Kernel improvements (#468)
* **New Features** * Plugin-style modules for platforms and devices with start/stop lifecycle and a runtime-consumable device tree array. * **Refactor** * Consolidated initialization into a kernel/module startup flow. * Generated devicetree artifacts moved to the build Generated directory. * **Changes** * Removed legacy no-op registration hooks and I2C lock/unlock wrappers. * Driver ownership and private state moved to explicit module/owner model. * Added ERROR_NOT_ALLOWED error code.
This commit is contained in:
Ken Van Hoeylandt
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GitHub
GitHub
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d62314f41f
commit
c9185740d7
@@ -4,6 +4,13 @@
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#include <vector>
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#include <tactility/device.h>
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#include <tactility/module.h>
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static Module module = {
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.name = "test_module",
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.start = nullptr,
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.stop = nullptr
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};
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TEST_CASE("device_construct and device_destruct should set and unset the correct fields") {
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Device device = { 0 };
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@@ -11,16 +18,16 @@ TEST_CASE("device_construct and device_destruct should set and unset the correct
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error_t error = device_construct(&device);
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CHECK_EQ(error, ERROR_NONE);
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CHECK_NE(device.internal.data, nullptr);
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CHECK_NE(device.internal.device_private, nullptr);
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CHECK_NE(device.internal.mutex.handle, nullptr);
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CHECK_EQ(device_destruct(&device), ERROR_NONE);
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CHECK_EQ(device.internal.data, nullptr);
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CHECK_EQ(device.internal.device_private, nullptr);
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CHECK_EQ(device.internal.mutex.handle, nullptr);
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Device comparison_device = { 0 };
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comparison_device.internal.data = device.internal.data;
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comparison_device.internal.device_private = device.internal.device_private;
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comparison_device.internal.mutex.handle = device.internal.mutex.handle;
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// Check that no other data was set
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@@ -164,7 +171,8 @@ TEST_CASE("device_is_ready should return true only when it is started") {
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.stopDevice = nullptr,
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.api = nullptr,
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.deviceType = nullptr,
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.internal = { 0 }
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.owner = &module,
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.driver_private = nullptr
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};
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Device device = { 0 };
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@@ -1,6 +1,13 @@
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#include "doctest.h"
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#include <tactility/driver.h>
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#include <tactility/device.h>
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#include <tactility/module.h>
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static Module module = {
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.name = "test_module",
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.start = nullptr,
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.stop = nullptr
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};
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struct IntegrationDriverConfig {
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int startResult;
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@@ -30,7 +37,8 @@ static Driver integration_driver = {
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.stopDevice = stop,
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.api = nullptr,
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.deviceType = nullptr,
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.internal = { 0 }
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.owner = &module,
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.driver_private = nullptr,
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};
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TEST_CASE("driver with with start success and stop success should start and stop a device") {
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@@ -1,13 +1,31 @@
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#include "doctest.h"
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#include <tactility/driver.h>
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#include <tactility/module.h>
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static Module module = {
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.name = "test_module",
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.start = nullptr,
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.stop = nullptr
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};
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TEST_CASE("driver_construct and driver_destruct should set and unset the correct fields") {
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Driver driver = { 0 };
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driver.owner = &module;
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CHECK_EQ(driver_construct(&driver), ERROR_NONE);
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CHECK_NE(driver.internal.data, nullptr);
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CHECK_NE(driver.driver_private, nullptr);
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CHECK_EQ(driver_destruct(&driver), ERROR_NONE);
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CHECK_EQ(driver.driver_private, nullptr);
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}
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TEST_CASE("a driver without a module should not be destructible") {
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Driver driver = { 0 };
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CHECK_EQ(driver_construct(&driver), ERROR_NONE);
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CHECK_EQ(driver_destruct(&driver), ERROR_NOT_ALLOWED);
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driver.owner = &module;
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CHECK_EQ(driver_destruct(&driver), ERROR_NONE);
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CHECK_EQ(driver.internal.data, nullptr);
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}
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TEST_CASE("driver_is_compatible should return true if a compatible value is found") {
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@@ -19,7 +37,8 @@ TEST_CASE("driver_is_compatible should return true if a compatible value is foun
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.stopDevice = nullptr,
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.api = nullptr,
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.deviceType = nullptr,
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.internal = { 0 }
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.owner = &module,
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.driver_private = nullptr
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};
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CHECK_EQ(driver_is_compatible(&driver, "test_compatible"), true);
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CHECK_EQ(driver_is_compatible(&driver, "nope"), false);
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@@ -35,7 +54,8 @@ TEST_CASE("driver_find should only find a compatible driver when the driver was
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.stopDevice = nullptr,
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.api = nullptr,
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.deviceType = nullptr,
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.internal = { 0 }
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.owner = &module,
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.driver_private = nullptr
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};
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Driver* found_driver = driver_find_compatible("test_compatible");
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@@ -0,0 +1,160 @@
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#include "doctest.h"
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#include <tactility/module.h>
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static error_t test_start_result = ERROR_NONE;
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static bool start_called = false;
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static error_t test_start() {
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start_called = true;
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return test_start_result;
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}
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static error_t test_stop_result = ERROR_NONE;
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static bool stop_called = false;
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static error_t test_stop() {
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stop_called = true;
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return test_stop_result;
