pbio/port: Rework ports as pbio module.

In the long run, we want ports to work not just on
Powered UP but also EV3. We also want to allow
direct user access to UART and I2C ports, so we
need a mechanism to switch modes.

If the 6-wire port is abstracted by pbio/drv, then
all detection and data algorithms can be shared
and placed in pbio.

Flattening all these abstractions also reduces
code size and complexity despite adding quite a
bit more functionality. We could disable unused
functions on some ports to save even more space.

-------------------------------------------------

Also squashes the following commits since it did
not ultimately help simplify the diff as intended.

pbio/drv/legodev_pup_uart: Rename files to lump.

It gets rather confusing if we have uart_dev_t, uart_device_dev_t, and lego_uart_dev_t when they are all different things.

Also, these are not restructed to pup. So rename to LEGO UART Messaging Protocol (lump) as we do internally in a few places.

pbio/drv/legodev_pup_uart: Rename refs to lump.

It gets rather confusing if we have uart_dev_t, uart_device_dev_t, and lego_uart_dev_t when they are all different things.

Also, these are not restricted to pup. So rename to LEGO UART Messaging Protocol (lump) as we do internally in a few places.

Author: laurensvalk

.vscode/launch.json

@@ -59,7 +59,7 @@
             "request": "launch",
             "program": "${workspaceFolder}/bricks/virtualhub/build-debug/virtualhub-micropython",
             "args": [
-                "${workspaceFolder}/tests/virtualhub/motor/drivebase.py"
+                "${workspaceFolder}/tests/virtualhub/motor/test_1.py"
             ],
             "stopAtEntry": false,
             "cwd": "${workspaceFolder}",
@@ -145,6 +145,10 @@
             "type": "pickString",
             // should match output of `./test-pbio.sh --list-tests`
             "options": [
+                "src/port_lump/test_boost_color_distance_sensor",
+                "src/port_lump/test_boost_interactive_motor",
+                "src/port_lump/test_technic_large_motor",
+                "src/port_lump/test_technic_xl_motor",
                 "drv/bluetooth/test_btstack_run_loop_contiki_timer",
                 "drv/bluetooth/test_btstack_run_loop_contiki_poll",
                 "drv/pwm/test_pwm_get",
@@ -178,10 +182,6 @@
                 "src/trajectory/test_simple_trajectory",
                 "src/trajectory/test_infinite_trajectory",
                 "src/trajectory/test_position_trajectory",
-                "src/uartdev/test_boost_color_distance_sensor",
-                "src/uartdev/test_boost_interactive_motor",
-                "src/uartdev/test_technic_large_motor",
-                "src/uartdev/test_technic_xl_motor",
                 "src/util/test_uuid128_reverse_compare",
                 "src/util/test_uuid128_reverse_copy",
                 "src/util/test_oneshot",

bricks/_common/arm_none_eabi.mk

@@ -434,6 +434,7 @@ OBJ += $(addprefix $(BUILD)/, $(PYBRICKS_PYBRICKS_SRC_C:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(CONTIKI_SRC_C:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(LWRB_SRC_C:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(PBIO_SRC_C:.c=.o))
+OBJ += $(addprefix $(BUILD)/, $(LEGO_SPEC_SRC_C:.c=.o))
 OBJ += $(addprefix $(BUILD)/, $(SRC_LIBM:.c=.o))
 
 ifeq ($(PB_LIB_BLUENRG),1)

bricks/_common/sources.mk

@@ -149,20 +149,15 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	drv/gpio/gpio_stm32f0.c \
 	drv/gpio/gpio_stm32f4.c \
 	drv/gpio/gpio_stm32l4.c \
+	drv/gpio/gpio_virtual.c \
 	drv/imu/imu_lsm6ds3tr_c_stm32.c \
-	drv/ioport/ioport_pup.c \
+	drv/ioport/ioport.c \
 	drv/led/led_array_pwm.c \
 	drv/led/led_array.c \
 	drv/led/led_core.c \
 	drv/led/led_dual.c \
 	drv/led/led_pwm.c \
 	drv/led/led_virtual.c \
-	drv/legodev/legodev_nxt.c \
-	drv/legodev/legodev_pup.c \
-	drv/legodev/legodev_pup_uart.c \
-	drv/legodev/legodev_spec.c \
-	drv/legodev/legodev_test.c \
-	drv/legodev/legodev_virtual.c \
 	drv/motor_driver/motor_driver_hbridge_pwm.c \
 	drv/motor_driver/motor_driver_nxt.c \
 	drv/motor_driver/motor_driver_virtual_cpython.c \
@@ -209,6 +204,9 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	src/motor/servo_settings.c \
 	src/observer.c \
 	src/parent.c \
+	src/port.c \
+	src/port_dcm_pup.c \
+	src/port_lump.c \
 	src/protocol/nus.c \
 	src/protocol/pybricks.c \
 	src/servo.c \
@@ -221,7 +219,6 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	sys/command.c \
 	sys/core.c \
 	sys/hmi.c \
-	sys/io_ports.c \
 	sys/light_matrix.c \
 	sys/light.c \
 	sys/main.c \
@@ -232,6 +229,12 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	sys/supervisor.c \
 	)
 
