snapclient/components/esp_peripherals/esp_peripherals.c

/*
 * ESPRESSIF MIT License
 *
 * Copyright (c) 2018 <ESPRESSIF SYSTEMS (SHANGHAI) PTE LTD>
 *
 * Permission is hereby granted for use on all ESPRESSIF SYSTEMS products, in
 * which case, it is free of charge, to any person obtaining a copy of this
 * software and associated documentation files (the "Software"), to deal in the
 * Software without restriction, including without limitation the rights to use,
 * copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do
 * so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 *
 */

#include "esp_peripherals.h"

#include <string.h>

#include "audio_event_iface.h"
#include "audio_mem.h"
#include "audio_mutex.h"
#include "audio_thread.h"
#include "driver/gpio.h"
#include "esp_log.h"
#include "sys/queue.h"

static const char *TAG = "ESP_PERIPH";

#define DEFAULT_ESP_PERIPH_WAIT_TICK (10 / portTICK_PERIOD_MS)

struct esp_periph {
  char *tag;
  bool disabled;
  esp_periph_id_t periph_id;
  esp_periph_func init;
  esp_periph_run_func run;
  esp_periph_func destroy;
  esp_periph_state_t state;
  void *source;
  void *periph_data;
  esp_periph_event_t *on_evt;
  TimerHandle_t timer;
  STAILQ_ENTRY(esp_periph) entries;
};

typedef struct esp_periph_sets {
  EventGroupHandle_t state_event_bits;
  SemaphoreHandle_t lock;
  int task_stack;
  int task_prio;
  int task_core;
  audio_thread_t audio_thread;
  bool ext_stack;
  bool run;
  esp_periph_event_t event_handle;
  STAILQ_HEAD(esp_periph_list_item, esp_periph) periph_list;
} esp_periph_set_t;

static const int STARTED_BIT = BIT0;
static const int STOPPED_BIT = BIT1;

static esp_err_t esp_periph_wait_for_stop(
    esp_periph_set_handle_t periph_set_handle, TickType_t ticks_to_wait);

static esp_err_t process_peripheral_event(audio_event_iface_msg_t *msg,
                                          void *context) {
  esp_periph_handle_t periph_evt = (esp_periph_handle_t)msg->source;
  esp_periph_handle_t periph;
  esp_periph_set_t *sets = context;
  STAILQ_FOREACH(periph, &sets->periph_list, entries) {
    if (periph->periph_id == periph_evt->periph_id &&
        periph_evt->state == PERIPH_STATE_RUNNING && periph_evt->run &&
        !periph_evt->disabled) {
      return periph_evt->run(periph_evt, msg);
    }
  }
  return ESP_OK;
}

esp_err_t esp_periph_set_change_waiting_time(
    esp_periph_set_handle_t periph_set_handle, int time_ms) {
  audio_event_iface_set_cmd_waiting_timeout(
      esp_periph_set_get_event_iface(periph_set_handle),
      time_ms / portTICK_PERIOD_MS);
  return ESP_OK;
}

static void esp_periph_task(void *pv) {
  esp_periph_handle_t periph;
  esp_periph_set_handle_t periph_set_handle = (esp_periph_set_handle_t)pv;
  ESP_LOGD(TAG, "esp_periph_task is running, handle:%p", periph_set_handle);
  xEventGroupSetBits(periph_set_handle->state_event_bits, STARTED_BIT);
  xEventGroupClearBits(periph_set_handle->state_event_bits, STOPPED_BIT);

  while (periph_set_handle->run) {
    mutex_lock(periph_set_handle->lock);
    STAILQ_FOREACH(periph, &periph_set_handle->periph_list, entries) {
      if (periph->disabled) {
        continue;
      }
      if (periph->state == PERIPH_STATE_INIT && periph->init) {
        ESP_LOGD(TAG, "PERIPH[%s]->init", periph->tag);
        if (periph->init(periph) == ESP_OK) {
          periph->state = PERIPH_STATE_RUNNING;
        } else {
          periph->state = PERIPH_STATE_ERROR;
        }
      }
    }
    mutex_unlock(periph_set_handle->lock);
    audio_event_iface_waiting_cmd_msg(
        esp_periph_set_get_event_iface(periph_set_handle));
  }
  STAILQ_FOREACH(periph, &periph_set_handle->periph_list, entries) {
    esp_periph_stop_timer(periph);
    if (periph->destroy) {
      periph->destroy(periph);
    }
  }
  xEventGroupClearBits(periph_set_handle->state_event_bits, STARTED_BIT);
  xEventGroupSetBits(periph_set_handle->state_event_bits, STOPPED_BIT);

