sys/light grid: consolidate OS code

dlech · dlech · commit 7617a6a82874 · 2020-09-04T13:49:07.000-05:00
This moves OS-level code from src/light/light_grid.c and platform/sys.c
to a new file so that it can be shared in the future - similar to how
the status light works.

It also makes src/light/light_grid completely generic now.
diff --git a/bricks/stm32/stm32.mk b/bricks/stm32/stm32.mk
@@ -348,6 +348,7 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	src/uartdev.c \
 	sys/battery.c \
 	sys/hmi.c \
+	sys/light_grid.c \
 	sys/light.c \
 	sys/status.c \
 	sys/supervisor.c \
diff --git a/lib/pbio/include/pbio/light_grid.h b/lib/pbio/include/pbio/light_grid.h
@@ -9,6 +9,8 @@
 #ifndef _PBIO_LIGHT_GRID_H_
 #define _PBIO_LIGHT_GRID_H_
 
+#include <stdint.h>
+
 #include <pbio/config.h>
 #include <pbio/error.h>
 
@@ -17,16 +19,37 @@ typedef struct _pbio_light_grid_t pbio_light_grid_t;
 
 #if PBIO_CONFIG_LIGHT_GRID
 
-extern const uint8_t pbio_light_grid_sys_pattern[1000];
-
-pbio_error_t pbio_light_grid_get_dev(pbio_light_grid_t **light_grid);
 uint8_t pbio_light_grid_get_size(pbio_light_grid_t *light_grid);
 pbio_error_t pbio_light_grid_set_rows(pbio_light_grid_t *light_grid, const uint8_t *rows);
 pbio_error_t pbio_light_grid_set_pixel(pbio_light_grid_t *light_grid, uint8_t row, uint8_t col, uint8_t brightness);
 pbio_error_t pbio_light_grid_set_image(pbio_light_grid_t *light_grid, const uint8_t *image);
 void pbio_light_grid_start_animation(pbio_light_grid_t *light_grid, const uint8_t *cells, uint8_t num_cells, uint16_t interval);
 void pbio_light_grid_stop_animation(pbio_light_grid_t *light_grid);
 
+#else // PBIO_CONFIG_LIGHT_GRID
+
+static inline uint8_t pbio_light_grid_get_size(pbio_light_grid_t *light_grid) {
+    return 0;
+}
+
+static inline pbio_error_t pbio_light_grid_set_rows(pbio_light_grid_t *light_grid, const uint8_t *rows) {
+    return PBIO_ERROR_NOT_SUPPORTED;
+}
+
+static inline pbio_error_t pbio_light_grid_set_pixel(pbio_light_grid_t *light_grid, uint8_t row, uint8_t col, uint8_t brightness) {
+    return PBIO_ERROR_NOT_SUPPORTED;
+}
+
+static inline pbio_error_t pbio_light_grid_set_image(pbio_light_grid_t *light_grid, const uint8_t *image) {
+    return PBIO_ERROR_NOT_SUPPORTED;
+}
+
+static inline void pbio_light_grid_start_animation(pbio_light_grid_t *light_grid, const uint8_t *cells, uint8_t num_cells, uint16_t interval) {
+}
+
+static inline void pbio_light_grid_stop_animation(pbio_light_grid_t *light_grid) {
+}
+
 #endif // PBIO_CONFIG_LIGHT_GRID
 
 #endif // _PBIO_LIGHT_GRID_H_
diff --git a/lib/pbio/include/pbsys/light.h b/lib/pbio/include/pbsys/light.h
@@ -9,13 +9,18 @@
 #ifndef _PBSYS_LIGHT_H_
 #define _PBSYS_LIGHT_H_
 
-#include <pbio/light.h>
 #include <pbsys/config.h>
 
 #if PBSYS_CONFIG_STATUS_LIGHT
+#include <pbio/light.h>
 extern pbio_color_light_t *pbsys_status_light;
 #endif
 
+#if PBSYS_CONFIG_HUB_LIGHT_GRID
+#include <pbio/light_grid.h>
+extern pbio_light_grid_t *pbsys_hub_light_grid;
+#endif
+
 #endif // _PBSYS_LIGHT_H_
 
 /** @} */
diff --git a/lib/pbio/platform/city_hub/pbsysconfig.h b/lib/pbio/platform/city_hub/pbsysconfig.h
@@ -1,4 +1,5 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2020 The Pybricks Authors
 
