pbio/sys: Refactor status events to be handled synchronously

lib/pbio/include/pbsys/status.h

@@ -16,6 +16,16 @@
 
 #define PBSYS_STATUS_REPORT_SIZE 6
 
+/**
+ * Status flag change.
+ */
+typedef enum {
+    /** System status indicator was set. */
+    PBSYS_STATUS_CHANGE_SET,
+    /** System status indicator was cleared. */
+    PBSYS_STATUS_CHANGE_CLEARED,
+} pbsys_status_change_t;
+
 void pbsys_status_set_program_id(pbio_pybricks_user_program_id_t program_id);
 void pbsys_status_set(pbio_pybricks_status_t status);
 void pbsys_status_clear(pbio_pybricks_status_t status);

lib/pbio/sys/bluetooth.c

@@ -15,7 +15,6 @@
 
 #include <pbdrv/bluetooth.h>
 #include <pbio/error.h>
-#include <pbio/event.h>
 #include <pbio/protocol.h>
 #include <pbio/util.h>
 #include <pbsys/host.h>

lib/pbio/sys/core.c

@@ -8,6 +8,7 @@
 
 #include <pbsys/battery.h>
 #include <pbsys/host.h>
+#include <pbsys/status.h>
 
 #include "core.h"
 #include "hmi.h"
@@ -29,7 +30,7 @@ PROCESS_THREAD(pbsys_system_process, ev, data) {
 
     for (;;) {
         PROCESS_WAIT_EVENT();
-        pbsys_hmi_handle_event(ev, data);
+
         if (ev == PROCESS_EVENT_TIMER && etimer_expired(&timer)) {
             etimer_reset(&timer);
             pbsys_battery_poll();

lib/pbio/sys/hmi.c

@@ -17,7 +17,6 @@
 #include <pbdrv/led.h>
 #include <pbio/button.h>
 #include <pbio/color.h>
-#include <pbio/event.h>
 #include <pbio/light.h>
 #include <pbsys/config.h>
 #include <pbsys/main.h>
@@ -174,17 +173,17 @@ void pbsys_hmi_init(void) {
     #endif // PBSYS_CONFIG_BLUETOOTH_TOGGLE
 }
 
-void pbsys_hmi_handle_event(process_event_t event, process_data_t data) {
-    pbsys_status_light_handle_event(event, data);
-    pbsys_hub_light_matrix_handle_event(event, data);
+void pbsys_hmi_handle_status_change(pbsys_status_change_t event, pbio_pybricks_status_t data) {
+    pbsys_status_light_handle_status_change(event, data);
+    pbsys_hub_light_matrix_handle_status_change(event, data);
 
     #if PBSYS_CONFIG_BATTERY_CHARGER
     // On the Technic Large hub, USB can keep the power on even though we are
     // "shutdown", so if the button is pressed again, we reset to turn back on
     if (
         pbsys_status_test(PBIO_PYBRICKS_STATUS_SHUTDOWN)
-        && event == PBIO_EVENT_STATUS_SET
-        && (pbio_pybricks_status_t)data == PBIO_PYBRICKS_STATUS_POWER_BUTTON_PRESSED
+        && event == PBSYS_STATUS_CHANGE_SET
+        && data == PBIO_PYBRICKS_STATUS_POWER_BUTTON_PRESSED
         ) {
         pbdrv_reset(PBDRV_RESET_ACTION_RESET);
     }

lib/pbio/sys/hmi.h

@@ -6,9 +6,10 @@
 
 #include <contiki.h>
 #include <pbsys/config.h>
+#include <pbsys/status.h>
 
 void pbsys_hmi_init(void);
-void pbsys_hmi_handle_event(process_event_t event, process_data_t data);
+void pbsys_hmi_handle_status_change(pbsys_status_change_t event, pbio_pybricks_status_t data);
 void pbsys_hmi_poll(void);
 
