_tick(tt_ms_to_ticks(milliseconds));
#endif
} else if (milliseconds > 0) {
tt_delay_us(milliseconds * 1000);
}
}
void tt_delay_us(uint32_t microseconds) {
ets_delay_us(microseconds);
}
components/tactility-core/src/kernel.h
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#pragma once
#include "core_types.h"
#define configTICK_RATE_HZ_RAW CONFIG_FREERTOS_HZ
#ifdef __cplusplus
extern "C" {
#endif
/** Check if CPU is in IRQ or kernel running and IRQ is masked
*
* Originally this primitive was born as a workaround for FreeRTOS kernel primitives shenanigans with PRIMASK.
*
* Meaningful use cases are:
*
* - When kernel is started and you want to ensure that you are not in IRQ or IRQ is not masked(like in critical section)
* - When kernel is not started and you want to make sure that you are not in IRQ mode, ignoring PRIMASK.
*
* As you can see there will be edge case when kernel is not started and PRIMASK is not 0 that may cause some funky behavior.
* Most likely it will happen after kernel primitives being used, but control not yet passed to kernel.
* It's up to you to figure out if it is safe for your code or not.
*
* @return true if CPU is in IRQ or kernel running and IRQ is masked
*/
bool tt_kernel_is_irq();
/** Check if kernel is running
*
* @return true if running, false otherwise
*/
bool tt_kernel_is_running();
/** Lock kernel, pause process scheduling
*
* @warning This should never be called in interrupt request context.
*
* @return previous lock state(0 - unlocked, 1 - locked)
*/
int32_t tt_kernel_lock();
/** Unlock kernel, resume process scheduling
*
* @warning This should never be called in interrupt request context.
*
* @return previous lock state(0 - unlocked, 1 - locked)
*/
int32_t tt_kernel_unlock();
/** Restore kernel lock state
*
* @warning This should never be called in interrupt request context.
*
* @param[in] lock The lock state
*
* @return new lock state or error
*/
int32_t tt_kernel_restore_lock(int32_t lock);
/** Get kernel systick frequency
*
* @return systick counts per second
*/
uint32_t tt_kernel_get_tick_frequency();
/** Delay execution
*
* @warning This should never be called in interrupt request context.
*
* Also keep in mind delay is aliased to scheduler timer intervals.
*
* @param[in] ticks The ticks count to pause
*/
void tt_delay_tick(uint32_t ticks);
/** Delay until tick
*
* @warning This should never be called in interrupt request context.
*
* @param[in] ticks The tick until which kerel should delay task execution
*
* @return The status.
*/
TtStatus tt_delay_until_tick(uint32_t tick);
/** Convert milliseconds to ticks
*
* @param[in] milliseconds time in milliseconds
* @return time in ticks
*/
uint32_t tt_ms_to_ticks(uint32_t milliseconds);
/** Delay in milliseconds
*
* This method uses kernel ticks on the inside, which causes delay to be aliased to scheduler timer intervals.
* Real wait time will be between X+ milliseconds.
* Special value: 0, will cause task yield.
* Also if used when kernel is not running will fall back to `tt_delay_us`.
*
* @warning Cannot be used from ISR
*
* @param[in] milliseconds milliseconds to wait
*/
void tt_delay_ms(uint32_t milliseconds);
/** Delay in microseconds
*
* Implemented using Cortex DWT counter. Blocking and non aliased.
*
* @param[in] microseconds microseconds to wait
*/
void tt_delay_us(uint32_t microseconds);
#ifdef __cplusplus
}
#endif
components/tactility-core/src/log.c
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#ifndef ESP_PLATFORM
#include "log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include <time.h>
static char tt_loglevel_to_prefix(LogLevel level) {
switch (level) {
case LOG_LEVEL_ERROR:
return 'E';
case LOG_LEVEL_WARNING:
return 'W';
case LOG_LEVEL_INFO:
return 'I';
case LOG_LEVEL_DEBUG:
return 'D';
case LOG_LEVEL_TRACE:
return 'T';
default:
return '?';
}
}
static const char* tt_loglevel_to_colour(LogLevel level) {
switch (level) {
case LOG_LEVEL_ERROR:
return "\033[1;31m";
case LOG_LEVEL_WARNING:
return "\033[33m";
case LOG_LEVEL_INFO:
return "\033[32m";
case LOG_LEVEL_DEBUG:
return "\033[1;37m";
case LOG_LEVEL_TRACE:
return "\033[37m";
default:
return "";
}
}
uint32_t tt_log_timestamp(void) {
if (unlikely(xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED)) {
return clock() / CLOCKS_PER_SEC * 1000;
}
static uint32_t base = 0;
if (base == 0 && xPortGetCoreID() == 0) {
base = clock() / CLOCKS_PER_SEC * 1000;
}
TickType_t tick_count = xPortInIsrContext() ? xTaskGetTickCountFromISR() : xTaskGetTickCount();
return base + tick_count * (1000 / configTICK_RATE_HZ);
}
void tt_log(LogLevel level, const char* tag, const char* format, ...) {
printf(
"%s%c (%lu) %s: ",
tt_loglevel_to_colour(level),
tt_loglevel_to_prefix(level),
tt_log_timestamp(),
tag
);
va_list args;
va_start(args, format);
vprintf(format, args);
va_end(args);
printf("\033[0m\n");
}
#endif
components/tactility-core/src/log.h
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@@ -1,54 +0,0 @@
#pragma once
#ifdef ESP_PLATFORM
#include "esp_log.h"
#else
#include <stdarg.h>
#include <stdio.h>
#endif
#ifdef __cplusplus
extern "C" {
#endif
#ifdef ESP_PLATFORM
#define TT_LOG_E(tag, format, ...) \
ESP_LOGE(tag, format, ##__VA_ARGS__)
#define TT_LOG_W(tag, format, ...) \
ESP_LOGW(tag, format, ##__VA_ARGS__)
#define TT_LOG_I(tag, format, ...) \
ESP_LOGI(tag, format, ##__VA_ARGS__)
#define TT_LOG_D(tag, format, ...) \
ESP_LOGD(tag, format, ##__VA_ARGS__)
#define TT_LOG_T(tag, format, ...) \
ESP_LOGV(tag, format, ##__VA_ARGS__)
#else
typedef enum {
LOG_LEVEL_ERROR,
LOG_LEVEL_WARNING,
LOG_LEVEL_INFO,
LOG_LEVEL_DEBUG,
LOG_LEVEL_TRACE
} LogLevel;
void tt_log(LogLevel level, const char* tag, const char* format, ...);
#define TT_LOG_E(tag, format, ...) \
tt_log(LOG_LEVEL_ERROR, tag, format, ##__VA_ARGS__)
#define TT_LOG_W(tag, format, ...) \
tt_log(LOG_LEVEL_WARNING, tag, format, ##__VA_ARGS__)
#define TT_LOG_I(tag, format, ...) \
tt_log(LOG_LEVEL_INFO, tag, format, ##__VA_ARGS__)
#define TT_LOG_D(tag, format, ...) \
tt_log(LOG_LEVEL_DEBUG, tag, format, ##__VA_ARGS__)
#define TT_LOG_T(tag, format, ...) \
tt_log(LOG_LEVEL_TRACE, tag, format, ##__VA_ARGS__)
#endif
#ifdef __cplusplus
}
#endif
components/tactility-core/src/m_cstr_dup.h
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@@ -1,25 +0,0 @@
#pragma once
#include <m-core.h>
#ifdef __cplusplus
extern "C" {
#endif
#define M_INIT_DUP(a) ((a) = strdup(""))
#define M_INIT_SET_DUP(a, b) ((a) = strdup(b))
#define M_SET_DUP(a, b) (free((void*)a), (a) = strdup(b))
#define M_CLEAR_DUP(a) (free((void*)a))
#define M_CSTR_DUP_OPLIST \
(INIT(M_INIT_DUP), \
INIT_SET(M_INIT_SET_DUP), \
SET(M_SET_DUP), \
CLEAR(M_CLEAR_DUP), \
HASH(m_core_cstr_hash), \
EQUAL(M_CSTR_EQUAL), \
CMP(strcmp), \
TYPE(const char*))
#ifdef __cplusplus
}
#endif
components/tactility-core/src/message_queue.c
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#include "message_queue.h"
#include "check.h"
#include "kernel.h"
#include "freertos/FreeRTOS.h"
#include "freertos/queue.h"
MessageQueue* tt_message_queue_alloc(uint32_t msg_count, uint32_t msg_size) {
tt_assert((tt_kernel_is_irq() == 0U) && (msg_count > 0U) && (msg_size > 0U));
QueueHandle_t handle = xQueueCreate(msg_count, msg_size);
tt_check(handle);
return ((MessageQueue*)handle);
}
void tt_message_queue_free(MessageQueue* instance) {
tt_assert(tt_kernel_is_irq() == 0U);
tt_assert(instance);
vQueueDelete((QueueHandle_t)instance);
}
TtStatus tt_message_queue_put(MessageQueue* instance, const void* msg_ptr, uint32_t timeout) {
QueueHandle_t hQueue = (QueueHandle_t)instance;
TtStatus stat;
BaseType_t yield;
stat = TtStatusOk;
if (tt_kernel_is_irq() != 0U) {
if ((hQueue == NULL) || (msg_ptr == NULL) || (timeout != 0U)) {
stat = TtStatusErrorParameter;
} else {
yield = pdFALSE;
if (xQueueSendToBackFromISR(hQueue, msg_ptr, &yield) != pdTRUE) {
stat = TtStatusErrorResource;
} else {
portYIELD_FROM_ISR(yield);
}
}
} else {
if ((hQueue == NULL) || (msg_ptr == NULL)) {
stat = TtStatusErrorParameter;
} else {
if (xQueueSendToBack(hQueue, msg_ptr, (TickType_t)timeout) != pdPASS) {
if (timeout != 0U) {
stat = TtStatusErrorTimeout;
} else {
stat = TtStatusErrorResource;
}
}
}
}
/* Return execution status */
return (stat);
}
TtStatus tt_message_queue_get(MessageQueue* instance, void* msg_ptr, uint32_t timeout_ticks) {
QueueHandle_t hQueue = (QueueHandle_t)instance;
TtStatus stat;
BaseType_t yield;
stat = TtStatusOk;
if (tt_kernel_is_irq() != 0U) {
if ((hQueue == NULL) || (msg_ptr == NULL) || (timeout_ticks != 0U)) {
stat = TtStatusErrorParameter;
} else {
yield = pdFALSE;
if (xQueueReceiveFromISR(hQueue, msg_ptr, &yield) != pdPASS) {
stat = TtStatusErrorResource;
} else {
portYIELD_FROM_ISR(yield);
}
}
} else {
if ((hQueue == NULL) || (msg_ptr == NULL)) {
stat = TtStatusErrorParameter;
} else {
if (xQueueReceive(hQueue, msg_ptr, (TickType_t)timeout_ticks) != pdPASS) {
if (timeout_ticks != 0U) {
stat = TtStatusErrorTimeout;
} else {
stat = TtStatusErrorResource;
}
}
}
}
/* Return execution status */
return (stat);
}
uint32_t tt_message_queue_get_capacity(MessageQueue* instance) {
StaticQueue_t* mq = (StaticQueue_t*)instance;
uint32_t capacity;
if (mq == NULL) {
capacity = 0U;
} else {
/* capacity = pxQueue->uxLength */
capacity = mq->uxDummy4[1];
}
/* Return maximum number of messages */
return (capacity);
}
uint32_t tt_message_queue_get_message_size(MessageQueue* instance) {
StaticQueue_t* mq = (StaticQueue_t*)instance;
uint32_t size;
if (mq == NULL) {
size = 0U;
} else {
/* size = pxQueue->uxItemSize */
size = mq->uxDummy4[2];
}
/* Return maximum message size */
return (size);
}
uint32_t tt_message_queue_get_count(MessageQueue* instance) {
QueueHandle_t hQueue = (QueueHandle_t)instance;
UBaseType_t count;
if (hQueue == NULL) {
count = 0U;
} else if (tt_kernel_is_irq() != 0U) {
count = uxQueueMessagesWaitingFromISR(hQueue);
} else {
count = uxQueueMessagesWaiting(hQueue);
}
/* Return number of queued messages */
return ((uint32_t)count);
}
uint32_t tt_message_queue_get_space(MessageQueue* instance) {
StaticQueue_t* mq = (StaticQueue_t*)instance;
uint32_t space;
uint32_t isrm;
if (mq == NULL) {
space = 0U;
} else if (tt_kernel_is_irq() != 0U) {
isrm = taskENTER_CRITICAL_FROM_ISR();
/* space = pxQueue->uxLength - pxQueue->uxMessagesWaiting; */
space = mq->uxDummy4[1] - mq->uxDummy4[0];
taskEXIT_CRITICAL_FROM_ISR(isrm);
} else {
space = (uint32_t)uxQueueSpacesAvailable((QueueHandle_t)mq);
}
/* Return number of available slots */
return (space);
}
TtStatus tt_message_queue_reset(MessageQueue* instance) {
QueueHandle_t hQueue = (QueueHandle_t)instance;
TtStatus stat;
if (tt_kernel_is_irq() != 0U) {
stat = TtStatusErrorISR;
} else if (hQueue == NULL) {
stat = TtStatusErrorParameter;
} else {
stat = TtStatusOk;
(void)xQueueReset(hQueue);
}
/* Return execution status */
return (stat);
}
components/tactility-core/src/message_queue.h
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@@ -1,94 +0,0 @@
/**
* @file message_queue.h
* MessageQueue
*/
#pragma once
#include "core_types.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef void MessageQueue;
/** Allocate message queue
*
* @param[in] msg_count The message count
* @param[in] msg_size The message size
*
* @return pointer to MessageQueue instance
*/
MessageQueue* tt_message_queue_alloc(uint32_t msg_count, uint32_t msg_size);
/** Free queue
*
* @param instance pointer to MessageQueue instance
*/
void tt_message_queue_free(MessageQueue* instance);
/** Put message into queue
*
* @param instance pointer to MessageQueue instance
* @param[in] msg_ptr The message pointer
* @param[in] timeout The timeout
* @param[in] msg_prio The message prio
*
* @return The status.