+# LEGO specification library
+
+LEGO_SPEC_SRC_C = $(addprefix lib/lego/,\
+	device.c \
+	)
+
 # MicroPython math library
 
 SRC_LIBM = $(addprefix lib/libm/,\

bricks/virtualhub/mp_port.c

@@ -15,7 +15,6 @@
 #include <contiki.h>
 
 #include <pbio/main.h>
-#include <pbdrv/legodev.h>
 #include <pbsys/core.h>
 #include <pbsys/program_stop.h>
 #include <pbsys/status.h>
@@ -68,7 +67,7 @@ bool pbsys_main_stdin_event(uint8_t c) {
 // MICROPY_PORT_INIT_FUNC
 void pb_virtualhub_port_init(void) {
 
-    pbio_init();
+    pbio_init(true);
 
     pbsys_init();
 
@@ -77,6 +76,10 @@ void pb_virtualhub_port_init(void) {
     }
 
     pb_package_pybricks_init(true);
+
+    // HACK: Motor simulation needs some time after pbio init to register
+    // one sample of position data.
+    mp_hal_delay_ms(100);
 }
 
 // MICROPY_PORT_DEINIT_FUNC

bricks/virtualhub/mpconfigvariant.h

@@ -25,7 +25,7 @@
 #define PYBRICKS_PY_EV3DEVICES          (0)
 #define PYBRICKS_PY_EXPERIMENTAL        (1)
 #define PYBRICKS_PY_HUBS                (1)
-#define PYBRICKS_PY_IODEVICES           (1)
+#define PYBRICKS_PY_IODEVICES           (0)
 #define PYBRICKS_PY_MEDIA               (1)
 #define PYBRICKS_PY_NXTDEVICES          (0)
 #define PYBRICKS_PY_PARAMETERS          (1)

lib/lego/device.c

@@ -0,0 +1,56 @@
+#include <stdint.h>
+#include <lego/device.h>
+
+/**
+ * Gets the minimum time needed before stale data is discarded.
+ *
+ * This is empirically determined based on sensor experiments.
+ *
+ * @param [in]  id          The device type ID.
+ * @param [in]  mode        The device mode.
+ * @return                  Required delay in milliseconds.
+ */
+uint32_t lego_device_stale_data_delay(lego_device_type_id_t id, uint8_t mode) {
+    switch (id) {
+        case LEGO_DEVICE_TYPE_ID_COLOR_DIST_SENSOR:
+            return mode == LEGO_DEVICE_MODE_PUP_COLOR_DISTANCE_SENSOR__IR_TX ? 0 : 30;
+        case LEGO_DEVICE_TYPE_ID_SPIKE_COLOR_SENSOR:
+            return mode == LEGO_DEVICE_MODE_PUP_COLOR_SENSOR__LIGHT ? 0 : 30;
+        case LEGO_DEVICE_TYPE_ID_SPIKE_ULTRASONIC_SENSOR:
+            return mode == LEGO_DEVICE_MODE_PUP_ULTRASONIC_SENSOR__LIGHT ? 0 : 50;
+        case LEGO_DEVICE_TYPE_ID_EV3_COLOR_SENSOR:
+            return 30;
+        case LEGO_DEVICE_TYPE_ID_EV3_IR_SENSOR:
+            return 1100;
+        case LEGO_DEVICE_TYPE_ID_NXT_LIGHT_SENSOR:
+            return 20;
+        case LEGO_DEVICE_TYPE_ID_NXT_SOUND_SENSOR:
+            return 300;
+        case LEGO_DEVICE_TYPE_ID_NXT_ENERGY_METER:
+            return 200;
+        default:
+            // Default delay for other sensors and modes.
+            return 0;
+    }
+}
+
+/**
+ * Gets the minimum time needed for the device to handle written data.
+ *
+ * This is empirically determined based on sensor experiments.
+ *
+ * @param [in]  id          The device type ID.
+ * @param [in]  mode        The device mode.
+ * @return                  Required delay in milliseconds.
+ */
+uint32_t lego_device_data_set_delay(lego_device_type_id_t id, uint8_t mode) {
+    // The Boost Color Distance Sensor requires a long delay or successive
+    // writes are ignored.
+    if (id == LEGO_DEVICE_TYPE_ID_COLOR_DIST_SENSOR && mode == LEGO_DEVICE_MODE_PUP_COLOR_DISTANCE_SENSOR__IR_TX) {
+        return 250;
+    }
+
+    // Default delay for setting data. In practice, this is the delay for setting
+    // the light on the color sensor and ultrasonic sensor.
+    return 10;
+}