 #if PBSYS_CONFIG_HMI_NUM_SLOTS

lib/pbio/sys/light.c

@@ -11,7 +11,6 @@
 #include <pbdrv/led.h>
 #include <pbio/color.h>
 #include <pbio/error.h>
-#include <pbio/event.h>
 #include <pbio/light.h>
 #include <pbio/util.h>
 #include <pbsys/config.h>
@@ -183,7 +182,7 @@ void pbsys_status_light_init(void) {
     #endif
 }
 
-static void pbsys_status_light_handle_status_change(void) {
+static void pbsys_status_light_update_patterns(void) {
 
     // Warning pattern precedence.
     pbsys_status_light_indication_warning_t warning_indication = PBSYS_STATUS_LIGHT_INDICATION_WARNING_NONE;
@@ -248,11 +247,11 @@ static uint32_t default_user_program_light_animation_next(pbio_light_animation_t
 }
 #endif // PBSYS_CONFIG_STATUS_LIGHT_STATE_ANIMATIONS
 
-void pbsys_status_light_handle_event(process_event_t event, process_data_t data) {
-    if (event == PBIO_EVENT_STATUS_SET || event == PBIO_EVENT_STATUS_CLEARED) {
-        pbsys_status_light_handle_status_change();
+void pbsys_status_light_handle_status_change(pbsys_status_change_t event, pbio_pybricks_status_t data) {
+    if (event == PBSYS_STATUS_CHANGE_SET || event == PBSYS_STATUS_CHANGE_CLEARED) {
+        pbsys_status_light_update_patterns();
     }
-    if (event == PBIO_EVENT_STATUS_SET && (pbio_pybricks_status_t)(intptr_t)data == PBIO_PYBRICKS_STATUS_USER_PROGRAM_RUNNING) {
+    if (event == PBSYS_STATUS_CHANGE_SET && (pbio_pybricks_status_t)(intptr_t)data == PBIO_PYBRICKS_STATUS_USER_PROGRAM_RUNNING) {
         #if PBSYS_CONFIG_STATUS_LIGHT_STATE_ANIMATIONS
         animation_progress = 0;
         pbio_light_animation_init(&pbsys_status_light_main->animation, default_user_program_light_animation_next);

lib/pbio/sys/light.h

@@ -11,11 +11,11 @@
 
 #if PBSYS_CONFIG_STATUS_LIGHT
 void pbsys_status_light_init(void);
-void pbsys_status_light_handle_event(process_event_t event, process_data_t data);
+void pbsys_status_light_handle_status_change(pbsys_status_change_t event, pbio_pybricks_status_t data);
 void pbsys_status_light_poll(void);
 #else
 #define pbsys_status_light_init()
-#define pbsys_status_light_handle_event(event, data)
+#define pbsys_status_light_handle_status_change(event, data)
 #define pbsys_status_light_poll()
 #endif
 

lib/pbio/sys/light_matrix.c

@@ -11,7 +11,6 @@
 
 #include <pbdrv/led.h>
 #include <pbio/error.h>
-#include <pbio/event.h>
 #include <pbio/light_matrix.h>
 #include <pbio/util.h>
 #include <pbsys/config.h>
@@ -139,8 +138,8 @@ static uint32_t pbsys_hub_light_matrix_user_program_animation_next(pbio_light_an
     return 40;
 }
 
-void pbsys_hub_light_matrix_handle_event(process_event_t event, process_data_t data) {
-    if (event == PBIO_EVENT_STATUS_SET) {
+void pbsys_hub_light_matrix_handle_status_change(pbsys_status_change_t event, pbio_pybricks_status_t data) {
+    if (event == PBSYS_STATUS_CHANGE_SET) {
         pbio_pybricks_status_t status = (intptr_t)data;
 
         if (status == PBIO_PYBRICKS_STATUS_USER_PROGRAM_RUNNING) {
@@ -156,7 +155,7 @@ void pbsys_hub_light_matrix_handle_event(process_event_t event, process_data_t d
             // first, which is handled below to avoid a race condition.
             pbsys_hub_light_matrix_start_power_animation();
         }
-    } else if (event == PBIO_EVENT_STATUS_CLEARED) {
+    } else if (event == PBSYS_STATUS_CHANGE_CLEARED) {
         pbio_pybricks_status_t status = (intptr_t)data;
 
