pbio/sys/host: Introduce layer for routing or duplicating BLE and USB.

laurensvalk · laurensvalk · commit 6cd2c47574b0 · 2025-04-08T11:10:07.000+02:00
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.
diff --git a/bricks/_common/sources.mk b/bricks/_common/sources.mk
@@ -233,6 +233,7 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	sys/command.c \
 	sys/core.c \
 	sys/hmi.c \
+	sys/host.c \
 	sys/light_matrix.c \
 	sys/light.c \
 	sys/main.c \
diff --git a/bricks/_common_stm32/mphalport.c b/bricks/_common_stm32/mphalport.c
@@ -11,7 +11,7 @@
 #include <pbdrv/clock.h>
 #include <pbdrv/config.h>
 #include <pbio/main.h>
-#include <pbsys/bluetooth.h>
+#include <pbsys/host.h>
 
 #include "py/runtime.h"
 #include "py/mphal.h"
@@ -43,7 +43,7 @@ void mp_hal_delay_ms(mp_uint_t Delay) {
 uintptr_t mp_hal_stdio_poll(uintptr_t poll_flags) {
     uintptr_t ret = 0;
 
-    if ((poll_flags & MP_STREAM_POLL_RD) && pbsys_bluetooth_rx_get_available()) {
+    if ((poll_flags & MP_STREAM_POLL_RD) && pbsys_host_rx_get_available()) {
         ret |= MP_STREAM_POLL_RD;
     }
 
@@ -56,7 +56,7 @@ int mp_hal_stdin_rx_chr(void) {
     uint8_t c;
 
     // wait for rx interrupt
-    while (size = 1, pbsys_bluetooth_rx(&c, &size) != PBIO_SUCCESS) {
+    while (size = 1, pbsys_host_rx(&c, &size) != PBIO_SUCCESS) {
         MICROPY_EVENT_POLL_HOOK
     }
 
@@ -67,7 +67,7 @@ int mp_hal_stdin_rx_chr(void) {
 void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
     while (len) {
         uint32_t size = len;
-        pbio_error_t err = pbsys_bluetooth_tx((const uint8_t *)str, &size);
+        pbio_error_t err = pbsys_host_tx((const uint8_t *)str, &size);
 
         if (err == PBIO_SUCCESS) {
             str += size;
@@ -86,7 +86,7 @@ void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
 }
 
