TactilityCore improvements (#187)

FreeRTOS handles were stored plainly and they were deleted in the destructor of classes.
This meant that if a class were to be copied, the destructor would be called twice on the same handles and lead to double-free.

Seha on Discord suggested to fix this by using `std::unique_ptr` with a custom deletion function.

The changes affect:
- Thread
- Semaphore
- Mutex
- StreamBuffer
- Timer
- MessageQueue
- EventFlag

Thread  changes:
- Removal of the hack with the `Data` struct
- Thread's main body is now just a private static function inside the class.
- The C functions were relocated to static class members

PubSub changes:
- Refactored pubsub into class
- Renamed files to `PubSub` instead of `Pubsub`
- `PubSubSubscription` is now a private inner struct and `PubSub` only exposes `SubscriptionHandle`

Lockable, ScopedLockable, Mutex:
- Added `lock()` method that locks indefinitely
- Remove deprecated `acquire()` and `release()` methods
- Removed `TtWaitForever` in favour of `portMAX_DELAY`

.github/PULL_REQUEST_TEMPLATE/pull_request_template.md

@@ -0,0 +1,8 @@
+### Checklist 
+
+- [ ] I read [contribution guidelines](https://github.com/ByteWelder/Tactility/blob/main/CONTRIBUTING.md)
+- [ ] Code adheres to the [coding style](https://github.com/ByteWelder/Tactility/blob/main/CODING_STYLE.md)
+
+### Description
+
+(describe what your changes are)

.github/workflows/build-firmware.yml

@@ -1,6 +1,8 @@
 name: Build Firmware
 on:
   push:
+    branches:
+      - main
   pull_request:
     types: [opened, synchronize, reopened]
 

.github/workflows/build-sdk.yml

@@ -1,6 +1,8 @@
 name: Build SDK
 on:
   push:
+    branches:
+      - main
   pull_request:
     types: [opened, synchronize, reopened]
 

.github/workflows/build-simulator.yml

@@ -2,6 +2,8 @@
 name: Build Simulator
 on:
   push:
+    branches:
+      - main
   pull_request:
     types: [opened, synchronize, reopened]
 jobs:

.github/workflows/tests.yml

@@ -1,6 +1,8 @@
 name: Tests
 on:
   push:
+    branches:
+      - main
   pull_request:
     types: [opened, synchronize, reopened]
 jobs:

Boards/Simulator/Source/LvglTask.cpp

@@ -19,12 +19,12 @@ static bool task_running = false;
 
 static void lvgl_task(void* arg);
 
-static bool task_lock(int timeout_ticks) {
+static bool task_lock(TickType_t timeout) {
-    return task_mutex.acquire(timeout_ticks) == tt::TtStatusOk;
+    return task_mutex.lock(timeout);
 }
 
 static void task_unlock() {
-    task_mutex.release();
+    task_mutex.unlock();
 }
 
 static void task_set_running(bool running) {
@@ -41,15 +41,15 @@ bool lvgl_task_is_running() {
 }
 
 static bool lvgl_lock(uint32_t timeoutMillis) {
-    return lvgl_mutex.acquire(pdMS_TO_TICKS(timeoutMillis)) == tt::TtStatusOk;
+    return lvgl_mutex.lock(pdMS_TO_TICKS(timeoutMillis));
 }
 
 static void lvgl_unlock() {
-    lvgl_mutex.release();
+    lvgl_mutex.unlock();
 }
 
 void lvgl_task_interrupt() {
-    tt_check(task_lock(tt::TtWaitForever));
+    tt_check(task_lock(portMAX_DELAY));
     task_set_running(false); // interrupt task with boolean as flag
     task_unlock();
 }