         // The user program has ended.

lib/pbio/sys/light_matrix.h

@@ -10,11 +10,11 @@
 
 #if PBSYS_CONFIG_HUB_LIGHT_MATRIX
 void pbsys_hub_light_matrix_init(void);
-void pbsys_hub_light_matrix_handle_event(process_event_t event, process_data_t data);
+void pbsys_hub_light_matrix_handle_status_change(pbsys_status_change_t event, pbio_pybricks_status_t data);
 void pbsys_hub_light_matrix_update_program_slot(void);
 #else
 #define pbsys_hub_light_matrix_init()
-#define pbsys_hub_light_matrix_handle_event(event, data)
+#define pbsys_hub_light_matrix_handle_status_change(event, data)
 #define pbsys_hub_light_matrix_update_program_slot()
 #endif
 

lib/pbio/sys/status.c

@@ -9,10 +9,13 @@
 
 #include <contiki.h>
 
+#include <pbio/os.h>
+
 #include <pbdrv/clock.h>
-#include <pbio/event.h>
 #include <pbsys/status.h>
 
+#include "hmi.h"
+
 static struct {
     /** Status indications as bit flags */
     uint32_t flags;
@@ -32,9 +35,19 @@ static void pbsys_status_update_flag(pbio_pybricks_status_t status, bool set) {
 
     pbsys_status.flags = new_flags;
     pbsys_status.changed_time[status] = pbdrv_clock_get_ms();
-    // REVISIT: this can drop events if event queue is full
-    process_post(PROCESS_BROADCAST, set ? PBIO_EVENT_STATUS_SET : PBIO_EVENT_STATUS_CLEARED,
-        (process_data_t)status);
+
+    // hmi is the only subscriber to status changes, so call its handler
+    // directly. All other processes just poll the status as needed. If we ever
+    // need more subscribers, we could register callbacks and call them here.
+    pbsys_hmi_handle_status_change(set ? PBSYS_STATUS_CHANGE_SET : PBSYS_STATUS_CHANGE_CLEARED, status);
+
+    // Other processes may be awaiting status changes, so poll.
+    pbio_os_request_poll();
+
+    // REVISIT: Can be deleted once all processes that poll the status are
+    // updated to use the new pbio os event loop.
+    process_post(PROCESS_BROADCAST, PROCESS_EVENT_COM, NULL);
+
 }
 
 /**

lib/pbio/test/sys/test_status.c

@@ -8,7 +8,6 @@
 #include <tinytest.h>
 #include <tinytest_macros.h>
 
-#include <pbio/event.h>
 #include <pbsys/status.h>
 #include <test-pbio.h>
 
@@ -48,12 +47,6 @@ static PT_THREAD(test_status(struct pt *pt)) {
     tt_want(!pbsys_status_test_debounce(test_flag, true, 10));
     tt_want(!pbsys_status_test_debounce(test_flag, false, 10));
 
-    // ensure that event was broadcast
-    last_event = PROCESS_EVENT_NONE;
-    PT_YIELD(pt);
-    tt_want_uint_op(last_event, ==, PBIO_EVENT_STATUS_SET);
-    tt_want_uint_op(last_data, ==, test_flag);
-
     // ensure that debounce works
     pbio_test_clock_tick(9);
     PT_YIELD(pt);
@@ -79,12 +72,6 @@ static PT_THREAD(test_status(struct pt *pt)) {
     tt_want(!pbsys_status_test_debounce(test_flag, true, 10));
     tt_want(!pbsys_status_test_debounce(test_flag, false, 10));
 
-    // ensure that event was broadcast
-    last_event = PROCESS_EVENT_NONE;
-    PT_YIELD(pt);
-    tt_want_uint_op(last_event, ==, PBIO_EVENT_STATUS_CLEARED);
-    tt_want_uint_op(last_data, ==, test_flag);
-
     // ensure that debounce works
     last_event = PROCESS_EVENT_NONE;
     pbio_test_clock_tick(9);