+#define PBSYS_CONFIG_HUB_LIGHT_GRID                 (0)
 #define PBSYS_CONFIG_STATUS_LIGHT                   (1)
diff --git a/lib/pbio/platform/cplus_hub/pbsysconfig.h b/lib/pbio/platform/cplus_hub/pbsysconfig.h
@@ -1,4 +1,5 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2020 The Pybricks Authors
 
+#define PBSYS_CONFIG_HUB_LIGHT_GRID                 (0)
 #define PBSYS_CONFIG_STATUS_LIGHT                   (1)
diff --git a/lib/pbio/platform/debug/pbsysconfig.h b/lib/pbio/platform/debug/pbsysconfig.h
@@ -1,4 +1,5 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2020 The Pybricks Authors
 
+#define PBSYS_CONFIG_HUB_LIGHT_GRID                 (0)
 #define PBSYS_CONFIG_STATUS_LIGHT                   (1)
diff --git a/lib/pbio/platform/move_hub/pbsysconfig.h b/lib/pbio/platform/move_hub/pbsysconfig.h
@@ -1,4 +1,5 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2020 The Pybricks Authors
 
+#define PBSYS_CONFIG_HUB_LIGHT_GRID                 (0)
 #define PBSYS_CONFIG_STATUS_LIGHT                   (1)
diff --git a/lib/pbio/platform/nxt/pbsysconfig.h b/lib/pbio/platform/nxt/pbsysconfig.h
@@ -1,4 +1,5 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2020 The Pybricks Authors
 
+#define PBSYS_CONFIG_HUB_LIGHT_GRID                 (0)
 #define PBSYS_CONFIG_STATUS_LIGHT                   (0)
diff --git a/lib/pbio/platform/prime_hub/pbsysconfig.h b/lib/pbio/platform/prime_hub/pbsysconfig.h
@@ -1,4 +1,5 @@
 // SPDX-License-Identifier: MIT
 // Copyright (c) 2020 The Pybricks Authors
 
+#define PBSYS_CONFIG_HUB_LIGHT_GRID                 (1)
 #define PBSYS_CONFIG_STATUS_LIGHT                   (1)
diff --git a/lib/pbio/platform/prime_hub/sys.c b/lib/pbio/platform/prime_hub/sys.c
@@ -5,9 +5,7 @@
 
 #include <contiki.h>
 
-#include "pbio/color.h"
 #include "pbio/event.h"
-#include "pbio/light_grid.h"
 #include "pbio/main.h"
 
 #include <pbsys/status.h>
@@ -30,11 +28,6 @@ void pbsys_prepare_user_program(const pbsys_user_program_callbacks_t *callbacks)
         user_stop_func = NULL;
         user_stdin_event_func = NULL;
     }
-
-    pbio_light_grid_t *light_grid;
-    if (pbio_light_grid_get_dev(&light_grid) == PBIO_SUCCESS) {
-        pbio_light_grid_start_animation(light_grid, pbio_light_grid_sys_pattern, 40, 25);
-    }
     pbsys_status_set(PBSYS_STATUS_USER_PROGRAM_RUNNING);
 }
 
@@ -43,14 +36,6 @@ void pbsys_unprepare_user_program(void) {
     pbio_stop_all();
     user_stop_func = NULL;
     user_stdin_event_func = NULL;
-
-    pbio_light_grid_t *light_grid;
-    if (pbio_light_grid_get_dev(&light_grid) == PBIO_SUCCESS) {
-        uint8_t rows[5] = {0};
-        // 3x3 "stop sign" at top center of light grid
-        rows[0] = rows[1] = rows[2] = 0b01110;
-        pbio_light_grid_set_rows(light_grid, rows);
-    }
 }
 
 PROCESS_THREAD(pbsys_process, ev, data) {
diff --git a/lib/pbio/src/light/light_grid.c b/lib/pbio/src/light/light_grid.c
@@ -7,54 +7,23 @@
 
 #include <stdbool.h>
 
-#include <pbdrv/led.h>
-
 #include <pbio/error.h>
 #include <pbio/light_grid.h>
 #include <pbio/util.h>
 
 #include "animation.h"
-
-struct _pbio_light_grid_t {
-    /** Animation instance for background animation. */
-    pbio_light_animation_t animation;
-    /** Animation cell data. */
-    const uint8_t *animation_cells;
-    /** The number of cells in @p animation_cells */
-    uint8_t num_animation_cells;
-    /** The index of the currently displayed animation cell. */
-    uint8_t current_cell;
-    /** Animation update rate in milliseconds. */
-    uint16_t interval;
-    pbdrv_led_array_dev_t *led_array;
-    /** Size of the grid (assumes grid is square) */
-    uint8_t size;
-};
-
-static pbio_light_grid_t _light_grid;
+#include "light_grid.h"
 