Documentation/ideas.md

@@ -1,22 +1,9 @@
-# Issues
-- WiFi bug: when pressing disconnect while between `WIFI_EVENT_STA_START` and `IP_EVENT_STA_GOT_IP`, then auto-connect becomes active again.
-- ESP32 (CYD) memory issues (or any device without PSRAM):
-  - Boot app doesn't show logo 
-  - WiFi is on and navigating back to Desktop makes desktop icons disappear
-  - WiFi might fail quietly when trying to enable it: this shows no feedback (force it by increasing LVGL buffers to 100kB)
-  Possible mitigations: 
-  - When no PSRAM is available, use simplified desktop buttons
-  - Add statusbar icon for memory pressure.
-  - Show error in WiFi screen (e.g. AlertDialog when SPI is not enabled and available memory is below a certain amount)
-- Clean up static_cast when casting to base class.
-- EventFlag: Fix return value of set/get/wait (the errors are weirdly mixed in)
-- Fix bug in T-Deck/etc: esp_lvgl_port settings has a large stack size (~9kB) to fix an issue where the T-Deck would get a stackoverflow. This sometimes happens when WiFi is auto-enabled and you open the app while it is still connecting.
-- M5Stack Core only shows 4MB of SPIRAM in use
-
 # TODOs
+- Fix bug in T-Deck/etc: esp_lvgl_port settings has a large stack size (~9kB) to fix an issue where the T-Deck would get a stackoverflow. This sometimes happens when WiFi is auto-enabled and you open the app while it is still connecting.
+- Clean up static_cast when casting to base class.
+- Mutex: Implement give/take from ISR support (works only for non-recursive ones)
 - Extend unPhone power driver: add charging status, usb connection status, etc.
 - Expose app::Paths to TactilityC
-- Refactor ServiceManifest into C++ class-based design like the App class
 - Experiment with what happens when using C++ code in an external app (without using standard library!)
 - Boards' CMakeLists.txt manually declare each source folder. Update them all to do a recursive search of all folders.
 - We currently build all boards for a given platform (e.g. ESP32S3), but it's better to filter all irrelevant ones based on the Kconfig board settings:

Tactility/Private/app/files/State.h

@@ -42,7 +42,7 @@ public:
     bool setEntriesForPath(const std::string& path);
 
     const std::vector<dirent>& lockEntries() const {
-        mutex.lock(TtWaitForever);
+        mutex.lock();
         return dir_entries;
     }
 

Tactility/Private/app/wificonnect/WifiConnectPrivate.h

@@ -21,7 +21,7 @@ private:
         .onConnectSsidContext = nullptr
     };
     View view = View(&bindings, &state);
-    PubSubSubscription* wifiSubscription;
+    PubSub::SubscriptionHandle wifiSubscription;
     bool view_enabled = false;
 
 public:

Tactility/Private/app/wifimanage/WifiManagePrivate.h

@@ -12,7 +12,7 @@ class WifiManage : public App {
 
 private:
 
-    PubSubSubscription* wifiSubscription = nullptr;
+    PubSub::SubscriptionHandle wifiSubscription = nullptr;
     Mutex mutex;
     Bindings bindings = { };
     State state;

Tactility/Private/service/gui/Gui_i.h

@@ -2,7 +2,7 @@
 
 #include "MessageQueue.h"
 #include "Mutex.h"
-#include "Pubsub.h"
+#include "PubSub.h"
 #include "service/gui/Gui.h"
 #include <cstdio>
 #include <lvgl.h>
@@ -19,7 +19,7 @@ struct Gui {
     // Thread and lock
     Thread* thread = nullptr;
     Mutex mutex = Mutex(Mutex::Type::Recursive);
-    PubSubSubscription* loader_pubsub_subscription = nullptr;
+    PubSub::SubscriptionHandle loader_pubsub_subscription = nullptr;
 
     // Layers and Canvas
     lv_obj_t* appRootWidget = nullptr;

Tactility/Private/service/loader/Loader_i.h

@@ -1,16 +1,16 @@
 #pragma once
 
-#include "app/AppManifest.h"
-#include "app/AppInstance.h"
 #include "EventFlag.h"
 #include "MessageQueue.h"
-#include "Pubsub.h"
+#include "PubSub.h"
-#include "Thread.h"
-#include "service/loader/Loader.h"
 #include "RtosCompatSemaphore.h"
+#include "Thread.h"
+#include "app/AppInstance.h"
+#include "app/AppManifest.h"
+#include "service/loader/Loader.h"
+#include <DispatcherThread.h>
 #include <stack>
 #include <utility>
-#include <DispatcherThread.h>
 
 namespace tt::service::loader {
 

Tactility/Source/Tactility.cpp

@@ -163,7 +163,7 @@ void run(const Configuration& config) {
 
     TT_LOG_I(TAG, "Processing main dispatcher");
     while (true) {
-        getMainDispatcher().consume(TtWaitForever);
+        getMainDispatcher().consume();
     }
 }
 

Tactility/Source/app/AppInstance.cpp

@@ -6,15 +6,15 @@ namespace tt::app {
 #define TAG "app"
 
 void AppInstance::setState(State newState) {
-    mutex.acquire(TtWaitForever);
+    mutex.lock();
     state = newState;
-    mutex.release();
+    mutex.unlock();
 }
 
 State AppInstance::getState() const {
-    mutex.acquire(TtWaitForever);
+    mutex.lock();
     auto result = state;
-    mutex.release();
+    mutex.unlock();
     return result;
 }
 