  vTaskDelete(NULL);
}

esp_periph_set_handle_t esp_periph_set_init(esp_periph_config_t *config) {
  esp_periph_set_t *periph_sets = NULL;
  int _err_step = 1;
  bool _success =
      ((periph_sets = audio_calloc(1, sizeof(esp_periph_set_t))) &&
       _err_step++ && (periph_sets->state_event_bits = xEventGroupCreate()) &&
       _err_step++ && (periph_sets->lock = mutex_create()) && _err_step++);

  AUDIO_MEM_CHECK(TAG, _success, { goto _periph_init_failed; });

  STAILQ_INIT(&periph_sets->periph_list);

  // TODO: Should we uninstall gpio isr service??
  // TODO: Because gpio need for sdcard and gpio, then install isr here

  gpio_install_isr_service(ESP_INTR_FLAG_LEVEL1);

  periph_sets->run = false;
  xEventGroupClearBits(periph_sets->state_event_bits, STARTED_BIT);
  xEventGroupSetBits(periph_sets->state_event_bits, STOPPED_BIT);
  periph_sets->task_stack = config->task_stack;
  periph_sets->task_prio = config->task_prio;
  periph_sets->task_core = config->task_core;
  periph_sets->ext_stack = config->extern_stack;

  audio_event_iface_cfg_t event_cfg = AUDIO_EVENT_IFACE_DEFAULT_CFG();
  event_cfg.queue_set_size = 0;
  event_cfg.context = periph_sets;
  event_cfg.on_cmd = process_peripheral_event;
  periph_sets->event_handle.iface = audio_event_iface_init(&event_cfg);

  AUDIO_MEM_CHECK(TAG, periph_sets->event_handle.iface,
                  goto _periph_init_failed);
  audio_event_iface_set_cmd_waiting_timeout(periph_sets->event_handle.iface,
                                            DEFAULT_ESP_PERIPH_WAIT_TICK);
  return periph_sets;

_periph_init_failed:
  if (periph_sets) {
    mutex_destroy(periph_sets->lock);
    vEventGroupDelete(periph_sets->state_event_bits);

    if (periph_sets->event_handle.iface) {
      audio_event_iface_destroy(periph_sets->event_handle.iface);
    }

    audio_free(periph_sets);
    periph_sets = NULL;
  }
  return NULL;
}

esp_err_t esp_periph_remove_from_set(esp_periph_set_handle_t periph_set_handle,
                                     esp_periph_handle_t periph) {
  STAILQ_REMOVE(&periph_set_handle->periph_list, periph, esp_periph, entries);
  return ESP_OK;
}

esp_err_t esp_periph_set_destroy(esp_periph_set_handle_t periph_set_handle) {
  if (periph_set_handle == NULL) {
    AUDIO_ERROR(TAG, "Peripherals have not been initialized");
    return ESP_FAIL;
  }
  periph_set_handle->run = false;
  esp_periph_wait_for_stop(periph_set_handle, portMAX_DELAY);
  esp_periph_handle_t item, tmp;
  STAILQ_FOREACH_SAFE(item, &periph_set_handle->periph_list, entries, tmp) {
    STAILQ_REMOVE(&periph_set_handle->periph_list, item, esp_periph, entries);
    audio_free(item->tag);
    audio_free(item);
  }
  mutex_destroy(periph_set_handle->lock);
  vEventGroupDelete(periph_set_handle->state_event_bits);

  gpio_uninstall_isr_service();
  audio_event_iface_destroy(periph_set_handle->event_handle.iface);
  audio_free(periph_set_handle);
  periph_set_handle = NULL;
  return ESP_OK;
}

esp_err_t esp_periph_set_stop_all(esp_periph_set_handle_t periph_set_handle) {
  if (periph_set_handle == NULL) {
    AUDIO_ERROR(TAG, "Peripherals have not been initialized");
    return ESP_FAIL;
  }
  esp_periph_handle_t periph;
  STAILQ_FOREACH(periph, &periph_set_handle->periph_list, entries) {
    periph->disabled = true;
  }
  return ESP_OK;
}

