micropython: Update event loop hooks.

This is a drop-in replacement for our original pb_event_poll_hook, but prepares for the new MicroPython 2.0 API.

Fixes pybricks/support#2412.

Author: laurensvalk

bricks/_common/micropython.c

@@ -41,17 +41,6 @@
 #include "py/stackctrl.h"
 #include "py/stream.h"
 
-// Implementation for MICROPY_EVENT_POLL_HOOK
-void pb_event_poll_hook(void) {
-
-    while (pbio_os_run_processes_once()) {
-    }
-
-    mp_handle_pending(true);
-
-    pbio_os_run_processes_and_wait_for_event();
-}
-
 // callback for when stop button is pressed in IDE or on hub
 void pbsys_main_stop_program(bool force_stop) {
     if (force_stop) {

bricks/_common/mpconfigport.h

@@ -167,10 +167,18 @@ typedef long mp_off_t;
         } \
 } while (0)
 
-#define MICROPY_EVENT_POLL_HOOK \
+#define MICROPY_INTERNAL_EVENT_HOOK \
     do { \
-        extern void pb_event_poll_hook(void); \
-        pb_event_poll_hook(); \
+        PYBRICKS_VM_HOOK_LOOP_EXTRA \
+        extern bool pbio_os_run_processes_once(void); \
+        while (pbio_os_run_processes_once()) { \
+        } \
+    } while (0);
+
+#define MICROPY_INTERNAL_WFE(TIMEOUT_MS) \
+    do { \
+        extern void pbio_os_run_processes_and_wait_for_event(void); \
+        pbio_os_run_processes_and_wait_for_event(); \
     } while (0);
 
 // We need to provide a declaration/definition of alloca()

bricks/_common/mphalport.c

@@ -27,7 +27,7 @@ void mp_hal_delay_ms(mp_uint_t Delay) {
         // This macro will execute the necessary idle behaviour.  It may
         // raise an exception, switch threads or enter sleep mode (waiting for
         // (at least) the SysTick interrupt).
-        MICROPY_EVENT_POLL_HOOK
+        mp_event_wait_indefinite();
     } while (pbdrv_clock_get_ms() - start < Delay);
 }
 
@@ -48,7 +48,7 @@ int mp_hal_stdin_rx_chr(void) {
 
     // wait for rx interrupt
     while (size = 1, pbsys_host_stdin_read(&c, &size) != PBIO_SUCCESS) {
-        MICROPY_EVENT_POLL_HOOK
+        mp_event_wait_indefinite();
     }
 
     return c;
@@ -75,7 +75,7 @@ mp_uint_t mp_hal_stdout_tx_strn(const char *str, size_t len) {
 
         // Allow long prints to be interrupted.
         if (remaining) {
-            MICROPY_EVENT_POLL_HOOK
+            mp_event_wait_indefinite();
         }
     }
 

bricks/nxt/mphalport.c

@@ -28,7 +28,7 @@ void mp_hal_delay_ms(mp_uint_t Delay) {
         // This macro will execute the necessary idle behaviour.  It may
         // raise an exception, switch threads or enter sleep mode (waiting for
         // (at least) the SysTick interrupt).
-        MICROPY_EVENT_POLL_HOOK
+        mp_event_wait_indefinite();
     } while (pbdrv_clock_get_ms() - start < Delay);
 }
 
@@ -53,7 +53,7 @@ extern bool nx_bt_is_ready(void);
 int mp_hal_stdin_rx_chr(void) {
 
     while (!nx_bt_is_ready()) {
-        MICROPY_EVENT_POLL_HOOK
+        mp_event_wait_indefinite();
     }
 
     uint8_t rx_char;
@@ -63,7 +63,7 @@ int mp_hal_stdin_rx_chr(void) {
 
     // wait for data to be read
     while (nx_bt_stream_data_read() != sizeof(rx_char)) {
-        MICROPY_EVENT_POLL_HOOK
+        mp_event_wait_indefinite();
     }
 
     return rx_char;
@@ -73,7 +73,7 @@ int mp_hal_stdin_rx_chr(void) {
 mp_uint_t mp_hal_stdout_tx_strn(const char *str, size_t len) {
 
     while (!nx_bt_is_ready()) {
-        MICROPY_EVENT_POLL_HOOK
+        mp_event_wait_indefinite();
     }
 