@@ -30,22 +30,22 @@ const AppManifest& AppInstance::getManifest() const {
 }
 
 Flags AppInstance::getFlags() const {
-    mutex.acquire(TtWaitForever);
+    mutex.lock();
     auto result = flags;
-    mutex.release();
+    mutex.unlock();
     return result;
 }
 
 void AppInstance::setFlags(Flags newFlags) {
-    mutex.acquire(TtWaitForever);
+    mutex.lock();
     flags = newFlags;
-    mutex.release();
+    mutex.unlock();
 }
 
 std::shared_ptr<const Bundle> AppInstance::getParameters() const {
-    mutex.acquire(TtWaitForever);
+    mutex.lock();
     std::shared_ptr<const Bundle> result = parameters;
-    mutex.release();
+    mutex.unlock();
     return result;
 }
 

Tactility/Source/app/ManifestRegistry.cpp

@@ -15,7 +15,7 @@ static Mutex hash_mutex(Mutex::Type::Normal);
 void addApp(const AppManifest& manifest) {
     TT_LOG_I(TAG, "Registering manifest %s", manifest.id.c_str());
 
-    hash_mutex.acquire(TtWaitForever);
+    hash_mutex.lock();
 
     if (!app_manifest_map.contains(manifest.id)) {
         app_manifest_map[manifest.id] = std::make_shared<AppManifest>(manifest);
@@ -23,13 +23,13 @@ void addApp(const AppManifest& manifest) {
         TT_LOG_E(TAG, "App id in use: %s", manifest.id.c_str());
     }
 
-    hash_mutex.release();
+    hash_mutex.unlock();
 }
 
 _Nullable std::shared_ptr<AppManifest> findAppById(const std::string& id) {
-    hash_mutex.acquire(TtWaitForever);
+    hash_mutex.lock();
     auto result = app_manifest_map.find(id);
-    hash_mutex.release();
+    hash_mutex.unlock();
     if (result != app_manifest_map.end()) {
         return result->second;
     } else {
@@ -39,11 +39,11 @@ _Nullable std::shared_ptr<AppManifest> findAppById(const std::string& id) {
 
 std::vector<std::shared_ptr<AppManifest>> getApps() {
     std::vector<std::shared_ptr<AppManifest>> manifests;
-    hash_mutex.acquire(TtWaitForever);
+    hash_mutex.lock();
     for (const auto& item: app_manifest_map) {
         manifests.push_back(item.second);
     }
-    hash_mutex.release();
+    hash_mutex.unlock();
     return manifests;
 }
 

Tactility/Source/app/gpio/Gpio.cpp

@@ -26,11 +26,11 @@ private:
 public:
 
     void lock() const {
-        tt_check(mutex.acquire(1000) == TtStatusOk);
+        tt_check(mutex.lock(1000));
     }
 
     void unlock() const {
-        tt_check(mutex.release() == TtStatusOk);
+        tt_check(mutex.unlock());
     }
 
     void onShow(AppContext& app, lv_obj_t* parent) override;

Tactility/Source/app/i2cscanner/I2cScanner.cpp

@@ -115,12 +115,12 @@ void I2cScannerApp::onShow(AppContext& app, lv_obj_t* parent) {
 
 void I2cScannerApp::onHide(AppContext& app) {
     bool isRunning = false;
-    if (mutex.acquire(250 / portTICK_PERIOD_MS) == TtStatusOk) {
+    if (mutex.lock(250 / portTICK_PERIOD_MS)) {
         auto* timer = scanTimer.get();
         if (timer != nullptr) {
             isRunning = timer->isRunning();
         }
-        mutex.release();
+        mutex.unlock();
     } else {
         return;
     }
@@ -158,9 +158,9 @@ void I2cScannerApp::onScanTimerCallback(TT_UNUSED std::shared_ptr<void> context)
 // endregion Callbacks
 
 bool I2cScannerApp::getPort(i2c_port_t* outPort) {
-    if (mutex.acquire(100 / portTICK_PERIOD_MS) == TtStatusOk) {
+    if (mutex.lock(100 / portTICK_PERIOD_MS)) {
         *outPort = this->port;
-        assert(mutex.release() == TtStatusOk);
+        mutex.unlock();
         return true;
     } else {
         TT_LOG_W(TAG, LOG_MESSAGE_MUTEX_LOCK_FAILED_FMT, "getPort");
@@ -169,9 +169,9 @@ bool I2cScannerApp::getPort(i2c_port_t* outPort) {
 }
 