esp_periph_handle_t esp_periph_set_get_by_id(
    esp_periph_set_handle_t periph_set_handle, int periph_id) {
  esp_periph_handle_t periph;
  if (periph_set_handle == NULL) {
    AUDIO_ERROR(TAG, "Peripherals have not been initialized");
    return NULL;
  }
  mutex_lock(periph_set_handle->lock);
  STAILQ_FOREACH(periph, &periph_set_handle->periph_list, entries) {
    if (periph->periph_id == periph_id) {
      mutex_unlock(periph_set_handle->lock);
      return periph;
    }
  }
  ESP_LOGD(TAG, "Periph id %d not found", periph_id);
  mutex_unlock(periph_set_handle->lock);
  return NULL;
}

audio_event_iface_handle_t esp_periph_set_get_event_iface(
    esp_periph_set_handle_t periph_set_handle) {
  return periph_set_handle->event_handle.iface;
}

esp_err_t esp_periph_set_register_callback(
    esp_periph_set_handle_t periph_set_handle, esp_periph_event_handle_t cb,
    void *user_context) {
  if (periph_set_handle == NULL) {
    return ESP_FAIL;
  } else {
    periph_set_handle->event_handle.cb = cb;
    periph_set_handle->event_handle.user_ctx = user_context;
    return ESP_OK;
  }
}

QueueHandle_t esp_periph_set_get_queue(
    esp_periph_set_handle_t periph_set_handle) {
  return audio_event_iface_get_queue_handle(
      periph_set_handle->event_handle.iface);
}

esp_err_t esp_periph_wait_for_stop(esp_periph_set_handle_t periph_set_handle,
                                   TickType_t ticks_to_wait) {
  EventGroupHandle_t ev_bits = periph_set_handle->state_event_bits;

  EventBits_t uxBits =
      xEventGroupWaitBits(ev_bits, STOPPED_BIT, false, true, ticks_to_wait);
  if (uxBits & STOPPED_BIT) {
    return ESP_OK;
  }
  return ESP_FAIL;
}

esp_err_t esp_periph_set_list_init(esp_periph_set_handle_t periph_set) {
  esp_periph_handle_t periph;
  STAILQ_FOREACH(periph, &periph_set->periph_list, entries) {
    if (periph->init) {
      periph->init(periph);
    }
  }
  return ESP_OK;
}

esp_err_t esp_periph_set_list_run(esp_periph_set_handle_t periph_set,
                                  audio_event_iface_msg_t msg) {
  esp_periph_handle_t periph;
  STAILQ_FOREACH(periph, &periph_set->periph_list, entries) {
    if (periph->run) {
      periph->run(periph, &msg);
    }
  }
  return ESP_OK;
}

esp_err_t esp_periph_set_list_destroy(esp_periph_set_handle_t periph_set) {
  esp_periph_handle_t periph;
  STAILQ_FOREACH(periph, &periph_set->periph_list, entries) {
    if (periph->destroy) {
      periph->destroy(periph);
    }
  }
  return ESP_OK;
}

esp_periph_handle_t esp_periph_create(int periph_id, const char *tag) {
  esp_periph_handle_t new_entry = audio_calloc(1, sizeof(struct esp_periph));

  AUDIO_MEM_CHECK(TAG, new_entry, return NULL);
  if (tag) {
    new_entry->tag = audio_strdup(tag);
  } else {
    new_entry->tag = audio_strdup("periph");
  }
  AUDIO_MEM_CHECK(TAG, new_entry->tag, {
    audio_free(new_entry);
    return NULL;
  })
  new_entry->state = PERIPH_STATE_INIT;
  new_entry->periph_id = periph_id;
  return new_entry;
}

esp_err_t esp_periph_set_function(esp_periph_handle_t periph,
                                  esp_periph_func init, esp_periph_run_func run,
                                  esp_periph_func destroy) {
  periph->init = init;
  periph->run = run;
  periph->destroy = destroy;
  return ESP_OK;
}

esp_err_t esp_periph_start(esp_periph_set_handle_t periph_set_handle,
                           esp_periph_handle_t periph) {
  if (periph_set_handle == NULL) {
    AUDIO_ERROR(TAG, "Peripherals have not been initialized");
    return ESP_FAIL;
  }
  if (esp_periph_set_get_by_id(periph_set_handle, periph->periph_id) != NULL) {
    ESP_LOGI(TAG, "This peripheral has been added");
    periph->disabled = false;
  } else {
    esp_periph_register_on_events(periph, &periph_set_handle->event_handle);
    STAILQ_INSERT_TAIL(&periph_set_handle->periph_list, periph, entries);
  }
  if (periph_set_handle->run == false && periph_set_handle->task_stack > 0) {
    periph_set_handle->run = true;
    if (audio_thread_create(
            &periph_set_handle->audio_thread, "esp_periph", esp_periph_task,
            periph_set_handle, periph_set_handle->task_stack,
            periph_set_handle->task_prio, periph_set_handle->ext_stack,
            periph_set_handle->task_core) != ESP_OK) {
      ESP_LOGE(TAG, "Create [%s] task failed", periph->tag);
      return ESP_FAIL;
    }
  }
  return ESP_OK;
}

