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laurensvalklaurensvalk
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pbio/sys/host: Introduce layer for routing or duplicating BLE and USB.
MicroPython's HAL shouldn't have to know how this works. It would just want to call pbsys_host_tx for stdout. This way we can also have i/o without MicroPython. For now just map to the existing Bluetooth system functions. We haven't decided yet how this should work. This just moves the decision away from MicroPython's platform code.
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21 files changed

+172
-80
lines changed

21 files changed

+172
-80
lines changed

‎bricks/_common/sources.mk‎

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@@ -233,6 +233,7 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
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sys/command.c \
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sys/core.c \
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sys/hmi.c \
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sys/host.c \
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sys/light_matrix.c \
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sys/light.c \
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sys/main.c \

‎bricks/_common_stm32/mphalport.c‎

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@@ -11,7 +11,7 @@
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#include <pbdrv/clock.h>
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#include <pbdrv/config.h>
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#include <pbio/main.h>
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#include <pbsys/bluetooth.h>
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#include <pbsys/host.h>
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#include "py/runtime.h"
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#include "py/mphal.h"
@@ -43,7 +43,7 @@ void mp_hal_delay_ms(mp_uint_t Delay) {
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uintptr_t mp_hal_stdio_poll(uintptr_t poll_flags) {
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uintptr_t ret = 0;
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if ((poll_flags & MP_STREAM_POLL_RD) && pbsys_bluetooth_rx_get_available()) {
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if ((poll_flags & MP_STREAM_POLL_RD) && pbsys_host_rx_get_available()) {
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ret |= MP_STREAM_POLL_RD;
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}
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@@ -56,7 +56,7 @@ int mp_hal_stdin_rx_chr(void) {
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uint8_t c;
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// wait for rx interrupt
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while (size = 1, pbsys_bluetooth_rx(&c, &size) != PBIO_SUCCESS) {
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while (size = 1, pbsys_host_rx(&c, &size) != PBIO_SUCCESS) {
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MICROPY_EVENT_POLL_HOOK
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}
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@@ -67,7 +67,7 @@ int mp_hal_stdin_rx_chr(void) {
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void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
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while (len) {
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uint32_t size = len;
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pbio_error_t err = pbsys_bluetooth_tx((const uint8_t *)str, &size);
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pbio_error_t err = pbsys_host_tx((const uint8_t *)str, &size);
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if (err == PBIO_SUCCESS) {
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str += size;
@@ -86,7 +86,7 @@ void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
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}
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void mp_hal_stdout_tx_flush(void) {
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while (!pbsys_bluetooth_tx_is_idle()) {
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while (!pbsys_host_tx_is_idle()) {
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MICROPY_EVENT_POLL_HOOK
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}
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}

‎lib/pbio/include/pbsys/bluetooth.h‎

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This file was deleted.

‎lib/pbio/include/pbsys/host.h‎

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@@ -0,0 +1,61 @@
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// SPDX-License-Identifier: MIT
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// Copyright (c) 2025 The Pybricks Authors
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/**
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* @addtogroup SystemHost System: Host
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* @{
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*/
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#ifndef _PBSYS_HOST_H_
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#define _PBSYS_HOST_H_
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#include <stdbool.h>
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#include <stdint.h>
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#include <pbio/error.h>
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#include <pbsys/config.h>
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/**
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* Callback function to handle stdin events.
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* @param [in] c the character received
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* @return *true* if the character was handled and should not be placed
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* in the stdin buffer, otherwise *false*.
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*/
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typedef bool (*pbsys_host_stdin_event_callback_t)(uint8_t c);
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#if PBSYS_CONFIG_HOST
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void pbsys_host_init(void);
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void pbsys_host_rx_set_callback(pbsys_host_stdin_event_callback_t callback);
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void pbsys_host_rx_flush(void);
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uint32_t pbsys_host_rx_get_available(void);
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uint32_t pbsys_host_rx_get_free(void);
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void pbsys_host_rx_write(const uint8_t *data, uint32_t size);
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pbio_error_t pbsys_host_rx(uint8_t *data, uint32_t *size);
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pbio_error_t pbsys_host_tx(const uint8_t *data, uint32_t *size);
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bool pbsys_host_tx_is_idle(void);
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#else // PBSYS_CONFIG_HOST
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#define pbsys_host_init()
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#define pbsys_host_rx_set_callback(callback)
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#define pbsys_host_rx_flush()
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#define pbsys_host_rx_get_available() 0
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#define pbsys_host_rx_get_free() 0
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#define pbsys_host_rx_write(data, size)
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static inline pbio_error_t pbsys_host_rx(uint8_t *data, uint32_t *size) {
48+
return PBIO_ERROR_NOT_SUPPORTED;
49+
}
50+
static inline pbio_error_t pbsys_host_tx(const uint8_t *data, uint32_t *size) {
51+
return PBIO_ERROR_NOT_SUPPORTED;
52+
}
53+
static inline bool pbsys_host_tx_is_idle(void) {
54+
return false;
55+
}
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#endif // PBSYS_CONFIG_HOST
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#endif // _PBSYS_HOST_H_
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/** @} */