 bool I2cScannerApp::addAddressToList(uint8_t address) {
-    if (mutex.acquire(100 / portTICK_PERIOD_MS) == TtStatusOk) {
+    if (mutex.lock(100 / portTICK_PERIOD_MS)) {
         scannedAddresses.push_back(address);
-        assert(mutex.release() == TtStatusOk);
+        mutex.unlock();
         return true;
     } else {
         TT_LOG_W(TAG, LOG_MESSAGE_MUTEX_LOCK_FAILED_FMT, "addAddressToList");
@@ -180,9 +180,9 @@ bool I2cScannerApp::addAddressToList(uint8_t address) {
 }
 
 bool I2cScannerApp::shouldStopScanTimer() {
-    if (mutex.acquire(100 / portTICK_PERIOD_MS) == TtStatusOk) {
+    if (mutex.lock(100 / portTICK_PERIOD_MS)) {
         bool is_scanning = scanState == ScanStateScanning;
-        tt_check(mutex.release() == TtStatusOk);
+        mutex.unlock();
         return !is_scanning;
     } else {
         return true;
@@ -222,9 +222,9 @@ void I2cScannerApp::onScanTimer() {
 
 bool I2cScannerApp::hasScanThread() {
     bool has_thread;
-    if (mutex.acquire(100 / portTICK_PERIOD_MS) == TtStatusOk) {
+    if (mutex.lock(100 / portTICK_PERIOD_MS)) {
         has_thread = scanTimer != nullptr;
-        tt_check(mutex.release() == TtStatusOk);
+        mutex.unlock();
         return has_thread;
     } else {
         // Unsafe way
@@ -238,7 +238,7 @@ void I2cScannerApp::startScanning() {
         stopScanning();
     }
 
-    if (mutex.acquire(100 / portTICK_PERIOD_MS) == TtStatusOk) {
+    if (mutex.lock(100 / portTICK_PERIOD_MS)) {
         scannedAddresses.clear();
 
         lv_obj_add_flag(scanListWidget, LV_OBJ_FLAG_HIDDEN);
@@ -250,16 +250,16 @@ void I2cScannerApp::startScanning() {
             onScanTimerCallback
         );
         scanTimer->start(10);
-        tt_check(mutex.release() == TtStatusOk);
+        mutex.unlock();
     } else {
         TT_LOG_W(TAG, LOG_MESSAGE_MUTEX_LOCK_FAILED_FMT, "startScanning");
     }
 }
 void I2cScannerApp::stopScanning() {
-    if (mutex.acquire(250 / portTICK_PERIOD_MS) == TtStatusOk) {
+    if (mutex.lock(250 / portTICK_PERIOD_MS)) {
         assert(scanTimer != nullptr);
         scanState = ScanStateStopped;
-        tt_check(mutex.release() == TtStatusOk);
+        mutex.unlock();
     } else {
         TT_LOG_E(TAG, LOG_MESSAGE_MUTEX_LOCK_FAILED);
     }
@@ -271,11 +271,11 @@ void I2cScannerApp::onSelectBus(lv_event_t* event) {
     auto i2c_devices = tt::getConfiguration()->hardware->i2c;
     assert(selected < i2c_devices.size());
 
-    if (mutex.acquire(100 / portTICK_PERIOD_MS) == TtStatusOk) {
+    if (mutex.lock(100 / portTICK_PERIOD_MS)) {
         scannedAddresses.clear();
         port = i2c_devices[selected].port;
         scanState = ScanStateInitial;
-        tt_check(mutex.release() == TtStatusOk);
+        mutex.unlock();
 
         updateViews();
     }
@@ -293,7 +293,7 @@ void I2cScannerApp::onPressScan(TT_UNUSED lv_event_t* event) {
 }
 
 void I2cScannerApp::updateViews() {
-    if (mutex.acquire(100 / portTICK_PERIOD_MS) == TtStatusOk) {
+    if (mutex.lock(100 / portTICK_PERIOD_MS)) {
         if (scanState == ScanStateScanning) {
             lv_label_set_text(scanButtonLabelWidget, STOP_SCAN_TEXT);
             lv_obj_remove_flag(portDropdownWidget, LV_OBJ_FLAG_CLICKABLE);
@@ -317,7 +317,7 @@ void I2cScannerApp::updateViews() {
             lv_obj_add_flag(scanListWidget, LV_OBJ_FLAG_HIDDEN);
         }
 