*/
TtStatus tt_message_queue_put(MessageQueue* instance, const void* msg_ptr, uint32_t timeout);
/** Get message from queue
*
* @param instance pointer to MessageQueue instance
* @param msg_ptr The message pointer
* @param msg_prio The message prioority
* @param[in] timeout_ticks The timeout
*
* @return The status.
*/
TtStatus tt_message_queue_get(MessageQueue* instance, void* msg_ptr, uint32_t timeout_ticks);
/** Get queue capacity
*
* @param instance pointer to MessageQueue instance
*
* @return capacity in object count
*/
uint32_t tt_message_queue_get_capacity(MessageQueue* instance);
/** Get message size
*
* @param instance pointer to MessageQueue instance
*
* @return Message size in bytes
*/
uint32_t tt_message_queue_get_message_size(MessageQueue* instance);
/** Get message count in queue
*
* @param instance pointer to MessageQueue instance
*
* @return Message count
*/
uint32_t tt_message_queue_get_count(MessageQueue* instance);
/** Get queue available space
*
* @param instance pointer to MessageQueue instance
*
* @return Message count
*/
uint32_t tt_message_queue_get_space(MessageQueue* instance);
/** Reset queue
*
* @param instance pointer to MessageQueue instance
*
* @return The status.
*/
TtStatus tt_message_queue_reset(MessageQueue* instance);
#ifdef __cplusplus
}
#endif
components/tactility-core/src/mutex.c
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@@ -1,126 +0,0 @@
#include "mutex.h"
#include "check.h"
#include "core_defines.h"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "log.h"
Mutex* tt_mutex_alloc(MutexType type) {
tt_assert(!TT_IS_IRQ_MODE());
SemaphoreHandle_t hMutex = NULL;
if (type == MutexTypeNormal) {
hMutex = xSemaphoreCreateMutex();
} else if (type == MutexTypeRecursive) {
hMutex = xSemaphoreCreateRecursiveMutex();
} else {
tt_crash("Programming error");
}
tt_check(hMutex != NULL);
if (type == MutexTypeRecursive) {
/* Set LSB as 'recursive mutex flag' */
hMutex = (SemaphoreHandle_t)((uint32_t)hMutex | 1U);
}
/* Return mutex ID */
return ((Mutex*)hMutex);
}
void tt_mutex_free(Mutex* instance) {
tt_assert(!TT_IS_IRQ_MODE());
tt_assert(instance);
vSemaphoreDelete((SemaphoreHandle_t)((uint32_t)instance & ~1U));
}
TtStatus tt_mutex_acquire(Mutex* instance, uint32_t timeout) {
SemaphoreHandle_t hMutex;
TtStatus stat;
uint32_t rmtx;
hMutex = (SemaphoreHandle_t)((uint32_t)instance & ~1U);
/* Extract recursive mutex flag */
rmtx = (uint32_t)instance & 1U;
stat = TtStatusOk;
if (TT_IS_IRQ_MODE()) {
stat = TtStatusErrorISR;
} else if (hMutex == NULL) {
stat = TtStatusErrorParameter;
} else {
if (rmtx != 0U) {
if (xSemaphoreTakeRecursive(hMutex, timeout) != pdPASS) {
if (timeout != 0U) {
stat = TtStatusErrorTimeout;
} else {
stat = TtStatusErrorResource;
}
}
} else {
if (xSemaphoreTake(hMutex, timeout) != pdPASS) {
if (timeout != 0U) {
stat = TtStatusErrorTimeout;
} else {
stat = TtStatusErrorResource;
}
}
}
}
/* Return execution status */
return (stat);
}
TtStatus tt_mutex_release(Mutex* instance) {
SemaphoreHandle_t hMutex;
TtStatus stat;
uint32_t rmtx;
hMutex = (SemaphoreHandle_t)((uint32_t)instance & ~1U);
/* Extract recursive mutex flag */
rmtx = (uint32_t)instance & 1U;
stat = TtStatusOk;
if (TT_IS_IRQ_MODE()) {
stat = TtStatusErrorISR;
} else if (hMutex == NULL) {
stat = TtStatusErrorParameter;
} else {
if (rmtx != 0U) {
if (xSemaphoreGiveRecursive(hMutex) != pdPASS) {
stat = TtStatusErrorResource;
}
} else {
if (xSemaphoreGive(hMutex) != pdPASS) {
stat = TtStatusErrorResource;
}
}
}
/* Return execution status */
return (stat);
}
ThreadId tt_mutex_get_owner(Mutex* instance) {
SemaphoreHandle_t hMutex;
ThreadId owner;
hMutex = (SemaphoreHandle_t)((uint32_t)instance & ~1U);
if ((TT_IS_IRQ_MODE()) || (hMutex == NULL)) {
owner = 0;
} else {
owner = (ThreadId)xSemaphoreGetMutexHolder(hMutex);
}
/* Return owner thread ID */
return (owner);
}
components/tactility-core/src/mutex.h
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@@ -1,62 +0,0 @@
/**
* @file mutex.h
* Mutex
*/
#pragma once
#include "core_types.h"
#include "thread.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef enum {
MutexTypeNormal,
MutexTypeRecursive,
} MutexType;
typedef void Mutex;
/** Allocate Mutex
*
* @param[in] type The mutex type
*
* @return pointer to Mutex instance
*/
Mutex* tt_mutex_alloc(MutexType type);
/** Free Mutex
*
* @param instance The pointer to Mutex instance
*/
void tt_mutex_free(Mutex* instance);
/** Acquire mutex
*
* @param instance The pointer to Mutex instance
* @param[in] timeout The timeout
*
* @return The status.
*/
TtStatus tt_mutex_acquire(Mutex* instance, uint32_t timeout);
/** Release mutex
*
* @param instance The pointer to Mutex instance
*
* @return The status.
*/
TtStatus tt_mutex_release(Mutex* instance);
/** Get mutex owner thread id
*
* @param instance The pointer to Mutex instance
*
* @return The thread identifier.
*/
ThreadId tt_mutex_get_owner(Mutex* instance);
#ifdef __cplusplus
}
#endif
components/tactility-core/src/pubsub.c
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@@ -1,93 +0,0 @@
#include "pubsub.h"
#include "check.h"
#include "mutex.h"
#include <m-list.h>
struct PubSubSubscription {
PubSubCallback callback;
void* callback_context;
};
LIST_DEF(PubSubSubscriptionList, PubSubSubscription, M_POD_OPLIST);
struct PubSub {
PubSubSubscriptionList_t items;
Mutex* mutex;
};
PubSub* tt_pubsub_alloc() {
PubSub* pubsub = malloc(sizeof(PubSub));
pubsub->mutex = tt_mutex_alloc(MutexTypeRecursive);
tt_assert(pubsub->mutex);
PubSubSubscriptionList_init(pubsub->items);
return pubsub;
}
void tt_pubsub_free(PubSub* pubsub) {
tt_assert(pubsub);
tt_check(PubSubSubscriptionList_size(pubsub->items) == 0);
PubSubSubscriptionList_clear(pubsub->items);
tt_mutex_free(pubsub->mutex);
free(pubsub);
}
PubSubSubscription* tt_pubsub_subscribe(PubSub* pubsub, PubSubCallback callback, void* callback_context) {
tt_check(tt_mutex_acquire(pubsub->mutex, TtWaitForever) == TtStatusOk);
// put uninitialized item to the list
PubSubSubscription* item = PubSubSubscriptionList_push_raw(pubsub->items);
// initialize item
item->callback = callback;
item->callback_context = callback_context;
tt_check(tt_mutex_release(pubsub->mutex) == TtStatusOk);
return item;
}
void tt_pubsub_unsubscribe(PubSub* pubsub, PubSubSubscription* pubsub_subscription) {
tt_assert(pubsub);
tt_assert(pubsub_subscription);
tt_check(tt_mutex_acquire(pubsub->mutex, TtWaitForever) == TtStatusOk);
bool result = false;
// iterate over items
PubSubSubscriptionList_it_t it;
for (PubSubSubscriptionList_it(it, pubsub->items); !PubSubSubscriptionList_end_p(it);
PubSubSubscriptionList_next(it)) {
const PubSubSubscription* item = PubSubSubscriptionList_cref(it);
// if the iterator is equal to our element
if (item == pubsub_subscription) {
PubSubSubscriptionList_remove(pubsub->items, it);
result = true;
break;
}
}
tt_check(tt_mutex_release(pubsub->mutex) == TtStatusOk);
tt_check(result);
}
void tt_pubsub_publish(PubSub* pubsub, void* message) {
tt_check(tt_mutex_acquire(pubsub->mutex, TtWaitForever) == TtStatusOk);
// iterate over subscribers
PubSubSubscriptionList_it_t it;
for (PubSubSubscriptionList_it(it, pubsub->items); !PubSubSubscriptionList_end_p(it);
PubSubSubscriptionList_next(it)) {
const PubSubSubscription* item = PubSubSubscriptionList_cref(it);
item->callback(message, item->callback_context);
}
tt_check(tt_mutex_release(pubsub->mutex) == TtStatusOk);
}
components/tactility-core/src/pubsub.h
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@@ -1,68 +0,0 @@
/**
* @file pubsub.h
* PubSub
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/** PubSub Callback type */
typedef void (*PubSubCallback)(const void* message, void* context);
/** PubSub type */
typedef struct PubSub PubSub;
/** PubSubSubscription type */
typedef struct PubSubSubscription PubSubSubscription;
/** Allocate PubSub
*
* Reentrable, Not threadsafe, one owner
*
* @return pointer to PubSub instance
*/
PubSub* tt_pubsub_alloc();
/** Free PubSub
*
* @param pubsub PubSub instance
*/
void tt_pubsub_free(PubSub* pubsub);
/** Subscribe to PubSub
*
* Threadsafe, Reentrable
*
* @param pubsub pointer to PubSub instance
* @param[in] callback The callback
* @param callback_context The callback context
*
* @return pointer to PubSubSubscription instance
*/
PubSubSubscription*
tt_pubsub_subscribe(PubSub* pubsub, PubSubCallback callback, void* callback_context);
/** Unsubscribe from PubSub
*
* No use of `pubsub_subscription` allowed after call of this method
* Threadsafe, Reentrable.
*
* @param pubsub pointer to PubSub instance
* @param pubsub_subscription pointer to PubSubSubscription instance
*/
void tt_pubsub_unsubscribe(PubSub* pubsub, PubSubSubscription* pubsub_subscription);
/** Publish message to PubSub
*
* Threadsafe, Reentrable.
*
* @param pubsub pointer to PubSub instance
* @param message message pointer to publish
*/
void tt_pubsub_publish(PubSub* pubsub, void* message);
#ifdef __cplusplus
}
#endif
components/tactility-core/src/secure.c
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@@ -1,182 +0,0 @@
#include "secure.h"
#include "check.h"
#include "log.h"
#include "mbedtls/aes.h"
#include "nvs_flash.h"
#include <string.h>
#ifdef ESP_PLATFORM
#include "esp_cpu.h"
#include "esp_mac.h"
#endif
#define TAG "secure"
#define TT_NVS_NAMESPACE "tt_secure"
#ifdef ESP_PLATFORM
/**
* Get a key based on hardware parameters.