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}
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TEST_CASE("ModuleParent construction and destruction") {
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struct ModuleParent parent = { "test_parent", nullptr };
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// Test successful construction
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CHECK_EQ(module_parent_construct(&parent), ERROR_NONE);
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CHECK_NE(parent.module_parent_private, nullptr);
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// Test successful destruction
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CHECK_EQ(module_parent_destruct(&parent), ERROR_NONE);
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CHECK_EQ(parent.module_parent_private, nullptr);
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}
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TEST_CASE("ModuleParent destruction with children") {
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struct ModuleParent parent = { "parent", nullptr };
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REQUIRE_EQ(module_parent_construct(&parent), ERROR_NONE);
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struct Module module = {
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.name = "test",
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.start = test_start,
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.stop = test_stop,
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.internal = {.started = false, .parent = nullptr}
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};
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REQUIRE_EQ(module_set_parent(&module, &parent), ERROR_NONE);
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// Should fail to destruct because it has a child
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CHECK_EQ(module_parent_destruct(&parent), ERROR_INVALID_STATE);
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CHECK_NE(parent.module_parent_private, nullptr);
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// Remove child
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REQUIRE_EQ(module_set_parent(&module, nullptr), ERROR_NONE);
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// Now it should succeed
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CHECK_EQ(module_parent_destruct(&parent), ERROR_NONE);
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CHECK_EQ(parent.module_parent_private, nullptr);
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}
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TEST_CASE("Module parent management") {
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struct ModuleParent parent1 = { "parent1", nullptr };
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struct ModuleParent parent2 = { "parent2", nullptr };
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REQUIRE_EQ(module_parent_construct(&parent1), ERROR_NONE);
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REQUIRE_EQ(module_parent_construct(&parent2), ERROR_NONE);
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struct Module module = {
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.name = "test",
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.start = test_start,
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.stop = test_stop,
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.internal = {.started = false, .parent = nullptr}
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};
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// Set parent
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CHECK_EQ(module_set_parent(&module, &parent1), ERROR_NONE);
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CHECK_EQ(module.internal.parent, &parent1);
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// Change parent
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CHECK_EQ(module_set_parent(&module, &parent2), ERROR_NONE);
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CHECK_EQ(module.internal.parent, &parent2);
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// Clear parent
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CHECK_EQ(module_set_parent(&module, nullptr), ERROR_NONE);
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CHECK_EQ(module.internal.parent, nullptr);
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// Set same parent (should be NOOP and return ERROR_NONE)
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CHECK_EQ(module_set_parent(&module, &parent1), ERROR_NONE);
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CHECK_EQ(module_set_parent(&module, &parent1), ERROR_NONE);
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CHECK_EQ(module.internal.parent, &parent1);
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CHECK_EQ(module_set_parent(&module, nullptr), ERROR_NONE);
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CHECK_EQ(module_parent_destruct(&parent1), ERROR_NONE);
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CHECK_EQ(module_parent_destruct(&parent2), ERROR_NONE);
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}
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TEST_CASE("Module lifecycle") {
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struct ModuleParent parent = { "parent", nullptr };
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REQUIRE_EQ(module_parent_construct(&parent), ERROR_NONE);
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start_called = false;
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stop_called = false;
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test_start_result = ERROR_NONE;
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test_stop_result = ERROR_NONE;
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struct Module module = {
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.name = "test",
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.start = test_start,
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.stop = test_stop,
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.internal = {.started = false, .parent = nullptr}
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};
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// 1. Cannot start without parent
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CHECK_EQ(module_start(&module), ERROR_INVALID_STATE);
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CHECK_EQ(module_is_started(&module), false);
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CHECK_EQ(start_called, false);
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CHECK_EQ(module_set_parent(&module, &parent), ERROR_NONE);
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// 2. Successful start
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CHECK_EQ(module_start(&module), ERROR_NONE);
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CHECK_EQ(module_is_started(&module), true);
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CHECK_EQ(start_called, true);
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// 3. Start when already started (should return ERROR_NONE)
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start_called = false;
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CHECK_EQ(module_start(&module), ERROR_NONE);
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CHECK_EQ(start_called, false); // start() function should NOT be called again
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// 4. Cannot change parent while started
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CHECK_EQ(module_set_parent(&module, nullptr), ERROR_INVALID_STATE);
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// 5. Successful stop
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CHECK_EQ(module_stop(&module), ERROR_NONE);
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CHECK_EQ(module_is_started(&module), false);
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CHECK_EQ(stop_called, true);
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// 6. Stop when already stopped (should return ERROR_NONE)
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stop_called = false;
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CHECK_EQ(module_stop(&module), ERROR_NONE);
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CHECK_EQ(stop_called, false); // stop() function should NOT be called again
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// 7. Test failed start
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test_start_result = ERROR_NOT_FOUND;
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start_called = false;
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CHECK_EQ(module_start(&module), ERROR_NOT_FOUND);
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CHECK_EQ(module_is_started(&module), false);
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CHECK_EQ(start_called, true);
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// 8. Test failed stop
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CHECK_EQ(module_set_parent(&module, &parent), ERROR_NONE);
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test_start_result = ERROR_NONE;
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CHECK_EQ(module_start(&module), ERROR_NONE);
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test_stop_result = ERROR_NOT_SUPPORTED;
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stop_called = false;
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CHECK_EQ(module_stop(&module), ERROR_NOT_SUPPORTED);
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CHECK_EQ(module_is_started(&module), true); // Should still be started if stop failed
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CHECK_EQ(stop_called, true);
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// Clean up: fix stop result so we can stop it
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test_stop_result = ERROR_NONE;
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CHECK_EQ(module_stop(&module), ERROR_NONE);
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CHECK_EQ(module_set_parent(&module, nullptr), ERROR_NONE);
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CHECK_EQ(module_parent_destruct(&parent), ERROR_NONE);
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}
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