‎lib/pbio/platform/city_hub/pbsysconfig.h‎

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@@ -12,6 +12,7 @@
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#define PBSYS_CONFIG_BLUETOOTH (1)
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#define PBSYS_CONFIG_HMI_NUM_SLOTS (0)
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#define PBSYS_CONFIG_HUB_LIGHT_MATRIX (0)
15+
#define PBSYS_CONFIG_HOST (1)
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#define PBSYS_CONFIG_MAIN (1)
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#define PBSYS_CONFIG_STORAGE (1)
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#define PBSYS_CONFIG_STORAGE_NUM_SLOTS (1)

‎lib/pbio/platform/essential_hub/pbsysconfig.h‎

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@@ -10,6 +10,7 @@
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#define PBSYS_CONFIG_BLUETOOTH (1)
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#define PBSYS_CONFIG_HMI_NUM_SLOTS (0)
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#define PBSYS_CONFIG_HUB_LIGHT_MATRIX (0)
13+
#define PBSYS_CONFIG_HOST (1)
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#define PBSYS_CONFIG_MAIN (1)
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#define PBSYS_CONFIG_STORAGE (1)
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#define PBSYS_CONFIG_STORAGE_NUM_SLOTS (1)

‎lib/pbio/platform/ev3/pbsysconfig.h‎

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@@ -6,6 +6,7 @@
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#define PBSYS_CONFIG_FEATURE_BUILTIN_USER_PROGRAM_IMU_CALIBRATION (0)
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#define PBSYS_CONFIG_FEATURE_PROGRAM_FORMAT_MULTI_MPY_V6 (1)
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#define PBSYS_CONFIG_FEATURE_PROGRAM_FORMAT_MULTI_MPY_V6_1_NATIVE (0)
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#define PBSYS_CONFIG_HOST (1)
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#define PBSYS_CONFIG_MAIN (1)
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#define PBSYS_CONFIG_STORAGE (1)
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#define PBSYS_CONFIG_STORAGE_NUM_SLOTS (1)

‎lib/pbio/platform/move_hub/pbsysconfig.h‎

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@@ -12,6 +12,7 @@
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#define PBSYS_CONFIG_BLUETOOTH (1)
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#define PBSYS_CONFIG_HMI_NUM_SLOTS (0)
1414
#define PBSYS_CONFIG_HUB_LIGHT_MATRIX (0)
15+
#define PBSYS_CONFIG_HOST (1)
1516
#define PBSYS_CONFIG_MAIN (1)
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#define PBSYS_CONFIG_STORAGE (1)
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#define PBSYS_CONFIG_STORAGE_NUM_SLOTS (1)

‎lib/pbio/platform/nxt/pbsysconfig.h‎

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@@ -6,6 +6,7 @@
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#define PBSYS_CONFIG_FEATURE_BUILTIN_USER_PROGRAM_IMU_CALIBRATION (0)
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#define PBSYS_CONFIG_FEATURE_PROGRAM_FORMAT_MULTI_MPY_V6 (1)
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#define PBSYS_CONFIG_FEATURE_PROGRAM_FORMAT_MULTI_MPY_V6_1_NATIVE (0)
9+
#define PBSYS_CONFIG_HOST (1)
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#define PBSYS_CONFIG_MAIN (1)
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#define PBSYS_CONFIG_STORAGE (1)
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#define PBSYS_CONFIG_STORAGE_NUM_SLOTS (1)

‎lib/pbio/platform/prime_hub/pbsysconfig.h‎

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@@ -12,6 +12,7 @@
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#define PBSYS_CONFIG_BLUETOOTH_TOGGLE_BUTTON (512) // PBIO_BUTTON_RIGHT_UP, but enum value cannot be used here.
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#define PBSYS_CONFIG_HMI_NUM_SLOTS (0)
1414
#define PBSYS_CONFIG_HUB_LIGHT_MATRIX (1)
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#define PBSYS_CONFIG_HOST (1)
1516
#define PBSYS_CONFIG_MAIN (1)
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#define PBSYS_CONFIG_STORAGE (1)
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#define PBSYS_CONFIG_STORAGE_NUM_SLOTS (5)

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