esp_err_t esp_periph_stop(esp_periph_handle_t periph) {
  if (periph) {
    periph->disabled = true;
    return ESP_OK;
  }
  return ESP_OK;
}

esp_err_t esp_periph_send_cmd(esp_periph_handle_t periph, int cmd, void *data,
                              int data_len) {
  if (periph->on_evt == NULL) {
    return ESP_FAIL;
  }
  audio_event_iface_msg_t msg;
  msg.cmd = cmd;
  msg.source = periph;
  msg.source_type = periph->periph_id;
  msg.data = (void *)data;
  msg.data_len = data_len;
  return audio_event_iface_cmd(periph->on_evt->iface, &msg);
}

esp_err_t esp_periph_send_cmd_from_isr(esp_periph_handle_t periph, int cmd,
                                       void *data, int data_len) {
  if (periph->on_evt == NULL) {
    return ESP_FAIL;
  }
  audio_event_iface_msg_t msg;
  msg.cmd = cmd;
  msg.source = periph;
  msg.source_type = periph->periph_id;
  msg.data = (void *)data;
  msg.data_len = data_len;
  return audio_event_iface_cmd_from_isr(periph->on_evt->iface, &msg);
}

esp_err_t esp_periph_send_event(esp_periph_handle_t periph, int event_id,
                                void *data, int data_len) {
  if (periph->on_evt == NULL) {
    return ESP_FAIL;
  }
  audio_event_iface_msg_t msg;
  msg.source_type = periph->periph_id;
  msg.cmd = event_id;
  msg.data = data;
  msg.data_len = data_len;
  msg.need_free_data = false;
  msg.source = periph;

  if (periph->on_evt->cb) {
    periph->on_evt->cb(&msg, periph->on_evt->user_ctx);
  }
  return audio_event_iface_sendout(periph->on_evt->iface, &msg);
}

esp_err_t esp_periph_start_timer(esp_periph_handle_t periph,
                                 TickType_t interval_tick,
                                 timer_callback callback) {
  if (periph->timer == NULL) {
    periph->timer =
        xTimerCreate("periph_itmer", interval_tick, pdTRUE, periph, callback);
    if (xTimerStart(periph->timer, 0) != pdTRUE) {
      AUDIO_ERROR(TAG, "Error to starting timer");
      return ESP_FAIL;
    }
  }
  return ESP_OK;
}

esp_err_t esp_periph_stop_timer(esp_periph_handle_t periph) {
  if (periph->timer) {
    xTimerStop(periph->timer, portMAX_DELAY);
    xTimerDelete(periph->timer, portMAX_DELAY);
    periph->timer = NULL;
  }
  return ESP_OK;
}

esp_err_t esp_periph_set_data(esp_periph_handle_t periph, void *data) {
  periph->periph_data = data;
  return ESP_OK;
}

void *esp_periph_get_data(esp_periph_handle_t periph) {
  return periph->periph_data;
}

esp_periph_state_t esp_periph_get_state(esp_periph_handle_t periph) {
  return periph->state;
}

esp_periph_id_t esp_periph_get_id(esp_periph_handle_t periph) {
  return periph->periph_id;
}

esp_err_t esp_periph_set_id(esp_periph_handle_t periph,
                            esp_periph_id_t periph_id) {
  periph->periph_id = periph_id;
  return ESP_OK;
}

esp_err_t esp_periph_init(esp_periph_handle_t periph) {
  return periph->init(periph);
}

esp_err_t esp_periph_run(esp_periph_handle_t periph) {
  return periph->run(periph, NULL);
}

esp_err_t esp_periph_destroy(esp_periph_handle_t periph) {
  return periph->destroy(periph);
}

esp_err_t esp_periph_register_on_events(esp_periph_handle_t periph,
                                        esp_periph_event_t *evts) {
  periph->on_evt = evts;
  return ESP_OK;
}