-        tt_check(mutex.release() == TtStatusOk);
+        mutex.unlock();
     } else {
         TT_LOG_W(TAG, LOG_MESSAGE_MUTEX_LOCK_FAILED_FMT, "updateViews");
     }
@@ -333,12 +333,12 @@ void I2cScannerApp::updateViewsSafely() {
 }
 
 void I2cScannerApp::onScanTimerFinished() {
-    if (mutex.acquire(100 / portTICK_PERIOD_MS) == TtStatusOk) {
+    if (mutex.lock(100 / portTICK_PERIOD_MS)) {
         if (scanState == ScanStateScanning) {
             scanState = ScanStateStopped;
             updateViewsSafely();
         }
-        tt_check(mutex.release() == TtStatusOk);
+        mutex.unlock();
     } else {
         TT_LOG_W(TAG, LOG_MESSAGE_MUTEX_LOCK_FAILED_FMT, "onScanTimerFinished");
     }

Tactility/Source/app/wificonnect/State.cpp

@@ -1,47 +1,46 @@
 #include "app/wificonnect/State.h"
-#include "Check.h"
 #include <cstring>
 
 namespace tt::app::wificonnect {
 
 void State::setConnectionError(bool error) {
-    tt_check(lock.acquire(TtWaitForever) == TtStatusOk);
+    lock.lock();
     connectionError = error;
-    tt_check(lock.release() == TtStatusOk);
+    lock.unlock();
 }
 
 bool State::hasConnectionError() const {
-    tt_check(lock.acquire(TtWaitForever) == TtStatusOk);
+    lock.lock();
     auto result = connectionError;
-    tt_check(lock.release() == TtStatusOk);
+    lock.unlock();
     return result;
 }
 
 void State::setApSettings(const service::wifi::settings::WifiApSettings* newSettings) {
-    tt_check(lock.acquire(TtWaitForever) == TtStatusOk);
+    lock.lock();
     memcpy(&this->apSettings, newSettings, sizeof(service::wifi::settings::WifiApSettings));
-    tt_check(lock.release() == TtStatusOk);
+    lock.unlock();
 }
 
 const service::wifi::settings::WifiApSettings& State::lockApSettings() {
-    tt_check(lock.acquire(TtWaitForever) == TtStatusOk);
+    lock.lock();
     return apSettings;
 }
 
 void State::unlockApSettings() {
-    tt_check(lock.release() == TtStatusOk);
+    lock.unlock();
 }
 
 void State::setConnecting(bool isConnecting) {
-    tt_check(lock.acquire(TtWaitForever) == TtStatusOk);
+    lock.lock();
     connecting = isConnecting;
-    tt_check(lock.release() == TtStatusOk);
+    lock.unlock();
 }
 
 bool State::isConnecting() const {
-    tt_check(lock.acquire(TtWaitForever) == TtStatusOk);
+    lock.lock();
     auto result = connecting;
-    tt_check(lock.release() == TtStatusOk);
+    lock.unlock();
     return result;
 }
 

Tactility/Source/app/wificonnect/WifiConnect.cpp

@@ -56,8 +56,7 @@ static void onConnect(const service::wifi::settings::WifiApSettings* ap_settings
 }
 
 WifiConnect::WifiConnect() {
-    auto wifi_pubsub = service::wifi::getPubsub();
+    wifiSubscription = service::wifi::getPubsub()->subscribe(&eventCallback, this);
-    wifiSubscription = tt_pubsub_subscribe(wifi_pubsub, &eventCallback, this);
     bindings = (Bindings) {
         .onConnectSsid = onConnect,
         .onConnectSsidContext = this,
@@ -65,16 +64,15 @@ WifiConnect::WifiConnect() {
 }
 
 WifiConnect::~WifiConnect() {
-    auto pubsub = service::wifi::getPubsub();
+    service::wifi::getPubsub()->unsubscribe(wifiSubscription);
-    tt_pubsub_unsubscribe(pubsub, wifiSubscription);
 }
 
 void WifiConnect::lock() {
-    tt_check(mutex.acquire(TtWaitForever) == TtStatusOk);
+    mutex.lock();
 }
 
 void WifiConnect::unlock() {
-    tt_check(mutex.release() == TtStatusOk);
+    mutex.unlock();
 }
 
 void WifiConnect::requestViewUpdate() {

Tactility/Source/app/wifimanage/State.cpp

@@ -1,63 +1,61 @@
-#include <Check.h>
 #include "app/wifimanage/WifiManagePrivate.h"
 
 namespace tt::app::wifimanage {
 
 void State::setScanning(bool isScanning) {
-    tt_check(mutex.acquire(TtWaitForever) == TtStatusOk);
+    mutex.lock();
     scanning = isScanning;
     scannedAfterRadioOn |= isScanning;
-    tt_check(mutex.release() == TtStatusOk);
+    mutex.unlock();
 }
 