 void mp_hal_stdout_tx_flush(void) {
-    while (!pbsys_bluetooth_tx_is_idle()) {
+    while (!pbsys_host_tx_is_idle()) {
         MICROPY_EVENT_POLL_HOOK
     }
 }
diff --git a/lib/pbio/include/pbsys/bluetooth.h b/lib/pbio/include/pbsys/bluetooth.h
diff --git a/lib/pbio/include/pbsys/host.h b/lib/pbio/include/pbsys/host.h
@@ -0,0 +1,61 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2025 The Pybricks Authors
+
+/**
+ * @addtogroup SystemHost System: Host
+ * @{
+ */
+
+#ifndef _PBSYS_HOST_H_
+#define _PBSYS_HOST_H_
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <pbio/error.h>
+#include <pbsys/config.h>
+
+/**
+ * Callback function to handle stdin events.
+ * @param [in]  c   the character received
+ * @return          *true* if the character was handled and should not be placed
+ *                  in the stdin buffer, otherwise *false*.
+ */
+typedef bool (*pbsys_host_stdin_event_callback_t)(uint8_t c);
+
+#if PBSYS_CONFIG_HOST
+
+void pbsys_host_init(void);
+void pbsys_host_rx_set_callback(pbsys_host_stdin_event_callback_t callback);
+void pbsys_host_rx_flush(void);
+uint32_t pbsys_host_rx_get_available(void);
+uint32_t pbsys_host_rx_get_free(void);
+void pbsys_host_rx_write(const uint8_t *data, uint32_t size);
+pbio_error_t pbsys_host_rx(uint8_t *data, uint32_t *size);
+pbio_error_t pbsys_host_tx(const uint8_t *data, uint32_t *size);
+bool pbsys_host_tx_is_idle(void);
+
+#else // PBSYS_CONFIG_HOST
+
+#define pbsys_host_init()
+#define pbsys_host_rx_set_callback(callback)
+#define pbsys_host_rx_flush()
+#define pbsys_host_rx_get_available() 0
+#define pbsys_host_rx_get_free() 0
+#define pbsys_host_rx_write(data, size)
+
+static inline pbio_error_t pbsys_host_rx(uint8_t *data, uint32_t *size) {
+    return PBIO_ERROR_NOT_SUPPORTED;
+}
+static inline pbio_error_t pbsys_host_tx(const uint8_t *data, uint32_t *size) {
+    return PBIO_ERROR_NOT_SUPPORTED;
+}
+static inline bool pbsys_host_tx_is_idle(void) {
+    return false;
+}
+
+#endif // PBSYS_CONFIG_HOST
+
+#endif // _PBSYS_HOST_H_
+
+/** @} */
diff --git a/lib/pbio/platform/city_hub/pbsysconfig.h b/lib/pbio/platform/city_hub/pbsysconfig.h
@@ -12,6 +12,7 @@
 #define PBSYS_CONFIG_BLUETOOTH                      (1)
 #define PBSYS_CONFIG_HMI_NUM_SLOTS                  (0)
 #define PBSYS_CONFIG_HUB_LIGHT_MATRIX               (0)
+#define PBSYS_CONFIG_HOST                           (1)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (1)
 #define PBSYS_CONFIG_STORAGE_NUM_SLOTS              (1)
diff --git a/lib/pbio/platform/essential_hub/pbsysconfig.h b/lib/pbio/platform/essential_hub/pbsysconfig.h
@@ -10,6 +10,7 @@
 #define PBSYS_CONFIG_BLUETOOTH                      (1)
 #define PBSYS_CONFIG_HMI_NUM_SLOTS                  (0)
 #define PBSYS_CONFIG_HUB_LIGHT_MATRIX               (0)
+#define PBSYS_CONFIG_HOST                           (1)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (1)
 #define PBSYS_CONFIG_STORAGE_NUM_SLOTS              (1)
diff --git a/lib/pbio/platform/ev3/pbsysconfig.h b/lib/pbio/platform/ev3/pbsysconfig.h
@@ -6,6 +6,7 @@
 #define PBSYS_CONFIG_FEATURE_BUILTIN_USER_PROGRAM_IMU_CALIBRATION  (0)
 #define PBSYS_CONFIG_FEATURE_PROGRAM_FORMAT_MULTI_MPY_V6           (1)
 #define PBSYS_CONFIG_FEATURE_PROGRAM_FORMAT_MULTI_MPY_V6_1_NATIVE  (0)
+#define PBSYS_CONFIG_HOST                           (1)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (1)
 #define PBSYS_CONFIG_STORAGE_NUM_SLOTS              (1)
diff --git a/lib/pbio/platform/move_hub/pbsysconfig.h b/lib/pbio/platform/move_hub/pbsysconfig.h
@@ -12,6 +12,7 @@
 #define PBSYS_CONFIG_BLUETOOTH                      (1)
 #define PBSYS_CONFIG_HMI_NUM_SLOTS                  (0)
 #define PBSYS_CONFIG_HUB_LIGHT_MATRIX               (0)
+#define PBSYS_CONFIG_HOST                           (1)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (1)
 #define PBSYS_CONFIG_STORAGE_NUM_SLOTS              (1)
diff --git a/lib/pbio/platform/nxt/pbsysconfig.h b/lib/pbio/platform/nxt/pbsysconfig.h
@@ -6,6 +6,7 @@
 #define PBSYS_CONFIG_FEATURE_BUILTIN_USER_PROGRAM_IMU_CALIBRATION  (0)
 #define PBSYS_CONFIG_FEATURE_PROGRAM_FORMAT_MULTI_MPY_V6           (1)
 #define PBSYS_CONFIG_FEATURE_PROGRAM_FORMAT_MULTI_MPY_V6_1_NATIVE  (0)
+#define PBSYS_CONFIG_HOST                           (1)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (1)
 #define PBSYS_CONFIG_STORAGE_NUM_SLOTS              (1)
diff --git a/lib/pbio/platform/prime_hub/pbsysconfig.h b/lib/pbio/platform/prime_hub/pbsysconfig.h
@@ -12,6 +12,7 @@
 #define PBSYS_CONFIG_BLUETOOTH_TOGGLE_BUTTON        (512) // PBIO_BUTTON_RIGHT_UP, but enum value cannot be used here.
 #define PBSYS_CONFIG_HMI_NUM_SLOTS                  (0)
 #define PBSYS_CONFIG_HUB_LIGHT_MATRIX               (1)
+#define PBSYS_CONFIG_HOST                           (1)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (1)
 #define PBSYS_CONFIG_STORAGE_NUM_SLOTS              (5)
diff --git a/lib/pbio/platform/technic_hub/pbsysconfig.h b/lib/pbio/platform/technic_hub/pbsysconfig.h
@@ -12,6 +12,7 @@
 #define PBSYS_CONFIG_BLUETOOTH                      (1)
 #define PBSYS_CONFIG_HMI_NUM_SLOTS                  (0)
 #define PBSYS_CONFIG_HUB_LIGHT_MATRIX               (0)
+#define PBSYS_CONFIG_HOST                           (1)
 #define PBSYS_CONFIG_MAIN                           (1)
 #define PBSYS_CONFIG_STORAGE                        (1)
 #define PBSYS_CONFIG_STORAGE_NUM_SLOTS              (1)
diff --git a/lib/pbio/sys/bluetooth.c b/lib/pbio/sys/bluetooth.c
@@ -18,7 +18,7 @@
 #include <pbio/event.h>
 #include <pbio/protocol.h>
 #include <pbio/util.h>
-#include <pbsys/bluetooth.h>
+#include <pbsys/host.h>
 #include <pbsys/command.h>
 #include <pbsys/status.h>
 #include <pbsys/storage.h>
@@ -29,7 +29,7 @@
 #define MAX_CHAR_SIZE 20
 