 /**
- * Gets the light grid device.
- * @param [out] light_grid  The light grid instance.
- * @return                  ::PBIO_SUCCESS on success ::PBIO_ERROR_AGAIN if the
- *                          light grid is not ready for use yet or
- *                          ::PBIO_ERROR_NOT_SUPPORTED if the PWM driver is disabled.
+ * Initializes the required fields in a ::pbio_light_grid_t.
+ * @param [in]  light_grid  The struct to initialize.
+ * @param [in]  size        The size of the light grid.
+ * @param [in]  funcs       The instance-specific callback functions.
  */
-pbio_error_t pbio_light_grid_get_dev(pbio_light_grid_t **light_grid) {
-    // REVISIT: currently only one known light grid
-    pbio_light_grid_t *grid = &_light_grid;
-
-    pbio_error_t err = pbdrv_led_array_get_dev(0, &grid->led_array);
-    if (err != PBIO_SUCCESS) {
-        return err;
-    }
-
-    grid->size = 5;
-
-    // Return device on success
-    *light_grid = grid;
-
-    return PBIO_SUCCESS;
+void pbio_light_grid_init(pbio_light_grid_t *light_grid, uint8_t size, const pbio_light_grid_funcs_t *funcs) {
+    light_grid->size = size;
+    light_grid->funcs = funcs;
+    pbio_light_animation_init(&light_grid->animation, NULL);
 }
 
 /**
@@ -116,14 +85,14 @@ pbio_error_t pbio_light_grid_set_rows(pbio_light_grid_t *light_grid, const uint8
  *                          implementation-specific error on failure.
  */
 pbio_error_t pbio_light_grid_set_pixel(pbio_light_grid_t *light_grid, uint8_t row, uint8_t col, uint8_t brightness) {
-    pbio_light_grid_stop_animation(light_grid);
-
     uint8_t size = light_grid->size;
     if (row >= size || col >= size) {
         return PBIO_ERROR_INVALID_ARG;
     }
 
-    return pbdrv_led_array_set_brightness(light_grid->led_array, row * size + col, brightness);
+    pbio_light_grid_stop_animation(light_grid);
+
+    return light_grid->funcs->set_pixel(light_grid, row, col, brightness);
 }
 
 /**
@@ -158,7 +127,7 @@ static uint32_t pbio_light_grid_animation_next(pbio_light_animation_t *animation
 
     for (uint8_t r = 0; r < size; r++) {
         for (uint8_t c = 0; c < size; c++) {
-            pbdrv_led_array_set_brightness(light_grid->led_array, r * size + c, cell[r * size + c]);
+            light_grid->funcs->set_pixel(light_grid, r, c, cell[r * size + c]);
         }
     }
 
@@ -202,48 +171,4 @@ void pbio_light_grid_stop_animation(pbio_light_grid_t *light_grid) {
     }
 }
 