 void State::setRadioState(service::wifi::RadioState state) {
-    tt_check(mutex.acquire(TtWaitForever) == TtStatusOk);
+    mutex.lock();
     radioState = state;
     if (radioState == service::wifi::RadioState::Off) {
         scannedAfterRadioOn = false;
     }
-    tt_check(mutex.release() == TtStatusOk);
+    mutex.unlock();
 }
 
 service::wifi::RadioState State::getRadioState() const {
-    tt_check(mutex.acquire(TtWaitForever) == TtStatusOk);
+    mutex.lock();
     auto result = radioState;
-    tt_check(mutex.release() == TtStatusOk);
+    mutex.unlock();
     return result;
 }
 
 bool State::isScanning() const {
-    tt_check(mutex.acquire(TtWaitForever) == TtStatusOk);
+    mutex.lock();
     bool result = scanning;
-    tt_check(mutex.release() == TtStatusOk);
+    mutex.unlock();
     return result;
 }
 
 const std::vector<service::wifi::ApRecord>& State::lockApRecords() const {
-    tt_check(mutex.acquire(TtWaitForever) == TtStatusOk);
+    mutex.lock();
     return apRecords;
 }
 
 void State::unlockApRecords() const {
-    tt_check(mutex.release() == TtStatusOk);
+    mutex.unlock();
 }
 
 void State::updateApRecords() {
-    tt_check(mutex.acquire(TtWaitForever) == TtStatusOk);
+    mutex.lock();
     apRecords = service::wifi::getScanResults();
-    tt_check(mutex.release() == TtStatusOk);
+    mutex.unlock();
 }
 
 void State::setConnectSsid(const std::string& ssid) {
-    tt_check(mutex.acquire(TtWaitForever) == TtStatusOk);
+    mutex.lock();
     connectSsid = ssid;
-    tt_check(mutex.release() == TtStatusOk);
+    mutex.unlock();
 }
 
 std::string State::getConnectSsid() const {
-    tt_check(mutex.acquire(TtWaitForever) == TtStatusOk);
+    mutex.lock();
     auto result = connectSsid;
-    tt_check(mutex.release() == TtStatusOk);
     return result;
 }
 

Tactility/Source/app/wifimanage/WifiManage.cpp

@@ -64,11 +64,11 @@ WifiManage::WifiManage() {
 }
 
 void WifiManage::lock() {
-    tt_check(mutex.acquire(TtWaitForever) == TtStatusOk);
+    mutex.lock();
 }
 
 void WifiManage::unlock() {
-    tt_check(mutex.release() == TtStatusOk);
+    mutex.unlock();
 }
 
 void WifiManage::requestViewUpdate() {
@@ -111,8 +111,7 @@ static void wifiManageEventCallback(const void* message, void* context) {
 }
 
 void WifiManage::onShow(AppContext& app, lv_obj_t* parent) {
-    auto wifi_pubsub = service::wifi::getPubsub();
+    wifiSubscription = service::wifi::getPubsub()->subscribe(&wifiManageEventCallback, this);
-    wifiSubscription = tt_pubsub_subscribe(wifi_pubsub, &wifiManageEventCallback, this);
 
     // State update (it has its own locking)
     state.setRadioState(service::wifi::getRadioState());
@@ -139,8 +138,7 @@ void WifiManage::onShow(AppContext& app, lv_obj_t* parent) {
 
 void WifiManage::onHide(TT_UNUSED AppContext& app) {
     lock();
-    auto wifi_pubsub = service::wifi::getPubsub();
+    service::wifi::getPubsub()->unsubscribe(wifiSubscription);
-    tt_pubsub_unsubscribe(wifi_pubsub, wifiSubscription);
     wifiSubscription = nullptr;
     isViewEnabled = false;
     unlock();

Tactility/Source/lvgl/LvglSync.cpp

@@ -6,11 +6,11 @@ namespace tt::lvgl {
 static Mutex lockMutex;
 
 static bool defaultLock(uint32_t timeoutMillis) {
-    return lockMutex.acquire(timeoutMillis) == TtStatusOk;
+    return lockMutex.lock(timeoutMillis);
 }
 
 static void defaultUnlock() {
-    lockMutex.release();
+    lockMutex.unlock();
 }
 
 static LvglLock lock_singleton = defaultLock;

Tactility/Source/lvgl/Statusbar.cpp

@@ -4,7 +4,7 @@
 #include "Statusbar.h"
 
 #include "Mutex.h"
-#include "Pubsub.h"
+#include "PubSub.h"
 #include "TactilityCore.h"
 #include "lvgl/Style.h"
 