* @param[out] key the output key
*/
static void get_hardware_key(uint8_t key[32]) {
uint8_t mac[8];
// MAC can be 6 or 8 bytes
size_t mac_length = esp_mac_addr_len_get(ESP_MAC_EFUSE_FACTORY);
TT_LOG_I(TAG, "Using MAC with length %u", mac_length);
tt_check(mac_length <= 8);
ESP_ERROR_CHECK(esp_read_mac(mac, ESP_MAC_EFUSE_FACTORY));
// Fill buffer with repeating MAC
for (size_t i = 0; i < 32; ++i) {
key[i] = mac[i % mac_length];
}
}
#endif
#ifdef ESP_PLATFORM
/**
* The key is built up as follows:
* - Fetch 32 bytes from NVS storage and store as key data
* - Fetch 6-8 MAC bytes and overwrite the first 6-8 bytes of the key with this info
*
* When flash encryption is disabled:
* Without the MAC data, an attack would look like this:
* - Retrieve all the partitions from the ESP32
* - Read the key from NVS flash
* - Use the key to decrypt
* With the MAC data added, an attacker would have to do much more:
* - Retrieve all the partitions from the ESP32 (copy app)
* - Upload custom app to retrieve internal MAC
* - Read the key from NVS flash
* - Re-flash original app and combine it with the MAC
* - Use the key to decrypt
* - Re-flash the device with original firmware.
*
* Adding the MAC doesn't add a lot of extra security, but I think it's worth it.
*
* @param[out] key the output key
*/
static void get_nvs_key(uint8_t key[32]) {
nvs_handle_t handle;
esp_err_t result = nvs_open(TT_NVS_NAMESPACE, NVS_READWRITE, &handle);
if (result != ESP_OK) {
TT_LOG_E(TAG, "Failed to get key from NVS (%s)", esp_err_to_name(result));
tt_crash();
}
size_t length = 32;
if (nvs_get_blob(handle, "key", key, &length) == ESP_OK) {
TT_LOG_I(TAG, "Fetched key from NVS (%d bytes)", length);
tt_check(length == 32);
} else {
esp_cpu_cycle_count_t cycle_count = esp_cpu_get_cycle_count();
unsigned seed = (unsigned)cycle_count;
for (int i = 0; i < 32; ++i) {
key[i] = (uint8_t)rand_r(&seed);
}
ESP_ERROR_CHECK(nvs_set_blob(handle, "key", key, 32));
TT_LOG_I(TAG, "Stored new key in NVS");
}
nvs_close(handle);
}
#endif
/**
* Performs XOR on 2 memory regions and stores it in a third
* @param[in] in_left input buffer for XOR
* @param[in] in_right second input buffer for XOR
* @param[out] out output buffer for result of XOR
* @param[in] length data length (all buffers must be at least this size)
*/
static void xor_key(const uint8_t* in_left, const uint8_t* in_right, uint8_t* out, size_t length) {
for (int i = 0; i < length; ++i) {
out[i] = in_left[i] ^ in_right[i];
}
}
/**
* Combines a stored key and a hardware key into a single reliable key value.
* @param[out] key the key output
*/
static void get_key(uint8_t key[32]) {
#if !defined(CONFIG_SECURE_BOOT) || !defined(CONFIG_SECURE_FLASH_ENC_ENABLED)
TT_LOG_W(TAG, "Using tt_secure_* code with secure boot and/or flash encryption disabled.");
TT_LOG_W(TAG, "An attacker with physical access to your ESP32 can decrypt your secure data.");
#endif
uint8_t hardware_key[32];
uint8_t nvs_key[32];
#ifdef ESP_PLATFORM
get_hardware_key(hardware_key);
get_nvs_key(nvs_key);
xor_key(hardware_key, nvs_key, key, 32);
#else
TT_LOG_W(TAG, "Using unsafe key for debugging purposes.");
memset(key, 0, 32);
#endif
}
void tt_secure_get_iv_from_string(const char* input, uint8_t iv[16]) {
memset((void*)iv, 0, 16);
char c = *input++;
int index = 0;
while (c) {
iv[index] = c;
index++;
c = *input++;
}
}
static int tt_aes256_crypt_cbc(
const uint8_t key[32],
int mode,
size_t length,
unsigned char iv[16],
const unsigned char* input,
unsigned char* output
) {
tt_check(key && iv && input && output);
if ((length % AES_BLOCK_BYTES) || (length == 0)) {
return ERR_ESP_AES_INVALID_INPUT_LENGTH;
}
mbedtls_aes_context master;
mbedtls_aes_init(&master);
if (mode == MBEDTLS_AES_ENCRYPT) {
mbedtls_aes_setkey_enc(&master, key, 256);
} else {
mbedtls_aes_setkey_dec(&master, key, 256);
}
int result = mbedtls_aes_crypt_cbc(&master, mode, length, iv, input, output);
mbedtls_aes_free(&master);
return result;
}
int tt_secure_encrypt(const uint8_t iv[16], uint8_t* in_data, uint8_t* out_data, size_t length) {
tt_check(length % 16 == 0, "Length is not a multiple of 16 bytes (for AES 256");
uint8_t key[32];
get_key(key);
// TODO: Is this still needed after switching to regular AES functions?
uint8_t iv_copy[16];
memcpy(iv_copy, iv, sizeof(iv_copy));
return tt_aes256_crypt_cbc(key, MBEDTLS_AES_ENCRYPT, length, iv_copy, in_data, out_data);
}
int tt_secure_decrypt(const uint8_t iv[16], uint8_t* in_data, uint8_t* out_data, size_t length) {
tt_check(length % 16 == 0, "Length is not a multiple of 16 bytes (for AES 256");
uint8_t key[32];
get_key(key);
// TODO: Is this still needed after switching to regular AES functions?
uint8_t iv_copy[16];
memcpy(iv_copy, iv, sizeof(iv_copy));
return tt_aes256_crypt_cbc(key, MBEDTLS_AES_DECRYPT, length, iv_copy, in_data, out_data);
}
components/tactility-core/src/secure.h
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@@ -1,64 +0,0 @@
/** @file secure.h
*
* @brief Hardware-bound encryption methods.
* @warning Enable secure boot and flash encryption to increase security.
*
* Offers AES 256 CBC encryption with built-in key.
* The key is built from data including:
* - the internal factory MAC address
* - random data stored in NVS
*
* It's important to use flash encryption to avoid an attacker to get
* access to your encrypted data. If flash encryption is disabled,
* someone can fetch the key from the partitions.
*
* See:
* https://docs.espressif.com/projects/esp-idf/en/latest/esp32/security/secure-boot-v2.html
* https://docs.espressif.com/projects/esp-idf/en/latest/esp32/security/flash-encryption.html
*/
#pragma once
#include <stdio.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief Fills the IV with zeros and then copies up to 16 characters of the string into the IV.
* @param input input text
* @param iv output IV
*/
void tt_secure_get_iv_from_string(const char* input, uint8_t iv[16]);
/**
* @brief Encrypt data.
*
* Important: Use flash encryption to increase security.
* Important: input and output data must be aligned to 16 bytes.
*
* @param iv the AES IV
* @param data_in input data
* @param data_out output data
* @param length data length, a multiple of 16
* @return the result of esp_aes_crypt_cbc() (MBEDTLS_ERR_*)
*/
int tt_secure_encrypt(const uint8_t iv[16], uint8_t* in_data, uint8_t* out_data, size_t length);
/**
* @brief Decrypt data.
*
* Important: Use flash encryption to increase security.
* Important: input and output data must be aligned to 16 bytes.
*
* @param iv AES IV
* @param data_in input data
* @param data_out output data
* @param length data length, a multiple of 16
* @return the result of esp_aes_crypt_cbc() (MBEDTLS_ERR_*)
*/
int tt_secure_decrypt(const uint8_t iv[16], uint8_t* in_data, uint8_t* out_data, size_t length);
#ifdef __cplusplus
}
#endif
components/tactility-core/src/semaphore.c
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#include "semaphore.h"
#include "check.h"
#include "core_defines.h"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
Semaphore* tt_semaphore_alloc(uint32_t max_count, uint32_t initial_count) {
tt_assert(!TT_IS_IRQ_MODE());
tt_assert((max_count > 0U) && (initial_count <= max_count));
SemaphoreHandle_t hSemaphore = NULL;
if (max_count == 1U) {
hSemaphore = xSemaphoreCreateBinary();
if ((hSemaphore != NULL) && (initial_count != 0U)) {
if (xSemaphoreGive(hSemaphore) != pdPASS) {
vSemaphoreDelete(hSemaphore);
hSemaphore = NULL;
}
}
} else {
hSemaphore = xSemaphoreCreateCounting(max_count, initial_count);
}
tt_check(hSemaphore);
return (Semaphore*)hSemaphore;
}
void tt_semaphore_free(Semaphore* instance) {
tt_assert(instance);
tt_assert(!TT_IS_IRQ_MODE());
SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)instance;
vSemaphoreDelete(hSemaphore);
}
TtStatus tt_semaphore_acquire(Semaphore* instance, uint32_t timeout) {
tt_assert(instance);
SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)instance;
TtStatus status;
BaseType_t yield;
status = TtStatusOk;
if (TT_IS_IRQ_MODE()) {
if (timeout != 0U) {
status = TtStatusErrorParameter;
} else {
yield = pdFALSE;
if (xSemaphoreTakeFromISR(hSemaphore, &yield) != pdPASS) {
status = TtStatusErrorResource;
} else {
portYIELD_FROM_ISR(yield);
}
}
} else {
if (xSemaphoreTake(hSemaphore, (TickType_t)timeout) != pdPASS) {
if (timeout != 0U) {
status = TtStatusErrorTimeout;
} else {
status = TtStatusErrorResource;
}
}
}
return status;
}
TtStatus tt_semaphore_release(Semaphore* instance) {
tt_assert(instance);
SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)instance;
TtStatus stat;
BaseType_t yield;
stat = TtStatusOk;
if (TT_IS_IRQ_MODE()) {
yield = pdFALSE;
if (xSemaphoreGiveFromISR(hSemaphore, &yield) != pdTRUE) {
stat = TtStatusErrorResource;
} else {
portYIELD_FROM_ISR(yield);
}
} else {
if (xSemaphoreGive(hSemaphore) != pdPASS) {
stat = TtStatusErrorResource;
}
}
/* Return execution status */
return (stat);
}
uint32_t tt_semaphore_get_count(Semaphore* instance) {
tt_assert(instance);
SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)instance;
uint32_t count;
if (TT_IS_IRQ_MODE()) {
// TODO: uxSemaphoreGetCountFromISR is not supported on esp-idf 5.1.2 - perhaps later on?
#ifdef uxSemaphoreGetCountFromISR
count = (uint32_t)uxSemaphoreGetCountFromISR(hSemaphore);
#else
count = (uint32_t)uxQueueMessagesWaitingFromISR((QueueHandle_t)hSemaphore);
#endif
} else {
count = (uint32_t)uxSemaphoreGetCount(hSemaphore);
}
/* Return number of tokens */
return (count);
}
components/tactility-core/src/semaphore.h
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#pragma once
#include "core_types.h"
#include "thread.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef void Semaphore;
/** Allocate semaphore
*
* @param[in] max_count The maximum count
* @param[in] initial_count The initial count
*
* @return pointer to Semaphore instance
*/
Semaphore* tt_semaphore_alloc(uint32_t max_count, uint32_t initial_count);
/** Free semaphore
*
* @param instance The pointer to Semaphore instance
*/
void tt_semaphore_free(Semaphore* instance);
/** Acquire semaphore
*
* @param instance The pointer to Semaphore instance
* @param[in] timeout The timeout
*
* @return The status.
*/
TtStatus tt_semaphore_acquire(Semaphore* instance, uint32_t timeout);
/** Release semaphore
*
* @param instance The pointer to Semaphore instance
*
* @return The status.
*/
TtStatus tt_semaphore_release(Semaphore* instance);
/** Get semaphore count
*
* @param instance The pointer to Semaphore instance
*
* @return Semaphore count
*/
uint32_t tt_semaphore_get_count(Semaphore* instance);
#ifdef __cplusplus
}
#endif
components/tactility-core/src/service.c
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#include "log.h"
#include "service_i.h"
#include "tactility_core.h"
// region Alloc/free
ServiceData* tt_service_alloc(const ServiceManifest* _Nonnull manifest) {
ServiceData* data = malloc(sizeof(ServiceData));
*data = (ServiceData) {
.manifest = manifest,
.mutex = tt_mutex_alloc(MutexTypeRecursive),
.data = NULL
};
return data;
}
void tt_service_free(ServiceData* data) {
tt_assert(data);
tt_mutex_free(data->mutex);
free(data);
}
// endregion Alloc/free
// region Internal
static void tt_service_lock(ServiceData * data) {
tt_mutex_acquire(data->mutex, MutexTypeRecursive);
}
static void tt_service_unlock(ServiceData* data) {
tt_mutex_release(data->mutex);
}
// endregion Internal
// region Getters & Setters
const ServiceManifest* tt_service_get_manifest(Service service) {
ServiceData* data = (ServiceData*)service;
tt_service_lock(data);
const ServiceManifest* manifest = data->manifest;
tt_service_unlock(data);
return manifest;
}
void tt_service_set_data(Service service, void* value) {
ServiceData* data = (ServiceData*)service;
tt_service_lock(data);
data->data = value;
tt_service_unlock(data);
}
void* _Nullable tt_service_get_data(Service service) {
ServiceData* data = (ServiceData*)service;
tt_service_lock(data);
void* value = data->data;
tt_service_unlock(data);
return value;
}
// endregion Getters & Setters
components/tactility-core/src/service.h
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@@ -1,18 +0,0 @@
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include "service_manifest.h"
typedef void* Service;
const ServiceManifest* tt_service_get_manifest(Service service);
void tt_service_set_data(Service service, void* value);
void* _Nullable tt_service_get_data(Service service);
#ifdef __cplusplus
}
#endif
components/tactility-core/src/service_i.h
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@@ -1,15 +0,0 @@
#pragma once
#include "service.h"
#include "mutex.h"
#include "service_manifest.h"
typedef struct {
Mutex* mutex;
const ServiceManifest* manifest;
void* data;
} ServiceData;
ServiceData* tt_service_alloc(const ServiceManifest* _Nonnull manifest);
void tt_service_free(ServiceData* _Nonnull service);
components/tactility-core/src/service_manifest.h
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@@ -1,34 +0,0 @@
#pragma once
#include <stdio.h>
#ifdef __cplusplus
extern "C" {
#endif
typedef void* Service;
typedef void (*ServiceOnStart)(Service service);
typedef void (*ServiceOnStop)(Service service);
typedef struct {
/**
* The identifier by which the app is launched by the system and other apps.