-// FIXME: compress / implement differently
-const uint8_t pbio_light_grid_sys_pattern[1000] = {
-    0, 0, 0, 0, 0, 10, 61, 99, 79, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 6, 53, 97, 85, 32, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 3, 45, 94, 90, 39, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 1, 38, 89, 94, 47, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 0, 30, 84, 97, 55, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 1, 23, 78, 99, 63, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 2, 17, 71, 100, 70, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 5, 12, 63, 99, 77, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 9, 7, 56, 98, 83, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 14, 4, 48, 95, 89, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 20, 1, 40, 91, 93, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 27, 0, 33, 86, 97, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 34, 0, 25, 80, 99, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 42, 2, 19, 73, 100, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 49, 4, 13, 66, 100, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 57, 8, 8, 58, 98, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 65, 12, 5, 50, 96, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 72, 18, 2, 43, 92, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 79, 24, 0, 35, 87, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 85, 32, 0, 28, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 90, 39, 1, 21, 75, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 94, 47, 3, 15, 68, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 97, 55, 6, 10, 61, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 99, 62, 11, 6, 53, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 100, 70, 16, 3, 45, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 99, 77, 22, 1, 37, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 98, 83, 29, 0, 30, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 95, 88, 37, 1, 23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 91, 93, 44, 2, 17, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 86, 96, 52, 5, 11, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 80, 99, 60, 9, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 73, 100, 67, 14, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 66, 100, 75, 20, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 58, 98, 81, 27, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 51, 96, 87, 34, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 43, 92, 92, 42, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 35, 88, 95, 50, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 28, 82, 98, 57, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 21, 76, 100, 65, 13, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-    0, 0, 0, 0, 0, 15, 68, 100, 72, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
-};
-
 #endif // PBIO_CONFIG_LIGHT_GRID
diff --git a/lib/pbio/src/light/light_grid.h b/lib/pbio/src/light/light_grid.h
@@ -0,0 +1,47 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2020 The Pybricks Authors
+
+#include <stdint.h>
+
+#include <pbio/error.h>
+#include <pbio/light_grid.h>
+
+#include "animation.h"
+
+#ifndef _PBIO_LIGHT_LIGHT_GRID_H_
+#define _PBIO_LIGHT_LIGHT_GRID_H_
+
+/** Implementation-specific callbacks for a light grid. */
+typedef struct {
+    /**
+     * Sets the light at @p row, @p col to @p brightness.
+     *
+     * @param [in]  light_grid  The light grid instance.
+     * @param [in]  row         The row index (0 to size-1).
+     * @param [in]  col         The column index (0 to size-1).
+     * @param [in]  brightess   The apparent brightness (0 to 100).
+     * @return                  Success/failure of the operation.
+     */
+    pbio_error_t (*set_pixel)(pbio_light_grid_t *light_grid, uint8_t row, uint8_t col, uint8_t brightess);
+} pbio_light_grid_funcs_t;
+
+struct _pbio_light_grid_t {
+    /** Animation instance for background animation. */
+    pbio_light_animation_t animation;
+    /** Implementation specific callback functions. */
+    const pbio_light_grid_funcs_t *funcs;
+    /** Animation cell data. */
+    const uint8_t *animation_cells;
+    /** The number of cells in @p animation_cells */
+    uint8_t num_animation_cells;
+    /** The index of the currently displayed animation cell. */
+    uint8_t current_cell;
+    /** Animation update rate in milliseconds. */
+    uint16_t interval;
+    /** Size of the grid (assumes grid is square) */
+    uint8_t size;
+};
+
+void pbio_light_grid_init(pbio_light_grid_t *light_grid, uint8_t size, const pbio_light_grid_funcs_t *funcs);
+
+#endif // _PBIO_LIGHT_LIGHT_GRID_H_
diff --git a/lib/pbio/sys/hmi.c b/lib/pbio/sys/hmi.c
@@ -21,14 +21,17 @@
 #include <pbsys/config.h>
 #include <pbsys/status.h>
 
+#include "light grid.h"
 #include "light.h"
 
 void pbsys_hmi_init() {
     pbsys_status_light_init();
+    pbsys_hub_light_grid_init();
 }
 
 void pbsys_hmi_handle_event(process_event_t event, process_data_t data) {
     pbsys_status_light_handle_event(event, data);
+    pbsys_hub_light_grid_handle_event(event, data);
 }
 
 /**
diff --git a/lib/pbio/sys/light grid.h b/lib/pbio/sys/light grid.h
@@ -0,0 +1,19 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2020 The Pybricks Authors
+
+#ifndef _PBSYS_SYS_LIGHT_GRID_H_
+#define _PBSYS_SYS_LIGHT_GRID_H_
+
+#include <contiki.h>
+
+#include <pbsys/config.h>
+
+#if PBSYS_CONFIG_HUB_LIGHT_GRID
+void pbsys_hub_light_grid_init();
+void pbsys_hub_light_grid_handle_event(process_event_t event, process_data_t data);
+#else
+#define pbsys_hub_light_grid_init()
+#define pbsys_hub_light_grid_handle_event(event, data)
+#endif
+
+#endif // _PBSYS_SYS_LIGHT_GRID_H_
diff --git a/lib/pbio/sys/light_grid.c b/lib/pbio/sys/light_grid.c
diff --git a/lib/pbio/test/pbsysconfig.h b/lib/pbio/test/pbsysconfig.h
diff --git a/pybricks/common.h b/pybricks/common.h
diff --git a/pybricks/common/pb_type_lightgrid.c b/pybricks/common/pb_type_lightgrid.c
diff --git a/pybricks/hubs/pb_type_primehub.c b/pybricks/hubs/pb_type_primehub.c