@@ -43,10 +43,10 @@ typedef struct {
     lv_obj_t* time;
     lv_obj_t* icons[STATUSBAR_ICON_LIMIT];
     lv_obj_t* battery_icon;
-    PubSubSubscription* pubsub_subscription;
+    PubSub::SubscriptionHandle pubsub_subscription;
 } Statusbar;
 
-static bool statusbar_lock(uint32_t timeoutTicks) {
+static bool statusbar_lock(uint32_t timeoutTicks = portMAX_DELAY) {
     return statusbar_data.mutex.lock(timeoutTicks);
 }
 
@@ -83,7 +83,7 @@ static void onUpdateTime(TT_UNUSED std::shared_ptr<void> context) {
             statusbar_data.time_update_timer->start(getNextUpdateTime());
 
             // Notify widget
-            tt_pubsub_publish(statusbar_data.pubsub, nullptr);
+            statusbar_data.pubsub->publish(nullptr);
         } else {
             statusbar_data.time_update_timer->start(pdMS_TO_TICKS(60000U));
         }
@@ -132,7 +132,7 @@ static void statusbar_constructor(const lv_obj_class_t* class_p, lv_obj_t* obj)
     lv_obj_remove_flag(obj, LV_OBJ_FLAG_SCROLLABLE);
     LV_TRACE_OBJ_CREATE("finished");
     auto* statusbar = (Statusbar*)obj;
-    statusbar->pubsub_subscription = tt_pubsub_subscribe(statusbar_data.pubsub, &statusbar_pubsub_event, statusbar);
+    statusbar->pubsub_subscription = statusbar_data.pubsub->subscribe(&statusbar_pubsub_event, statusbar);
 
     if (!statusbar_data.time_update_timer->isRunning()) {
         statusbar_data.time_update_timer->start(50 / portTICK_PERIOD_MS);
@@ -145,7 +145,7 @@ static void statusbar_constructor(const lv_obj_class_t* class_p, lv_obj_t* obj)
 
 static void statusbar_destructor(TT_UNUSED const lv_obj_class_t* class_p, lv_obj_t* obj) {
     auto* statusbar = (Statusbar*)obj;
-    tt_pubsub_unsubscribe(statusbar_data.pubsub, statusbar->pubsub_subscription);
+    statusbar_data.pubsub->unsubscribe(statusbar->pubsub_subscription);
 }
 
 static void update_icon(lv_obj_t* image, const StatusbarIcon* icon) {
@@ -181,7 +181,7 @@ lv_obj_t* statusbar_create(lv_obj_t* parent) {
     obj_set_style_bg_invisible(left_spacer);
     lv_obj_set_flex_grow(left_spacer, 1);
 
-    statusbar_lock(TtWaitForever);
+    statusbar_lock(portMAX_DELAY);
     for (int i = 0; i < STATUSBAR_ICON_LIMIT; ++i) {
         auto* image = lv_image_create(obj);
         lv_obj_set_size(image, STATUSBAR_ICON_SIZE, STATUSBAR_ICON_SIZE);
@@ -233,7 +233,7 @@ static void statusbar_event(TT_UNUSED const lv_obj_class_t* class_p, lv_event_t*
 }
 
 int8_t statusbar_icon_add(const std::string& image) {
-    statusbar_lock(TtWaitForever);
+    statusbar_lock();
     int8_t result = -1;
     for (int8_t i = 0; i < STATUSBAR_ICON_LIMIT; ++i) {
         if (!statusbar_data.icons[i].claimed) {
@@ -245,7 +245,7 @@ int8_t statusbar_icon_add(const std::string& image) {
             break;
         }
     }
-    tt_pubsub_publish(statusbar_data.pubsub, nullptr);
+    statusbar_data.pubsub->publish(nullptr);
     statusbar_unlock();
     return result;
 }
@@ -257,12 +257,12 @@ int8_t statusbar_icon_add() {
 void statusbar_icon_remove(int8_t id) {
     TT_LOG_I(TAG, "id %d: remove", id);
     tt_check(id >= 0 && id < STATUSBAR_ICON_LIMIT);
-    statusbar_lock(TtWaitForever);
+    statusbar_lock();
     StatusbarIcon* icon = &statusbar_data.icons[id];
     icon->claimed = false;
     icon->visible = false;
     icon->image = "";
-    tt_pubsub_publish(statusbar_data.pubsub, nullptr);
+    statusbar_data.pubsub->publish(nullptr);
     statusbar_unlock();
 }
 