*/
const char* _Nonnull id;
/**
* Non-blocking method to call when service is started.
*/
const ServiceOnStart _Nullable on_start;
/**
* Non-blocking method to call when service is stopped.
*/
const ServiceOnStop _Nullable on_stop;
} ServiceManifest;
#ifdef __cplusplus
}
#endif
components/tactility-core/src/service_registry.c
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#include "service_registry.h"
#include "m-dict.h"
#include "m_cstr_dup.h"
#include "mutex.h"
#include "service_i.h"
#include "tactility_core.h"
#define TAG "service_registry"
DICT_DEF2(ServiceManifestDict, const char*, M_CSTR_DUP_OPLIST, const ServiceManifest*, M_PTR_OPLIST)
DICT_DEF2(ServiceInstanceDict, const char*, M_CSTR_DUP_OPLIST, const ServiceData*, M_PTR_OPLIST)
#define APP_REGISTRY_FOR_EACH(manifest_var_name, code_to_execute) \
{ \
service_registry_manifest_lock(); \
ServiceManifestDict_it_t it; \
for (ServiceManifestDict_it(it, service_manifest_dict); !ServiceManifestDict_end_p(it); ServiceManifestDict_next(it)) { \
const ServiceManifest*(manifest_var_name) = ServiceManifestDict_cref(it)->value; \
code_to_execute; \
} \
service_registry_manifest_unlock(); \
}
static ServiceManifestDict_t service_manifest_dict;
static ServiceInstanceDict_t service_instance_dict;
static Mutex* manifest_mutex = NULL;
static Mutex* instance_mutex = NULL;
void tt_service_registry_init() {
tt_assert(manifest_mutex == NULL);
manifest_mutex = tt_mutex_alloc(MutexTypeNormal);
ServiceManifestDict_init(service_manifest_dict);
tt_assert(instance_mutex == NULL);
instance_mutex = tt_mutex_alloc(MutexTypeNormal);
ServiceInstanceDict_init(service_instance_dict);
}
void service_registry_instance_lock() {
tt_assert(instance_mutex != NULL);
tt_mutex_acquire(instance_mutex, TtWaitForever);
}
void service_registry_instance_unlock() {
tt_assert(instance_mutex != NULL);
tt_mutex_release(instance_mutex);
}
void service_registry_manifest_lock() {
tt_assert(manifest_mutex != NULL);
tt_mutex_acquire(manifest_mutex, TtWaitForever);
}
void service_registry_manifest_unlock() {
tt_assert(manifest_mutex != NULL);
tt_mutex_release(manifest_mutex);
}
void tt_service_registry_add(const ServiceManifest _Nonnull* manifest) {
TT_LOG_I(TAG, "adding %s", manifest->id);
service_registry_manifest_lock();
ServiceManifestDict_set_at(service_manifest_dict, manifest->id, manifest);
service_registry_manifest_unlock();
}
void tt_service_registry_remove(const ServiceManifest _Nonnull* manifest) {
TT_LOG_I(TAG, "removing %s", manifest->id);
service_registry_manifest_lock();
ServiceManifestDict_erase(service_manifest_dict, manifest->id);
service_registry_manifest_unlock();
}
const ServiceManifest* _Nullable tt_service_registry_find_manifest_by_id(const char* id) {
service_registry_manifest_lock();
const ServiceManifest** _Nullable manifest = ServiceManifestDict_get(service_manifest_dict, id);
service_registry_manifest_unlock();
return (manifest != NULL) ? *manifest : NULL;
}
ServiceData* _Nullable service_registry_find_instance_by_id(const char* id) {
service_registry_instance_lock();
const ServiceData** _Nullable service_ptr = ServiceInstanceDict_get(service_instance_dict, id);
if (service_ptr == NULL) {
return NULL;
}
ServiceData* service = (ServiceData*)*service_ptr;
service_registry_instance_unlock();
return service;
}
void tt_service_registry_for_each_manifest(ServiceManifestCallback callback, void* _Nullable context) {
APP_REGISTRY_FOR_EACH(manifest, {
callback(manifest, context);
});
}
// TODO: return proper error/status instead of BOOL
bool tt_service_registry_start(const char* service_id) {
TT_LOG_I(TAG, "starting %s", service_id);
const ServiceManifest* manifest = tt_service_registry_find_manifest_by_id(service_id);
if (manifest == NULL) {
TT_LOG_E(TAG, "manifest not found for service %s", service_id);
return false;
}
Service service = tt_service_alloc(manifest);
manifest->on_start(service);
service_registry_instance_lock();
ServiceInstanceDict_set_at(service_instance_dict, manifest->id, service);
service_registry_instance_unlock();
TT_LOG_I(TAG, "started %s", service_id);
return true;
}
bool tt_service_registry_stop(const char* service_id) {
TT_LOG_I(TAG, "stopping %s", service_id);
ServiceData* service = service_registry_find_instance_by_id(service_id);
if (service == NULL) {
TT_LOG_W(TAG, "service not running: %s", service_id);
return false;
}
service->manifest->on_stop(service);
tt_service_free(service);
service_registry_instance_lock();
ServiceInstanceDict_erase(service_instance_dict, service_id);
service_registry_instance_unlock();
TT_LOG_I(TAG, "stopped %s", service_id);
return true;
}
components/tactility-core/src/service_registry.h
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@@ -1,25 +0,0 @@
#pragma once
#include "service_manifest.h"
#ifdef __cplusplus
extern "C" {
#endif
#include <stdbool.h>
typedef void (*ServiceManifestCallback)(const ServiceManifest*, void* context);
void tt_service_registry_init();
void tt_service_registry_add(const ServiceManifest* manifest);
void tt_service_registry_remove(const ServiceManifest* manifest);
const ServiceManifest _Nullable* tt_service_registry_find_manifest_by_id(const char* id);
void tt_service_registry_for_each_manifest(ServiceManifestCallback callback, void* _Nullable context);
bool tt_service_registry_start(const char* service_id);
bool tt_service_registry_stop(const char* service_id);
#ifdef __cplusplus
}
#endif
components/tactility-core/src/stream_buffer.c
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@@ -1,88 +0,0 @@
#include "stream_buffer.h"
#include "check.h"
#include "core_defines.h"
#include "core_types.h"
#include "freertos/FreeRTOS.h"
#include "freertos/stream_buffer.h"
StreamBuffer* tt_stream_buffer_alloc(size_t size, size_t trigger_level) {
tt_assert(size != 0);
StreamBufferHandle_t handle = xStreamBufferCreate(size, trigger_level);
tt_check(handle);
return handle;
};
void tt_stream_buffer_free(StreamBuffer* stream_buffer) {
tt_assert(stream_buffer);
vStreamBufferDelete(stream_buffer);
};
bool tt_stream_set_trigger_level(StreamBuffer* stream_buffer, size_t trigger_level) {
tt_assert(stream_buffer);
return xStreamBufferSetTriggerLevel(stream_buffer, trigger_level) == pdTRUE;
};
size_t tt_stream_buffer_send(
StreamBuffer* stream_buffer,
const void* data,
size_t length,
uint32_t timeout
) {
size_t ret;
if (TT_IS_IRQ_MODE()) {
BaseType_t yield;
ret = xStreamBufferSendFromISR(stream_buffer, data, length, &yield);
portYIELD_FROM_ISR(yield);
} else {
ret = xStreamBufferSend(stream_buffer, data, length, timeout);
}
return ret;
};
size_t tt_stream_buffer_receive(
StreamBuffer* stream_buffer,
void* data,
size_t length,
uint32_t timeout
) {
size_t ret;
if (TT_IS_IRQ_MODE()) {
BaseType_t yield;
ret = xStreamBufferReceiveFromISR(stream_buffer, data, length, &yield);
portYIELD_FROM_ISR(yield);
} else {
ret = xStreamBufferReceive(stream_buffer, data, length, timeout);
}
return ret;
}
size_t tt_stream_buffer_bytes_available(StreamBuffer* stream_buffer) {
return xStreamBufferBytesAvailable(stream_buffer);
};
size_t tt_stream_buffer_spaces_available(StreamBuffer* stream_buffer) {
return xStreamBufferSpacesAvailable(stream_buffer);
};
bool tt_stream_buffer_is_full(StreamBuffer* stream_buffer) {
return xStreamBufferIsFull(stream_buffer) == pdTRUE;
};
bool tt_stream_buffer_is_empty(StreamBuffer* stream_buffer) {
return (xStreamBufferIsEmpty(stream_buffer) == pdTRUE);
};
TtStatus tt_stream_buffer_reset(StreamBuffer* stream_buffer) {
if (xStreamBufferReset(stream_buffer) == pdPASS) {
return TtStatusOk;
} else {
return TtStatusError;
}
}
components/tactility-core/src/stream_buffer.h
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@@ -1,156 +0,0 @@
/**
* @file stream_buffer.h
* Tactility stream buffer primitive.
*
* Stream buffers are used to send a continuous stream of data from one task or
* interrupt to another. Their implementation is light weight, making them
* particularly suited for interrupt to task and core to core communication
* scenarios.
*
* ***NOTE***: Stream buffer implementation assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader).
*/
#pragma once
#include "core_types.h"
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
typedef void StreamBuffer;
/**
* @brief Allocate stream buffer instance.
* Stream buffer implementation assumes there is only one task or
* interrupt that will write to the buffer (the writer), and only one task or
* interrupt that will read from the buffer (the reader).
*
* @param size The total number of bytes the stream buffer will be able to hold at any one time.
* @param trigger_level The number of bytes that must be in the stream buffer
* before a task that is blocked on the stream buffer to wait for data is moved out of the blocked state.
* @return The stream buffer instance.
*/
StreamBuffer* tt_stream_buffer_alloc(size_t size, size_t trigger_level);
/**
* @brief Free stream buffer instance
*
* @param stream_buffer The stream buffer instance.
*/
void tt_stream_buffer_free(StreamBuffer* stream_buffer);
/**
* @brief Set trigger level for stream buffer.
* A stream buffer's trigger level is the number of bytes that must be in the
* stream buffer before a task that is blocked on the stream buffer to
* wait for data is moved out of the blocked state.
*
* @param stream_buffer The stream buffer instance
* @param trigger_level The new trigger level for the stream buffer.
* @return true if trigger level can be be updated (new trigger level was less than or equal to the stream buffer's length).
* @return false if trigger level can't be be updated (new trigger level was greater than the stream buffer's length).
*/
bool tt_stream_set_trigger_level(StreamBuffer* stream_buffer, size_t trigger_level);
/**
* @brief Sends bytes to a stream buffer. The bytes are copied into the stream buffer.
* Wakes up task waiting for data to become available if called from ISR.
*
* @param stream_buffer The stream buffer instance.
* @param data A pointer to the data that is to be copied into the stream buffer.
* @param length The maximum number of bytes to copy from data into the stream buffer.
* @param timeout The maximum amount of time the task should remain in the
* Blocked state to wait for space to become available if the stream buffer is full.
* Will return immediately if timeout is zero.
* Setting timeout to TtWaitForever will cause the task to wait indefinitely.
* Ignored if called from ISR.
* @return The number of bytes actually written to the stream buffer.
*/
size_t tt_stream_buffer_send(
StreamBuffer* stream_buffer,
const void* data,
size_t length,
uint32_t timeout
);
/**
* @brief Receives bytes from a stream buffer.
* Wakes up task waiting for space to become available if called from ISR.
*
* @param stream_buffer The stream buffer instance.
* @param data A pointer to the buffer into which the received bytes will be
* copied.
* @param length The length of the buffer pointed to by the data parameter.