 // REVISIT: this needs to be moved to a common place where it can be shared with USB
-static pbsys_bluetooth_stdin_event_callback_t stdin_event_callback;
+static pbsys_host_stdin_event_callback_t stdin_event_callback;
 static lwrb_t stdout_ring_buf;
 static lwrb_t stdin_ring_buf;
 
@@ -103,7 +103,7 @@ void pbsys_bluetooth_rx_write(const uint8_t *data, uint32_t size) {
  * Sets the UART Rx callback function.
  * @param callback  [in]    The callback or NULL.
  */
-void pbsys_bluetooth_rx_set_callback(pbsys_bluetooth_stdin_event_callback_t callback) {
+void pbsys_bluetooth_rx_set_callback(pbsys_host_stdin_event_callback_t callback) {
     stdin_event_callback = callback;
 }
 
diff --git a/lib/pbio/sys/bluetooth.h b/lib/pbio/sys/bluetooth.h
@@ -4,10 +4,43 @@
 #ifndef _PBSYS_SYS_BLUETOOTH_H_
 #define _PBSYS_SYS_BLUETOOTH_H_
 
+#include <stdbool.h>
 #include <stdint.h>
 
+#include <pbio/error.h>
+#include <pbsys/host.h>
+
 uint32_t pbsys_bluetooth_rx_get_free(void);
 void pbsys_bluetooth_rx_write(const uint8_t *data, uint32_t size);
 void pbsys_bluetooth_process_poll(void);
 
+#if PBSYS_CONFIG_BLUETOOTH
+
+void pbsys_bluetooth_init(void);
+void pbsys_bluetooth_rx_set_callback(pbsys_host_stdin_event_callback_t callback);
+void pbsys_bluetooth_rx_flush(void);
+uint32_t pbsys_bluetooth_rx_get_available(void);
+pbio_error_t pbsys_bluetooth_rx(uint8_t *data, uint32_t *size);
+pbio_error_t pbsys_bluetooth_tx(const uint8_t *data, uint32_t *size);
+bool pbsys_bluetooth_tx_is_idle(void);
+
+#else // PBSYS_CONFIG_BLUETOOTH
+
+#define pbsys_bluetooth_init()
+#define pbsys_bluetooth_rx_set_callback(callback)
+#define pbsys_bluetooth_rx_flush()
+#define pbsys_bluetooth_rx_get_available() 0
+
+static inline pbio_error_t pbsys_bluetooth_rx(uint8_t *data, uint32_t *size) {
+    return PBIO_ERROR_NOT_SUPPORTED;
+}
+static inline pbio_error_t pbsys_bluetooth_tx(const uint8_t *data, uint32_t *size) {
+    return PBIO_ERROR_NOT_SUPPORTED;
+}
+static inline bool pbsys_bluetooth_tx_is_idle(void) {
+    return false;
+}
+
+#endif // PBSYS_CONFIG_BLUETOOTH
+
 #endif // _PBSYS_SYS_BLUETOOTH_H_
diff --git a/lib/pbio/sys/command.c b/lib/pbio/sys/command.c
@@ -8,9 +8,9 @@
 #include <pbio/protocol.h>
 #include <pbsys/command.h>
 #include <pbsys/config.h>
+#include <pbsys/host.h>
 #include <pbsys/storage.h>
 