     // Nothing to do if disconnected or empty data
@@ -83,7 +83,7 @@ mp_uint_t mp_hal_stdout_tx_strn(const char *str, size_t len) {
 
     nx_bt_stream_write((uint8_t *)str, len);
     while (!nx_bt_stream_data_written()) {
-        MICROPY_EVENT_POLL_HOOK;
+        mp_event_wait_indefinite();
     }
 
     return len;

pybricks/common/pb_type_device.c

@@ -50,7 +50,7 @@ void *pb_type_device_get_data_blocking(mp_obj_t self_in, uint8_t mode) {
     pb_assert(pbio_port_lump_set_mode(sensor->lump_dev, mode));
     pbio_error_t err;
     while ((err = pbio_port_lump_is_ready(sensor->lump_dev)) == PBIO_ERROR_AGAIN) {
-        MICROPY_EVENT_POLL_HOOK
+        mp_event_wait_indefinite();
     }
     pb_assert(err);
     void *data = NULL;

pybricks/common/pb_type_system.c

@@ -99,12 +99,15 @@ static MP_DEFINE_CONST_FUN_OBJ_1(pb_type_System_set_stop_button_obj, pb_type_Sys
 
 static mp_obj_t pb_type_System_shutdown(void) {
 
-    // Start shutdown.
+    // Request shutdown. This will make the program_stop module call
+    // pbsys_main_stop_program, which schedules mp_sched_vm_abort to stop
+    // the MicroPython application (gracefully as far as pbsys is concerned).
+    // Then, pbsys will proceed to shutdown instead of running another program.
     pbsys_status_set(PBIO_PYBRICKS_STATUS_SHUTDOWN_REQUEST);
 
-    // Keep running MicroPython until we are stopped.
+    // Keep running MicroPython until mp_sched_vm_abort is eventually handled.
     for (;;) {
-        MICROPY_EVENT_POLL_HOOK;
+        mp_event_wait_indefinite();
     }
 
     return mp_const_none;

pybricks/hubs/pb_type_movehub.c

@@ -78,9 +78,9 @@
 static void motion_spi_wait(void) {
     do {
         while (!(SPI1->SR & SPI_SR_RXNE)) {
-            MICROPY_EVENT_POLL_HOOK;
+            mp_event_wait_indefinite();
         }
-        MICROPY_EVENT_POLL_HOOK;
+        mp_event_wait_indefinite();
     } while (SPI1->SR & SPI_SR_BSY);
 }
 
@@ -96,7 +96,7 @@ static void motion_spi_read(uint8_t reg, uint8_t *value) {
     while (SPI1->SR & SPI_SR_RXNE) {
         uint8_t dummy = BYTE_ACCESS(SPI1->DR);
         (void)dummy;
-        MICROPY_EVENT_POLL_HOOK;
+        mp_event_wait_indefinite();
     }
     BYTE_ACCESS(SPI1->DR) = 0;
 

pybricks/tools/pb_module_tools.c

@@ -220,7 +220,7 @@ static pbio_button_flags_t pb_module_tools_hub_menu_wait_for_press(bool press) {
 
     pbio_button_flags_t btn;
     while ((bool)(btn = pbdrv_button_get_pressed()) == !press) {
-        MICROPY_EVENT_POLL_HOOK;
+        mp_event_wait_indefinite();
     }
     return btn;
 }

pybricks/tools/pb_type_async.c

@@ -142,7 +142,7 @@ mp_obj_t pb_type_async_wait_or_await(pb_type_async_t *config, pb_type_async_t **
     // Otherwise wait for completion here without allocating the iterable.
     pbio_error_t err;
     while ((err = config->iter_once(&config->state, config->parent_obj)) == PBIO_ERROR_AGAIN) {
-        MICROPY_EVENT_POLL_HOOK;
+        mp_event_wait_indefinite();
     }
     pb_assert(err);
     return config->return_map ? config->return_map(config->parent_obj) : mp_const_none;