* @param timeout The maximum amount of time the task should remain in the
* Blocked state to wait for data to become available if the stream buffer is empty.
* Will return immediately if timeout is zero.
* Setting timeout to TtWaitForever will cause the task to wait indefinitely.
* Ignored if called from ISR.
* @return The number of bytes read from the stream buffer, if any.
*/
size_t tt_stream_buffer_receive(
StreamBuffer* stream_buffer,
void* data,
size_t length,
uint32_t timeout
);
/**
* @brief Queries a stream buffer to see how much data it contains, which is equal to
* the number of bytes that can be read from the stream buffer before the stream
* buffer would be empty.
*
* @param stream_buffer The stream buffer instance.
* @return The number of bytes that can be read from the stream buffer before
* the stream buffer would be empty.
*/
size_t tt_stream_buffer_bytes_available(StreamBuffer* stream_buffer);
/**
* @brief Queries a stream buffer to see how much free space it contains, which is
* equal to the amount of data that can be sent to the stream buffer before it
* is full.
*
* @param stream_buffer The stream buffer instance.
* @return The number of bytes that can be written to the stream buffer before
* the stream buffer would be full.
*/
size_t tt_stream_buffer_spaces_available(StreamBuffer* stream_buffer);
/**
* @brief Queries a stream buffer to see if it is full.
*
* @param stream_buffer stream buffer instance.
* @return true if the stream buffer is full.
* @return false if the stream buffer is not full.
*/
bool tt_stream_buffer_is_full(StreamBuffer* stream_buffer);
/**
* @brief Queries a stream buffer to see if it is empty.
*
* @param stream_buffer The stream buffer instance.
* @return true if the stream buffer is empty.
* @return false if the stream buffer is not empty.
*/
bool tt_stream_buffer_is_empty(StreamBuffer* stream_buffer);
/**
* @brief Resets a stream buffer to its initial, empty, state. Any data that was
* in the stream buffer is discarded. A stream buffer can only be reset if there
* are no tasks blocked waiting to either send to or receive from the stream buffer.
*
* @param stream_buffer The stream buffer instance.
* @return TtStatusOk if the stream buffer is reset.
* @return TtStatusError if there was a task blocked waiting to send to or read
* from the stream buffer then the stream buffer is not reset.
*/
TtStatus tt_stream_buffer_reset(StreamBuffer* stream_buffer);
#ifdef __cplusplus
}
#endif
components/tactility-core/src/tactility_core.h
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@@ -1,14 +0,0 @@
#pragma once
#include <stdbool.h>
#include <stdio.h>
#include "app.h"
#include "check.h"
#include "core_defines.h"
#include "core_extra_defines.h"
#include "core_types.h"
#include "critical.h"
#include "event_flag.h"
#include "log.h"
#include "service.h"
components/tactility-core/src/tactility_core_config.h
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@@ -1,3 +0,0 @@
#pragma once
#define TT_CONFIG_THREAD_MAX_PRIORITIES (32)
components/tactility-core/src/thread.c
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@@ -1,531 +0,0 @@
#include "thread.h"
#include "check.h"
#include "core_defines.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "kernel.h"
#include <esp_log.h>
#define TAG "Thread"
#define THREAD_NOTIFY_INDEX 1 // Index 0 is used for stream buffers
// Limits
#define MAX_BITS_TASK_NOTIFY 31U
#define MAX_BITS_EVENT_GROUPS 24U
#define THREAD_FLAGS_INVALID_BITS (~((1UL << MAX_BITS_TASK_NOTIFY) - 1U))
#define EVENT_FLAGS_INVALID_BITS (~((1UL << MAX_BITS_EVENT_GROUPS) - 1U))
struct Thread {
ThreadState state;
int32_t ret;
ThreadCallback callback;
void* context;
ThreadStateCallback state_callback;
void* state_context;
char* name;
char* appid;
ThreadPriority priority;
TaskHandle_t task_handle;
// Keep all non-alignable byte types in one place,
// this ensures that the size of this structure is minimal
bool is_static;
configSTACK_DEPTH_TYPE stack_size;
};
/** Catch threads that are trying to exit wrong way */
__attribute__((__noreturn__)) void tt_thread_catch() { //-V1082
// If you're here it means you're probably doing something wrong
// with critical sections or with scheduler state
asm volatile("nop"); // extra magic
tt_crash("You are doing it wrong"); //-V779
__builtin_unreachable();
}
static void tt_thread_set_state(Thread* thread, ThreadState state) {
tt_assert(thread);
thread->state = state;
if (thread->state_callback) {
thread->state_callback(state, thread->state_context);
}
}
static void tt_thread_body(void* context) {
tt_assert(context);
Thread* thread = context;
// store thread instance to thread local storage
tt_assert(pvTaskGetThreadLocalStoragePointer(NULL, 0) == NULL);
vTaskSetThreadLocalStoragePointer(NULL, 0, thread);
tt_assert(thread->state == ThreadStateStarting);
tt_thread_set_state(thread, ThreadStateRunning);
thread->ret = thread->callback(thread->context);
tt_assert(thread->state == ThreadStateRunning);
if (thread->is_static) {
ESP_LOGI(
TAG,
"%s service thread TCB memory will not be reclaimed",
thread->name ? thread->name : "<unnamed service>"
);
}
tt_thread_set_state(thread, ThreadStateStopped);
vTaskDelete(NULL);
tt_thread_catch();
}
Thread* tt_thread_alloc() {
Thread* thread = malloc(sizeof(Thread));
// TODO: create default struct instead of using memset()
memset(thread, 0, sizeof(Thread));
thread->is_static = false;
Thread* parent = NULL;
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
// TLS is not available, if we called not from thread context
parent = pvTaskGetThreadLocalStoragePointer(NULL, 0);
if (parent && parent->appid) {
tt_thread_set_appid(thread, parent->appid);
} else {
tt_thread_set_appid(thread, "unknown");
}
} else {
// if scheduler is not started, we are starting driver thread
tt_thread_set_appid(thread, "driver");
}
return thread;
}
Thread* tt_thread_alloc_ex(
const char* name,
uint32_t stack_size,
ThreadCallback callback,
void* context
) {
Thread* thread = tt_thread_alloc();
tt_thread_set_name(thread, name);
tt_thread_set_stack_size(thread, stack_size);
tt_thread_set_callback(thread, callback);
tt_thread_set_context(thread, context);
return thread;
}
void tt_thread_free(Thread* thread) {
tt_assert(thread);
// Ensure that use join before free
tt_assert(thread->state == ThreadStateStopped);
tt_assert(thread->task_handle == NULL);
if (thread->name) free(thread->name);
if (thread->appid) free(thread->appid);
free(thread);
}
void tt_thread_set_name(Thread* thread, const char* name) {
tt_assert(thread);
tt_assert(thread->state == ThreadStateStopped);
if (thread->name) free(thread->name);
thread->name = name ? strdup(name) : NULL;
}
void tt_thread_set_appid(Thread* thread, const char* appid) {
tt_assert(thread);
tt_assert(thread->state == ThreadStateStopped);
if (thread->appid) free(thread->appid);
thread->appid = appid ? strdup(appid) : NULL;
}
void tt_thread_mark_as_static(Thread* thread) {
thread->is_static = true;
}
bool tt_thread_mark_is_service(ThreadId thread_id) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
assert(!TT_IS_IRQ_MODE() && (hTask != NULL));
Thread* thread = (Thread*)pvTaskGetThreadLocalStoragePointer(hTask, 0);
assert(thread != NULL);
return thread->is_static;
}
void tt_thread_set_stack_size(Thread* thread, size_t stack_size) {
tt_assert(thread);
tt_assert(thread->state == ThreadStateStopped);
tt_assert(stack_size % 4 == 0);
thread->stack_size = stack_size;
}
void tt_thread_set_callback(Thread* thread, ThreadCallback callback) {
tt_assert(thread);
tt_assert(thread->state == ThreadStateStopped);
thread->callback = callback;
}
void tt_thread_set_context(Thread* thread, void* context) {
tt_assert(thread);
tt_assert(thread->state == ThreadStateStopped);
thread->context = context;
}
void tt_thread_set_priority(Thread* thread, ThreadPriority priority) {
tt_assert(thread);
tt_assert(thread->state == ThreadStateStopped);
tt_assert(priority >= ThreadPriorityIdle && priority <= ThreadPriorityIsr);
thread->priority = priority;
}
void tt_thread_set_current_priority(ThreadPriority priority) {
UBaseType_t new_priority = priority ? priority : ThreadPriorityNormal;
vTaskPrioritySet(NULL, new_priority);
}
ThreadPriority tt_thread_get_current_priority() {
return (ThreadPriority)uxTaskPriorityGet(NULL);
}
void tt_thread_set_state_callback(Thread* thread, ThreadStateCallback callback) {
tt_assert(thread);
tt_assert(thread->state == ThreadStateStopped);
thread->state_callback = callback;
}
void tt_thread_set_state_context(Thread* thread, void* context) {
tt_assert(thread);
tt_assert(thread->state == ThreadStateStopped);
thread->state_context = context;
}
ThreadState tt_thread_get_state(Thread* thread) {
tt_assert(thread);
return thread->state;
}
void tt_thread_start(Thread* thread) {
tt_assert(thread);
tt_assert(thread->callback);
tt_assert(thread->state == ThreadStateStopped);
tt_assert(thread->stack_size > 0 && thread->stack_size < (UINT16_MAX * sizeof(StackType_t)));
tt_thread_set_state(thread, ThreadStateStarting);
uint32_t stack = thread->stack_size / sizeof(StackType_t);
UBaseType_t priority = thread->priority ? thread->priority : ThreadPriorityNormal;
if (thread->is_static) {
thread->task_handle = xTaskCreateStatic(
tt_thread_body,
thread->name,
stack,
thread,
priority,
malloc(sizeof(StackType_t) * stack),
malloc(sizeof(StaticTask_t))
);
} else {
BaseType_t ret = xTaskCreate(
tt_thread_body, thread->name, stack, thread, priority, &thread->task_handle
);
tt_check(ret == pdPASS);
}
tt_check(thread->task_handle);
}
void tt_thread_cleanup_tcb_event(TaskHandle_t task) {
Thread* thread = pvTaskGetThreadLocalStoragePointer(task, 0);
if (thread) {
// clear thread local storage
vTaskSetThreadLocalStoragePointer(task, 0, NULL);
tt_assert(thread->task_handle == task);
thread->task_handle = NULL;
}
}
bool tt_thread_join(Thread* thread) {
tt_assert(thread);
tt_check(tt_thread_get_current() != thread);
// !!! IMPORTANT NOTICE !!!