-#include "./bluetooth.h"
 #include "./hmi.h"
 #include "./storage.h"
 #include "./program_stop.h"
@@ -72,11 +72,11 @@ pbio_pybricks_error_t pbsys_command(const uint8_t *data, uint32_t size) {
             return PBIO_PYBRICKS_ERROR_OK;
 
         case PBIO_PYBRICKS_COMMAND_WRITE_STDIN:
-            #if PBSYS_CONFIG_BLUETOOTH
-            if (pbsys_bluetooth_rx_get_free() < size - 1) {
+            #if PBSYS_CONFIG_HOST
+            if (pbsys_host_rx_get_free() < size - 1) {
                 return PBIO_PYBRICKS_ERROR_BUSY;
             }
-            pbsys_bluetooth_rx_write(&data[1], size - 1);
+            pbsys_host_rx_write(&data[1], size - 1);
             #endif
             // If no consumers are configured, goes to "/dev/null" without error
             return PBIO_PYBRICKS_ERROR_OK;
diff --git a/lib/pbio/sys/core.c b/lib/pbio/sys/core.c
@@ -7,7 +7,7 @@
 #include <pbio/os.h>
 
 #include <pbsys/battery.h>
-#include <pbsys/bluetooth.h>
+#include <pbsys/host.h>
 
 #include "core.h"
 #include "hmi.h"
@@ -44,7 +44,7 @@ PROCESS_THREAD(pbsys_system_process, ev, data) {
 
 void pbsys_init(void) {
     pbsys_battery_init();
-    pbsys_bluetooth_init();
+    pbsys_host_init();
     pbsys_hmi_init();
     pbsys_storage_init();
     process_start(&pbsys_system_process);
diff --git a/lib/pbio/sys/host.c b/lib/pbio/sys/host.c
@@ -0,0 +1,48 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2020-2023 The Pybricks Authors
+
+#include <pbsys/config.h>
+
+#if PBSYS_CONFIG_HOST
+
+#include <pbsys/host.h>
+
+#include "bluetooth.h"
+
+void pbsys_host_init(void) {
+    pbsys_bluetooth_init();
+}
+
+void pbsys_host_rx_set_callback(pbsys_host_stdin_event_callback_t callback) {
+    pbsys_bluetooth_rx_set_callback(callback);
+}
+
+void pbsys_host_rx_flush(void) {
+    pbsys_bluetooth_rx_flush();
+}
+
+uint32_t pbsys_host_rx_get_available(void) {
+    return pbsys_bluetooth_rx_get_available();
+}
+
+uint32_t pbsys_host_rx_get_free(void) {
+    return pbsys_bluetooth_rx_get_free();
+}
+
+void pbsys_host_rx_write(const uint8_t *data, uint32_t size) {
+    pbsys_bluetooth_rx_write(data, size);
+}
+
+pbio_error_t pbsys_host_rx(uint8_t *data, uint32_t *size) {
+    return pbsys_bluetooth_rx(data, size);
+}
+
+pbio_error_t pbsys_host_tx(const uint8_t *data, uint32_t *size) {
+    return pbsys_bluetooth_tx(data, size);
+}
+
+bool pbsys_host_tx_is_idle(void) {
+    return pbsys_bluetooth_tx_is_idle();
+}
+
+#endif // PBSYS_CONFIG_HOST
diff --git a/lib/pbio/sys/main.c b/lib/pbio/sys/main.c
diff --git a/lib/pbio/sys/program_stop.c b/lib/pbio/sys/program_stop.c
diff --git a/lib/pbio/test/sys/test_bluetooth.c b/lib/pbio/test/sys/test_bluetooth.c
diff --git a/pybricks/pybricks.c b/pybricks/pybricks.c