//
// If your thread exited, but your app stuck here: some other thread uses
// all cpu time, which delays kernel from releasing task handle
while (thread->task_handle) {
tt_delay_ms(10);
}
return true;
}
ThreadId tt_thread_get_id(Thread* thread) {
tt_assert(thread);
return thread->task_handle;
}
int32_t tt_thread_get_return_code(Thread* thread) {
tt_assert(thread);
tt_assert(thread->state == ThreadStateStopped);
return thread->ret;
}
ThreadId tt_thread_get_current_id() {
return xTaskGetCurrentTaskHandle();
}
Thread* tt_thread_get_current() {
Thread* thread = pvTaskGetThreadLocalStoragePointer(NULL, 0);
return thread;
}
void tt_thread_yield() {
tt_assert(!TT_IS_IRQ_MODE());
taskYIELD();
}
uint32_t tt_thread_flags_set(ThreadId thread_id, uint32_t flags) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
uint32_t rflags;
BaseType_t yield;
if ((hTask == NULL) || ((flags & THREAD_FLAGS_INVALID_BITS) != 0U)) {
rflags = (uint32_t)TtStatusErrorParameter;
} else {
rflags = (uint32_t)TtStatusError;
if (TT_IS_IRQ_MODE()) {
yield = pdFALSE;
(void)xTaskNotifyIndexedFromISR(hTask, THREAD_NOTIFY_INDEX, flags, eSetBits, &yield);
(void)xTaskNotifyAndQueryIndexedFromISR(
hTask, THREAD_NOTIFY_INDEX, 0, eNoAction, &rflags, NULL
);
portYIELD_FROM_ISR(yield);
} else {
(void)xTaskNotifyIndexed(hTask, THREAD_NOTIFY_INDEX, flags, eSetBits);
(void)xTaskNotifyAndQueryIndexed(hTask, THREAD_NOTIFY_INDEX, 0, eNoAction, &rflags);
}
}
/* Return flags after setting */
return (rflags);
}
uint32_t tt_thread_flags_clear(uint32_t flags) {
TaskHandle_t hTask;
uint32_t rflags, cflags;
if (TT_IS_IRQ_MODE()) {
rflags = (uint32_t)TtStatusErrorISR;
} else if ((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
rflags = (uint32_t)TtStatusErrorParameter;
} else {
hTask = xTaskGetCurrentTaskHandle();
if (xTaskNotifyAndQueryIndexed(hTask, THREAD_NOTIFY_INDEX, 0, eNoAction, &cflags) ==
pdPASS) {
rflags = cflags;
cflags &= ~flags;
if (xTaskNotifyIndexed(hTask, THREAD_NOTIFY_INDEX, cflags, eSetValueWithOverwrite) !=
pdPASS) {
rflags = (uint32_t)TtStatusError;
}
} else {
rflags = (uint32_t)TtStatusError;
}
}
/* Return flags before clearing */
return (rflags);
}
uint32_t tt_thread_flags_get(void) {
TaskHandle_t hTask;
uint32_t rflags;
if (TT_IS_IRQ_MODE()) {
rflags = (uint32_t)TtStatusErrorISR;
} else {
hTask = xTaskGetCurrentTaskHandle();
if (xTaskNotifyAndQueryIndexed(hTask, THREAD_NOTIFY_INDEX, 0, eNoAction, &rflags) !=
pdPASS) {
rflags = (uint32_t)TtStatusError;
}
}
return (rflags);
}
uint32_t tt_thread_flags_wait(uint32_t flags, uint32_t options, uint32_t timeout) {
uint32_t rflags, nval;
uint32_t clear;
TickType_t t0, td, tout;
BaseType_t rval;
if (TT_IS_IRQ_MODE()) {
rflags = (uint32_t)TtStatusErrorISR;
} else if ((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
rflags = (uint32_t)TtStatusErrorParameter;
} else {
if ((options & TtFlagNoClear) == TtFlagNoClear) {
clear = 0U;
} else {
clear = flags;
}
rflags = 0U;
tout = timeout;
t0 = xTaskGetTickCount();
do {
rval = xTaskNotifyWaitIndexed(THREAD_NOTIFY_INDEX, 0, clear, &nval, tout);
if (rval == pdPASS) {
rflags &= flags;
rflags |= nval;
if ((options & TtFlagWaitAll) == TtFlagWaitAll) {
if ((flags & rflags) == flags) {
break;
} else {
if (timeout == 0U) {
rflags = (uint32_t)TtStatusErrorResource;
break;
}
}
} else {
if ((flags & rflags) != 0) {
break;
} else {
if (timeout == 0U) {
rflags = (uint32_t)TtStatusErrorResource;
break;
}
}
}
/* Update timeout */
td = xTaskGetTickCount() - t0;
if (td > tout) {
tout = 0;
} else {
tout -= td;
}
} else {
if (timeout == 0) {
rflags = (uint32_t)TtStatusErrorResource;
} else {
rflags = (uint32_t)TtStatusErrorTimeout;
}
}
} while (rval != pdFAIL);
}
/* Return flags before clearing */
return (rflags);
}
uint32_t tt_thread_enumerate(ThreadId* thread_array, uint32_t array_items) {
uint32_t i, count;
TaskStatus_t* task;
if (TT_IS_IRQ_MODE() || (thread_array == NULL) || (array_items == 0U)) {
count = 0U;
} else {
vTaskSuspendAll();
count = uxTaskGetNumberOfTasks();
task = pvPortMalloc(count * sizeof(TaskStatus_t));
if (task != NULL) {
count = uxTaskGetSystemState(task, count, NULL);
for (i = 0U; (i < count) && (i < array_items); i++) {
thread_array[i] = (ThreadId)task[i].xHandle;
}
count = i;
}
(void)xTaskResumeAll();
vPortFree(task);
}
return (count);
}
const char* tt_thread_get_name(ThreadId thread_id) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
const char* name;
if (TT_IS_IRQ_MODE() || (hTask == NULL)) {
name = NULL;
} else {
name = pcTaskGetName(hTask);
}
return (name);
}
const char* tt_thread_get_appid(ThreadId thread_id) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
const char* appid = "system";
if (!TT_IS_IRQ_MODE() && (hTask != NULL)) {
Thread* thread = (Thread*)pvTaskGetThreadLocalStoragePointer(hTask, 0);
if (thread) {
appid = thread->appid;
}
}
return (appid);
}
uint32_t tt_thread_get_stack_space(ThreadId thread_id) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
uint32_t sz;
if (TT_IS_IRQ_MODE() || (hTask == NULL)) {
sz = 0U;
} else {
sz = (uint32_t)(uxTaskGetStackHighWaterMark(hTask) * sizeof(StackType_t));
}
return (sz);
}
void tt_thread_suspend(ThreadId thread_id) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
vTaskSuspend(hTask);
}
void tt_thread_resume(ThreadId thread_id) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
if (TT_IS_IRQ_MODE()) {
xTaskResumeFromISR(hTask);
} else {
vTaskResume(hTask);
}
}
bool tt_thread_is_suspended(ThreadId thread_id) {
TaskHandle_t hTask = (TaskHandle_t)thread_id;
return eTaskGetState(hTask) == eSuspended;
}
components/tactility-core/src/thread.h
-334
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@@ -1,334 +0,0 @@
#pragma once
#include "core_defines.h"
#include "core_types.h"
#include <stddef.h>
#include <stdint.h>
#ifdef __cplusplus
extern "C" {
#endif
/** ThreadState */
typedef enum {
ThreadStateStopped,
ThreadStateStarting,
ThreadStateRunning,
} ThreadState;
/** ThreadPriority */
typedef enum {
ThreadPriorityNone = 0, /**< Uninitialized, choose system default */
ThreadPriorityIdle = 1, /**< Idle priority */
ThreadPriorityLowest = 14, /**< Lowest */
ThreadPriorityLow = 15, /**< Low */
ThreadPriorityNormal = 16, /**< Normal */
ThreadPriorityHigh = 17, /**< High */
ThreadPriorityHighest = 18, /**< Highest */
ThreadPriorityIsr =
(TT_CONFIG_THREAD_MAX_PRIORITIES - 1), /**< Deferred ISR (highest possible) */
} ThreadPriority;
/** Thread anonymous structure */
typedef struct Thread Thread;
/** ThreadId proxy type to OS low level functions */
typedef void* ThreadId;
/** ThreadCallback Your callback to run in new thread
* @warning never use osThreadExit in Thread
*/
typedef int32_t (*ThreadCallback)(void* context);
/** Write to stdout callback
* @param data pointer to data
* @param size data size @warning your handler must consume everything
*/
typedef void (*ThreadStdoutWriteCallback)(const char* data, size_t size);
/** Thread state change callback called upon thread state change
* @param state new thread state
* @param context callback context
*/
typedef void (*ThreadStateCallback)(ThreadState state, void* context);
/** Allocate Thread
*
* @return Thread instance
*/
Thread* tt_thread_alloc();
/** Allocate Thread, shortcut version
*
* @param name
* @param stack_size
* @param callback
* @param context
* @return Thread*
*/
Thread* tt_thread_alloc_ex(
const char* name,
uint32_t stack_size,
ThreadCallback callback,
void* context
);
/** Release Thread
*
* @warning see tt_thread_join
*
* @param thread Thread instance
*/
void tt_thread_free(Thread* thread);
/** Set Thread name
*
* @param thread Thread instance
* @param name string
*/
void tt_thread_set_name(Thread* thread, const char* name);
/**
* @brief Set Thread appid
* Technically, it is like a "process id", but it is not a system-wide unique identifier.
* All threads spawned by the same app will have the same appid.
*
* @param thread
* @param appid
*/
void tt_thread_set_appid(Thread* thread, const char* appid);
/** Mark thread as service
* The service cannot be stopped or removed, and cannot exit from the thread body
*
* @param thread
*/
void tt_thread_mark_as_static(Thread* thread);
/** Set Thread stack size
*
* @param thread Thread instance
* @param stack_size stack size in bytes
*/
void tt_thread_set_stack_size(Thread* thread, size_t stack_size);
/** Set Thread callback
*
* @param thread Thread instance
* @param callback ThreadCallback, called upon thread run
*/
void tt_thread_set_callback(Thread* thread, ThreadCallback callback);
/** Set Thread context
*
* @param thread Thread instance
* @param context pointer to context for thread callback
*/
void tt_thread_set_context(Thread* thread, void* context);
/** Set Thread priority
*
* @param thread Thread instance
* @param priority ThreadPriority value
*/
void tt_thread_set_priority(Thread* thread, ThreadPriority priority);
/** Set current thread priority
*
* @param priority ThreadPriority value
*/
void tt_thread_set_current_priority(ThreadPriority priority);
/** Get current thread priority
*
* @return ThreadPriority value
*/
ThreadPriority tt_thread_get_current_priority();
/** Set Thread state change callback
*
* @param thread Thread instance
* @param callback state change callback
*/
void tt_thread_set_state_callback(Thread* thread, ThreadStateCallback callback);
/** Set Thread state change context
*
* @param thread Thread instance
* @param context pointer to context
*/
void tt_thread_set_state_context(Thread* thread, void* context);
/** Get Thread state
*
* @param thread Thread instance
*
* @return thread state from ThreadState
*/
ThreadState tt_thread_get_state(Thread* thread);
/** Start Thread
*
* @param thread Thread instance
*/
void tt_thread_start(Thread* thread);
/** Join Thread
*
* @warning Use this method only when CPU is not busy(Idle task receives
* control), otherwise it will wait forever.
*
* @param thread Thread instance
*
* @return bool
*/
bool tt_thread_join(Thread* thread);
/** Get FreeRTOS ThreadId for Thread instance
*
* @param thread Thread instance
*
* @return ThreadId or NULL
*/
ThreadId tt_thread_get_id(Thread* thread);
/** Enable heap tracing
*
* @param thread Thread instance
*/
void tt_thread_enable_heap_trace(Thread* thread);
/** Disable heap tracing
*
* @param thread Thread instance
*/
void tt_thread_disable_heap_trace(Thread* thread);
/** Get thread heap size
*
* @param thread Thread instance
*
* @return size in bytes
*/
size_t tt_thread_get_heap_size(Thread* thread);
/** Get thread return code
*
* @param thread Thread instance
*
* @return return code
*/
int32_t tt_thread_get_return_code(Thread* thread);
/** Thread related methods that doesn't involve Thread directly */
/** Get FreeRTOS ThreadId for current thread
*
* @param thread Thread instance
*
* @return ThreadId or NULL
*/
ThreadId tt_thread_get_current_id();
/** Get Thread instance for current thread
*
* @return pointer to Thread or NULL if this thread doesn't belongs to Tactility
*/
Thread* tt_thread_get_current();
/** Return control to scheduler */
void tt_thread_yield();
uint32_t tt_thread_flags_set(ThreadId thread_id, uint32_t flags);
uint32_t tt_thread_flags_clear(uint32_t flags);
uint32_t tt_thread_flags_get(void);
uint32_t tt_thread_flags_wait(uint32_t flags, uint32_t options, uint32_t timeout);
/**
* @brief Enumerate threads
*
* @param thread_array array of ThreadId, where thread ids will be stored
* @param array_items array size
* @return uint32_t threads count
*/
uint32_t tt_thread_enumerate(ThreadId* thread_array, uint32_t array_items);
/**
* @brief Get thread name
*
* @param thread_id
* @return const char* name or NULL
*/
const char* tt_thread_get_name(ThreadId thread_id);
/**
* @brief Get thread appid
*
* @param thread_id
* @return const char* appid
*/
const char* tt_thread_get_appid(ThreadId thread_id);
/**
* @brief Get thread stack watermark
*
* @param thread_id
* @return uint32_t
*/
uint32_t tt_thread_get_stack_space(ThreadId thread_id);
/** Get STDOUT callback for thead
*
* @return STDOUT callback
*/
ThreadStdoutWriteCallback tt_thread_get_stdout_callback();
/** Set STDOUT callback for thread
*
* @param callback callback or NULL to clear
*/
void tt_thread_set_stdout_callback(ThreadStdoutWriteCallback callback);
/** Write data to buffered STDOUT
*
* @param data input data
* @param size input data size
*
* @return size_t written data size
*/
size_t tt_thread_stdout_write(const char* data, size_t size);
/** Flush data to STDOUT
*
* @return int32_t error code
*/
int32_t tt_thread_stdout_flush();
/** Suspend thread
*
* @param thread_id thread id
*/
void tt_thread_suspend(ThreadId thread_id);
/** Resume thread
*
* @param thread_id thread id
*/
void tt_thread_resume(ThreadId thread_id);
/** Get thread suspended state
*
* @param thread_id thread id
* @return true if thread is suspended
*/
bool tt_thread_is_suspended(ThreadId thread_id);
bool tt_thread_mark_is_service(ThreadId thread_id);
#ifdef __cplusplus
}
#endif
components/tactility-core/src/timer.c
-173
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@@ -1,173 +0,0 @@
#include "timer.h"
#include "check.h"
#include "kernel.h"
#include "freertos/FreeRTOS.h"
#include "freertos/timers.h"
typedef struct {
TimerCallback func;
void* context;
} TimerCallback_t;
static void timer_callback(TimerHandle_t hTimer) {
TimerCallback_t* callb;
/* Retrieve pointer to callback function and context */
callb = (TimerCallback_t*)pvTimerGetTimerID(hTimer);
/* Remove dynamic allocation flag */
callb = (TimerCallback_t*)((uint32_t)callb & ~1U);
if (callb != NULL) {
callb->func(callb->context);
}
}
Timer* tt_timer_alloc(TimerCallback func, TimerType type, void* context) {
tt_assert((tt_kernel_is_irq() == 0U) && (func != NULL));
TimerHandle_t hTimer;
TimerCallback_t* callb;
UBaseType_t reload;
hTimer = NULL;
/* Dynamic memory allocation is available: if memory for callback and */
/* its context is not provided, allocate it from dynamic memory pool */
callb = (TimerCallback_t*)malloc(sizeof(TimerCallback_t));
callb->func = func;
callb->context = context;
if (type == TimerTypeOnce) {
reload = pdFALSE;
} else {
reload = pdTRUE;
}
/* Store callback memory dynamic allocation flag */
callb = (TimerCallback_t*)((uint32_t)callb | 1U);
// TimerCallback function is always provided as a callback and is used to call application
// specified function with its context both stored in structure callb.
// TODO: should we use pointer to function or function directly as-is?
hTimer = xTimerCreate(NULL, portMAX_DELAY, reload, callb, timer_callback);
tt_check(hTimer);
/* Return timer ID */
return ((Timer*)hTimer);
}
void tt_timer_free(Timer* instance) {
tt_assert(!tt_kernel_is_irq());
tt_assert(instance);
TimerHandle_t hTimer = (TimerHandle_t)instance;
TimerCallback_t* callb;
callb = (TimerCallback_t*)pvTimerGetTimerID(hTimer);
tt_check(xTimerDelete(hTimer, portMAX_DELAY) == pdPASS);
while (tt_timer_is_running(instance)) tt_delay_tick(2);
if ((uint32_t)callb & 1U) {
/* Callback memory was allocated from dynamic pool, clear flag */
callb = (TimerCallback_t*)((uint32_t)callb & ~1U);
/* Return allocated memory to dynamic pool */
free(callb);
}
}
TtStatus tt_timer_start(Timer* instance, uint32_t ticks) {
tt_assert(!tt_kernel_is_irq());
tt_assert(instance);
tt_assert(ticks < portMAX_DELAY);
TimerHandle_t hTimer = (TimerHandle_t)instance;
TtStatus stat;
if (xTimerChangePeriod(hTimer, ticks, portMAX_DELAY) == pdPASS) {
stat = TtStatusOk;
} else {
stat = TtStatusErrorResource;
}
/* Return execution status */
return (stat);
}
TtStatus tt_timer_restart(Timer* instance, uint32_t ticks) {
tt_assert(!tt_kernel_is_irq());
tt_assert(instance);
tt_assert(ticks < portMAX_DELAY);
TimerHandle_t hTimer = (TimerHandle_t)instance;
TtStatus stat;
if (xTimerChangePeriod(hTimer, ticks, portMAX_DELAY) == pdPASS &&
xTimerReset(hTimer, portMAX_DELAY) == pdPASS) {
stat = TtStatusOk;
} else {
stat = TtStatusErrorResource;
}
/* Return execution status */
return (stat);
}
TtStatus tt_timer_stop(Timer* instance) {
tt_assert(!tt_kernel_is_irq());
tt_assert(instance);
TimerHandle_t hTimer = (TimerHandle_t)instance;
tt_check(xTimerStop(hTimer, portMAX_DELAY) == pdPASS);
return TtStatusOk;
}
uint32_t tt_timer_is_running(Timer* instance) {
tt_assert(!tt_kernel_is_irq());
tt_assert(instance);
TimerHandle_t hTimer = (TimerHandle_t)instance;
/* Return 0: not running, 1: running */
return (uint32_t)xTimerIsTimerActive(hTimer);
}
uint32_t tt_timer_get_expire_time(Timer* instance) {
tt_assert(!tt_kernel_is_irq());
tt_assert(instance);
TimerHandle_t hTimer = (TimerHandle_t)instance;
return (uint32_t)xTimerGetExpiryTime(hTimer);
}
void tt_timer_pending_callback(TimerPendigCallback callback, void* context, uint32_t arg) {
BaseType_t ret = pdFAIL;
if (tt_kernel_is_irq()) {
ret = xTimerPendFunctionCallFromISR(callback, context, arg, NULL);
} else {
ret = xTimerPendFunctionCall(callback, context, arg, TtWaitForever);
}
tt_check(ret == pdPASS);
}
void tt_timer_set_thread_priority(TimerThreadPriority priority) {
tt_assert(!tt_kernel_is_irq());
TaskHandle_t task_handle = xTimerGetTimerDaemonTaskHandle();
tt_check(task_handle); // Don't call this method before timer task start
if (priority == TimerThreadPriorityNormal) {
vTaskPrioritySet(task_handle, configTIMER_TASK_PRIORITY);
} else if (priority == TimerThreadPriorityElevated) {
vTaskPrioritySet(task_handle, configMAX_PRIORITIES - 1);
} else {
tt_crash();
}
}
components/tactility-core/src/timer.h
-106
View File
@@ -1,106 +0,0 @@
#pragma once
#include "core_types.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef void (*TimerCallback)(void* context);
typedef enum {
TimerTypeOnce = 0, ///< One-shot timer.
TimerTypePeriodic = 1 ///< Repeating timer.
} TimerType;
typedef void Timer;
/** Allocate timer
*
* @param[in] func The callback function
* @param[in] type The timer type
* @param context The callback context
*
* @return The pointer to Timer instance
*/
Timer* tt_timer_alloc(TimerCallback func, TimerType type, void* context);
/** Free timer
*
* @param instance The pointer to Timer instance
*/
void tt_timer_free(Timer* instance);
/** Start timer
*
* @warning This is asynchronous call, real operation will happen as soon as
* timer service process this request.
*
* @param instance The pointer to Timer instance
* @param[in] ticks The interval in ticks
*
* @return The status.
*/
TtStatus tt_timer_start(Timer* instance, uint32_t ticks);
/** Restart timer with previous timeout value
*
* @warning This is asynchronous call, real operation will happen as soon as
* timer service process this request.
*
* @param instance The pointer to Timer instance
* @param[in] ticks The interval in ticks
*
* @return The status.
*/
TtStatus tt_timer_restart(Timer* instance, uint32_t ticks);
/** Stop timer
*
* @warning This is asynchronous call, real operation will happen as soon as
* timer service process this request.
*
* @param instance The pointer to Timer instance
*
* @return The status.
*/
TtStatus tt_timer_stop(Timer* instance);
/** Is timer running
*
* @warning This cal may and will return obsolete timer state if timer
* commands are still in the queue. Please read FreeRTOS timer
* documentation first.
*
* @param instance The pointer to Timer instance
*
* @return 0: not running, 1: running
*/
uint32_t tt_timer_is_running(Timer* instance);
/** Get timer expire time
*
* @param instance The Timer instance
*
* @return expire tick
*/
uint32_t tt_timer_get_expire_time(Timer* instance);
typedef void (*TimerPendigCallback)(void* context, uint32_t arg);
void tt_timer_pending_callback(TimerPendigCallback callback, void* context, uint32_t arg);
typedef enum {
TimerThreadPriorityNormal, /**< Lower then other threads */
TimerThreadPriorityElevated, /**< Same as other threads */
} TimerThreadPriority;
/** Set Timer thread priority
*
* @param[in] priority The priority
*/
void tt_timer_set_thread_priority(TimerThreadPriority priority);
#ifdef __cplusplus
}
#endif
components/tactility-data/CMakeLists.txt
+9
View File
@@ -0,0 +1,9 @@
idf_component_register(
REQUIRES spiffs
)
set(ASSETS_SRC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/assets")
spiffs_create_partition_image(assets ${ASSETS_SRC_DIR} FLASH_IN_PROJECT)
set(CONFIG_SRC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/config")
spiffs_create_partition_image(config ${CONFIG_SRC_DIR} FLASH_IN_PROJECT)
components/tactility/assets/ic_small_wifi_off.png → components/tactility-data/assets/ic_small_wifi_off.png
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components/tactility/config/placeholder.txt → components/tactility-data/config/placeholder.txt
View File
components/tactility/CMakeLists.txt
+1 -7
View File
@@ -19,14 +19,8 @@ idf_component_register(
esp_wifi
driver
fatfs
tactility-core
nvs_flash
spiffs
)
set(ASSETS_SRC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/assets")
spiffs_create_partition_image(assets ${ASSETS_SRC_DIR} FLASH_IN_PROJECT)
set(CONFIG_SRC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/config")
spiffs_create_partition_image(config ${CONFIG_SRC_DIR} FLASH_IN_PROJECT)
target_link_libraries(${COMPONENT_LIB} ${IDF_TARGET_NAME} tactility-core)
components/tactility/src/graphics.c
+1 -1
View File
@@ -18,7 +18,7 @@ Lvgl tt_graphics_init(Hardware _Nonnull* hardware) {
DisplayDevice _Nonnull* display = hardware->display;
// Add display
ESP_LOGD(TAG, "lvgl add display");
TT_LOG_I(TAG, "lvgl add display");
const lvgl_port_display_cfg_t disp_cfg = {
.io_handle = display->io_handle,
.panel_handle = display->display_handle,
components/tactility/src/services/wifi/wifi.h
+4 -1
View File
@@ -4,11 +4,14 @@
extern "C" {
#endif
#include "esp_wifi.h"
#include "pubsub.h"
#include <stdbool.h>
#include <stdio.h>
#ifdef ESP_PLATFORM
#include "esp_wifi.h"
#endif
typedef enum {
/** Radio was turned on */
WifiEventTypeRadioStateOn,
components/tactility/src/services/wifi/wifi_credentials.c → components/tactility/src/services/wifi/wifi_credentials_esp.c
+3
View File
@@ -1,3 +1,5 @@
#ifdef ESP_PLATFORM
#include "wifi_credentials.h"
#include "nvs_flash.h"
@@ -235,3 +237,4 @@ bool tt_wifi_credentials_remove(const char* ssid) {
// end region Wi-Fi Credentials - public
#endif
components/tactility/src/services/wifi/wifi_credentials_mock.c
+37
View File
@@ -0,0 +1,37 @@
#ifndef ESP_PLATFORM
#include "wifi_credentials.h"
#include "log.h"
#define TAG "wifi_credentials"
// region Wi-Fi Credentials - public
bool tt_wifi_credentials_contains(const char* ssid) {
// TODO: Implement
return false;
}
void tt_wifi_credentials_init() {
TT_LOG_W(TAG, "init mock implementation");
}
bool tt_wifi_credentials_get(const char* ssid, char password[TT_WIFI_CREDENTIALS_PASSWORD_LIMIT]) {
// TODO: Implement
return false;
}
bool tt_wifi_credentials_set(const char* ssid, char password[TT_WIFI_CREDENTIALS_PASSWORD_LIMIT]) {
// TODO: Implement
return false;
}
bool tt_wifi_credentials_remove(const char* ssid) {
// TODO: Implement
return false;
}
// end region Wi-Fi Credentials - public
#endif
components/tactility/src/services/wifi/wifi.c → components/tactility/src/services/wifi/wifi_esp.c
+10 -6
View File
@@ -1,3 +1,5 @@
#ifdef ESP_PLATFORM
#include "wifi.h"
#include "check.h"
@@ -227,16 +229,16 @@ static void wifi_publish_event_simple(Wifi* wifi, WifiEventType type) {
static void event_handler(void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data) {
UNUSED(arg);
if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) {
ESP_LOGI(TAG, "event_handler: sta start");
TT_LOG_I(TAG, "event_handler: sta start");
if (wifi_singleton->radio_state == WIFI_RADIO_CONNECTION_PENDING) {
esp_wifi_connect();
}
} else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {
xEventGroupSetBits(wifi_singleton->event_group, WIFI_FAIL_BIT);
ESP_LOGI(TAG, "event_handler: disconnected");
TT_LOG_I(TAG, "event_handler: disconnected");
} else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) {
ip_event_got_ip_t* event = (ip_event_got_ip_t*)event_data;
ESP_LOGI(TAG, "event_handler: got ip:" IPSTR, IP2STR(&event->ip_info.ip));
TT_LOG_I(TAG, "event_handler: got ip:" IPSTR, IP2STR(&event->ip_info.ip));
xEventGroupSetBits(wifi_singleton->event_group, WIFI_CONNECTED_BIT);
}
}
@@ -465,15 +467,15 @@ static void wifi_connect_internal(Wifi* wifi, WifiConnectMessage* connect_messag
if (bits & WIFI_CONNECTED_BIT) {
wifi->radio_state = WIFI_RADIO_CONNECTION_ACTIVE;
wifi_publish_event_simple(wifi, WifiEventTypeConnectionSuccess);
ESP_LOGI(TAG, "Connected to %s", connect_message->ssid);
TT_LOG_I(TAG, "Connected to %s", connect_message->ssid);
} else if (bits & WIFI_FAIL_BIT) {
wifi->radio_state = WIFI_RADIO_ON;
wifi_publish_event_simple(wifi, WifiEventTypeConnectionFailed);
ESP_LOGI(TAG, "Failed to connect to %s", connect_message->ssid);
TT_LOG_I(TAG, "Failed to connect to %s", connect_message->ssid);
} else {
wifi->radio_state = WIFI_RADIO_ON;
wifi_publish_event_simple(wifi, WifiEventTypeConnectionFailed);
ESP_LOGE(TAG, "UNEXPECTED EVENT");
TT_LOG_E(TAG, "UNEXPECTED EVENT");
}
}
@@ -590,3 +592,5 @@ const ServiceManifest wifi_service = {
.on_start = &wifi_service_start,
.on_stop = &wifi_service_stop
};
#endif
components/tactility/src/services/wifi/wifi_mock.c
+361
View File
@@ -0,0 +1,361 @@
#ifndef ESP_PLATFORM
#include "wifi.h"
#include "check.h"
#include "freertos/FreeRTOS.h"
#include "freertos/event_groups.h"
#include "log.h"
#include "message_queue.h"
#include "mutex.h"
#include "pubsub.h"
#include "service.h"
#include <sys/cdefs.h>
#define TAG "wifi"
#define WIFI_SCAN_RECORD_LIMIT 16 // default, can be overridden
#define WIFI_CONNECTED_BIT BIT0
#define WIFI_FAIL_BIT BIT1
typedef struct {
/** @brief Locking mechanism for modifying the Wifi instance */
Mutex* mutex;
/** @brief The public event bus */
PubSub* pubsub;
/** @brief The internal message queue */
MessageQueue* queue;
/** @brief Scanning results */
wifi_ap_record_t* _Nullable scan_list;
/** @brief The current item count in scan_list (-1 when scan_list is NULL) */
uint16_t scan_list_count;
/** @brief Maximum amount of records to scan (value > 0) */
uint16_t scan_list_limit;
bool scan_active;
EventGroupHandle_t event_group;
WifiRadioState radio_state;
} Wifi;
typedef enum {
WifiMessageTypeRadioOn,
WifiMessageTypeRadioOff,
WifiMessageTypeScan,
WifiMessageTypeConnect,
WifiMessageTypeDisconnect
} WifiMessageType;
typedef struct {
uint8_t ssid[32];
uint8_t password[64];
} WifiConnectMessage;
typedef struct {
WifiMessageType type;
union {
WifiConnectMessage connect_message;
};
} WifiMessage;
static Wifi* wifi_singleton = NULL;
// Forward declarations
static void wifi_scan_list_free_safely(Wifi* wifi);
static void wifi_disconnect_internal(Wifi* wifi);
static void wifi_lock(Wifi* wifi);
static void wifi_unlock(Wifi* wifi);
// region Alloc
static Wifi* wifi_alloc() {
Wifi* instance = malloc(sizeof(Wifi));
instance->mutex = tt_mutex_alloc(MutexTypeRecursive);
instance->pubsub = tt_pubsub_alloc();
// TODO: Deal with messages that come in while an action is ongoing
// for example: when scanning and you turn off the radio, the scan should probably stop or turning off
// the radio should disable the on/off button in the app as it is pending.
instance->queue = tt_message_queue_alloc(1, sizeof(WifiMessage));
instance->scan_active = false;
instance->scan_list = NULL;
instance->scan_list_count = 0;
instance->scan_list_limit = WIFI_SCAN_RECORD_LIMIT;
instance->event_group = xEventGroupCreate();
instance->radio_state = WIFI_RADIO_OFF;
return instance;
}
static void wifi_free(Wifi* instance) {
tt_mutex_free(instance->mutex);
tt_pubsub_free(instance->pubsub);
tt_message_queue_free(instance->queue);
free(instance);
}
// endregion Alloc
// region Public functions
PubSub* wifi_get_pubsub() {
tt_assert(wifi_singleton);
return wifi_singleton->pubsub;
}
WifiRadioState wifi_get_radio_state() {
return wifi_singleton->radio_state;
}
void wifi_scan() {
tt_assert(wifi_singleton);
WifiMessage message = {.type = WifiMessageTypeScan};
// No need to lock for queue
tt_message_queue_put(wifi_singleton->queue, &message, 100 / portTICK_PERIOD_MS);
}
bool wifi_is_scanning() {
tt_assert(wifi_singleton);
return wifi_singleton->scan_active;
}
void wifi_connect(const char* ssid, const char _Nullable password[64]) {
tt_assert(wifi_singleton);
tt_check(strlen(ssid) <= 32);
WifiMessage message = {.type = WifiMessageTypeConnect};
memcpy(message.connect_message.ssid, ssid, 32);
if (password != NULL) {
memcpy(message.connect_message.password, password, 64);
} else {
message.connect_message.password[0] = 0;
}
tt_message_queue_put(wifi_singleton->queue, &message, 100 / portTICK_PERIOD_MS);
}
void wifi_disconnect() {
tt_assert(wifi_singleton);
WifiMessage message = {.type = WifiMessageTypeDisconnect};
tt_message_queue_put(wifi_singleton->queue, &message, 100 / portTICK_PERIOD_MS);
}
void wifi_set_scan_records(uint16_t records) {
tt_assert(wifi_singleton);
if (records != wifi_singleton->scan_list_limit) {
wifi_scan_list_free_safely(wifi_singleton);
wifi_singleton->scan_list_limit = records;
}
}
void wifi_get_scan_results(WifiApRecord records[], uint16_t limit, uint16_t* result_count) {
tt_check(wifi_singleton);
tt_check(result_count);
if (wifi_singleton->scan_list_count == 0) {
*result_count = 0;
} else {
uint16_t i = 0;
TT_LOG_I(TAG, "processing up to %d APs", wifi_singleton->scan_list_count);
uint16_t last_index = MIN(wifi_singleton->scan_list_count, limit);
for (; i < last_index; ++i) {
memcpy(records[i].ssid, wifi_singleton->scan_list[i].ssid, 33);
records[i].rssi = wifi_singleton->scan_list[i].rssi;
records[i].auth_mode = wifi_singleton->scan_list[i].authmode;
}
// The index already overflowed right before the for-loop was terminated,
// so it effectively became the list count:
*result_count = i;
}
}
void wifi_set_enabled(bool enabled) {
if (enabled) {
WifiMessage message = {.type = WifiMessageTypeRadioOn};
// No need to lock for queue
tt_message_queue_put(wifi_singleton->queue, &message, 100 / portTICK_PERIOD_MS);
} else {
WifiMessage message = {.type = WifiMessageTypeRadioOff};
// No need to lock for queue
tt_message_queue_put(wifi_singleton->queue, &message, 100 / portTICK_PERIOD_MS);
}
}
// endregion Public functions
static void wifi_lock(Wifi* wifi) {
tt_crash("this fails for now");
tt_assert(wifi);
tt_assert(wifi->mutex);
tt_check(xSemaphoreTakeRecursive(wifi->mutex, portMAX_DELAY) == pdPASS);
}
static void wifi_unlock(Wifi* wifi) {
tt_assert(wifi);
tt_assert(wifi->mutex);
tt_check(xSemaphoreGiveRecursive(wifi->mutex) == pdPASS);
}
static void wifi_scan_list_alloc(Wifi* wifi) {
tt_check(wifi->scan_list == NULL);
wifi->scan_list = malloc(sizeof(wifi_ap_record_t) * wifi->scan_list_limit);
wifi->scan_list_count = 0;
}
static void wifi_scan_list_alloc_safely(Wifi* wifi) {
if (wifi->scan_list == NULL) {
wifi_scan_list_alloc(wifi);
}
}
static void wifi_scan_list_free(Wifi* wifi) {
tt_check(wifi->scan_list != NULL);
free(wifi->scan_list);
wifi->scan_list = NULL;
wifi->scan_list_count = 0;
}
static void wifi_scan_list_free_safely(Wifi* wifi) {
if (wifi->scan_list != NULL) {
wifi_scan_list_free(wifi);
}
}
static void wifi_publish_event_simple(Wifi* wifi, WifiEventType type) {
WifiEvent turning_on_event = {.type = type};
tt_pubsub_publish(wifi->pubsub, &turning_on_event);
}
static void wifi_enable(Wifi* wifi) {
WifiRadioState state = wifi->radio_state;
if (
state == WIFI_RADIO_ON ||
state == WIFI_RADIO_ON_PENDING ||
state == WIFI_RADIO_OFF_PENDING
) {
TT_LOG_W(TAG, "Can't enable from current state");
return;
}
wifi->radio_state = WIFI_RADIO_ON;
wifi_publish_event_simple(wifi, WifiEventTypeRadioStateOn);
TT_LOG_I(TAG, "Enabled");
}
static void wifi_disable(Wifi* wifi) {
WifiRadioState state = wifi->radio_state;
if (
state == WIFI_RADIO_OFF ||
state == WIFI_RADIO_OFF_PENDING ||
state == WIFI_RADIO_ON_PENDING
) {
TT_LOG_W(TAG, "Can't disable from current state");
return;
}
wifi->radio_state = WIFI_RADIO_OFF;
wifi_publish_event_simple(wifi, WifiEventTypeRadioStateOff);
TT_LOG_I(TAG, "Disabled");
}
static void wifi_scan_internal(Wifi* wifi) {
WifiRadioState state = wifi->radio_state;
if (state != WIFI_RADIO_ON && state != WIFI_RADIO_CONNECTION_ACTIVE) {
TT_LOG_W(TAG, "Scan unavailable: wifi not enabled");
return;
}
TT_LOG_I(TAG, "Starting scan");
wifi->scan_active = true;
wifi_publish_event_simple(wifi, WifiEventTypeScanStarted);
// TODO: fake entries
wifi_publish_event_simple(wifi, WifiEventTypeScanFinished);
wifi->scan_active = false;
TT_LOG_I(TAG, "Finished scan");
}
static void wifi_connect_internal(Wifi* wifi, WifiConnectMessage* connect_message) {
wifi_disconnect_internal(wifi);
wifi->radio_state = WIFI_RADIO_CONNECTION_PENDING;
wifi_publish_event_simple(wifi, WifiEventTypeConnectionPending);
// TODO: Sleep?
wifi->radio_state = WIFI_RADIO_CONNECTION_ACTIVE;
wifi_publish_event_simple(wifi, WifiEventTypeConnectionSuccess);
TT_LOG_I(TAG, "Connected to %s", connect_message->ssid);
}
static void wifi_disconnect_internal(Wifi* wifi) {
wifi->radio_state = WIFI_RADIO_ON;
wifi_publish_event_simple(wifi, WifiEventTypeDisconnected);
TT_LOG_I(TAG, "Disconnected");
}
static void wifi_disconnect_internal_but_keep_active(Wifi* wifi) {
wifi->radio_state = WIFI_RADIO_ON;
wifi_publish_event_simple(wifi, WifiEventTypeDisconnected);
TT_LOG_I(TAG, "Disconnected");
}
// ESP wifi APIs need to run from the main task, so we can't just spawn a thread
_Noreturn int32_t wifi_main(void* p) {
UNUSED(p);
TT_LOG_I(TAG, "Started main loop");
tt_check(wifi_singleton != NULL);
Wifi* wifi = wifi_singleton;
MessageQueue* queue = wifi->queue;
WifiMessage message;
while (true) {
if (tt_message_queue_get(queue, &message, 1000 / portTICK_PERIOD_MS) == TtStatusOk) {
TT_LOG_I(TAG, "Processing message of type %d", message.type);
switch (message.type) {
case WifiMessageTypeRadioOn:
wifi_enable(wifi);
break;
case WifiMessageTypeRadioOff:
wifi_disable(wifi);
break;
case WifiMessageTypeScan:
wifi_scan_internal(wifi);
break;
case WifiMessageTypeConnect:
wifi_connect_internal(wifi, &message.connect_message);
break;
case WifiMessageTypeDisconnect:
wifi_disconnect_internal_but_keep_active(wifi);
break;
}
}
}
}
static void wifi_service_start(Service service) {
UNUSED(service);
tt_check(wifi_singleton == NULL);
wifi_singleton = wifi_alloc();
}
static void wifi_service_stop(Service service) {
UNUSED(service);
tt_check(wifi_singleton != NULL);
WifiRadioState state = wifi_singleton->radio_state;
if (state != WIFI_RADIO_OFF) {
wifi_disable(wifi_singleton);
}
wifi_free(wifi_singleton);
wifi_singleton = NULL;
// wifi_main() cannot be stopped yet as it runs in the main task.
// We could theoretically exit it, but then we wouldn't be able to restart the service.
tt_crash("not fully implemented");
}
const ServiceManifest wifi_service = {
.id = "wifi",
.on_start = &wifi_service_start,
.on_stop = &wifi_service_stop
};
#endif