@@ -273,7 +273,7 @@ void statusbar_icon_set_image(int8_t id, const std::string& image) {
         StatusbarIcon* icon = &statusbar_data.icons[id];
         tt_check(icon->claimed);
         icon->image = image;
-        tt_pubsub_publish(statusbar_data.pubsub, nullptr);
+        statusbar_data.pubsub->publish(nullptr);
         statusbar_unlock();
     }
 }
@@ -285,7 +285,7 @@ void statusbar_icon_set_visibility(int8_t id, bool visible) {
         StatusbarIcon* icon = &statusbar_data.icons[id];
         tt_check(icon->claimed);
         icon->visible = visible;
-        tt_pubsub_publish(statusbar_data.pubsub, nullptr);
+        statusbar_data.pubsub->publish(nullptr);
         statusbar_unlock();
     }
 }

Tactility/Source/service/gui/Gui.cpp

@@ -35,7 +35,7 @@ Gui* gui_alloc() {
         &guiMain,
         nullptr
     );
-    instance->loader_pubsub_subscription = tt_pubsub_subscribe(loader::getPubsub(), &onLoaderMessage, instance);
+    instance->loader_pubsub_subscription = loader::getPubsub()->subscribe(&onLoaderMessage, instance);
     tt_check(lvgl::lock(1000 / portTICK_PERIOD_MS));
     instance->keyboardGroup = lv_group_create();
     auto* screen_root = lv_scr_act();
@@ -90,7 +90,7 @@ void unlock() {
 void requestDraw() {
     assert(gui);
     ThreadId thread_id = gui->thread->getId();
-    thread_flags_set(thread_id, GUI_THREAD_FLAG_DRAW);
+    Thread::setFlags(thread_id, GUI_THREAD_FLAG_DRAW);
 }
 
 void showApp(std::shared_ptr<app::AppContext> app) {
@@ -120,19 +120,19 @@ static int32_t guiMain(TT_UNUSED void* p) {
     Gui* local_gui = gui;
 
     while (true) {
-        uint32_t flags = thread_flags_wait(
+        uint32_t flags = Thread::awaitFlags(
             GUI_THREAD_FLAG_ALL,
-            TtFlagWaitAny,
+            EventFlag::WaitAny,
-            TtWaitForever
+            portMAX_DELAY
         );
         // Process and dispatch draw call
         if (flags & GUI_THREAD_FLAG_DRAW) {
-            thread_flags_clear(GUI_THREAD_FLAG_DRAW);
+            Thread::clearFlags(GUI_THREAD_FLAG_DRAW);
             redraw(local_gui);
         }
 
         if (flags & GUI_THREAD_FLAG_EXIT) {
-            thread_flags_clear(GUI_THREAD_FLAG_EXIT);
+            Thread::clearFlags(GUI_THREAD_FLAG_EXIT);
             break;
         }
     }
@@ -159,7 +159,7 @@ public:
         lock();
 
         ThreadId thread_id = gui->thread->getId();
-        thread_flags_set(thread_id, GUI_THREAD_FLAG_EXIT);
+        Thread::setFlags(thread_id, GUI_THREAD_FLAG_EXIT);
         gui->thread->join();
         delete gui->thread;
 

Tactility/Source/service/loader/Loader.cpp

@@ -125,13 +125,13 @@ static void transitionAppToState(std::shared_ptr<app::AppInstance> app, app::Sta
             break;
         case app::StateShowing: {
             LoaderEvent event_showing = { .type = LoaderEventTypeApplicationShowing };
-            tt_pubsub_publish(loader_singleton->pubsubExternal, &event_showing);
+            loader_singleton->pubsubExternal->publish(&event_showing);
             app->setState(app::StateShowing);
             break;
         }
         case app::StateHiding: {
             LoaderEvent event_hiding = { .type = LoaderEventTypeApplicationHiding };
-            tt_pubsub_publish(loader_singleton->pubsubExternal, &event_hiding);
+            loader_singleton->pubsubExternal->publish(&event_hiding);
             app->setState(app::StateHiding);
             break;
         }
@@ -174,7 +174,7 @@ static LoaderStatus startAppWithManifestInternal(
     transitionAppToState(new_app, app::StateShowing);
 
     LoaderEvent event_external = { .type = LoaderEventTypeApplicationStarted };
-    tt_pubsub_publish(loader_singleton->pubsubExternal, &event_external);
+    loader_singleton->pubsubExternal->publish(&event_external);
 
     return LoaderStatus::Ok;
 }
@@ -265,7 +265,7 @@ static void stopAppInternal() {
     // WARNING: After this point we cannot change the app states from this method directly anymore as we don't have a lock!
 
     LoaderEvent event_external = { .type = LoaderEventTypeApplicationStopped };
-    tt_pubsub_publish(loader_singleton->pubsubExternal, &event_external);
+    loader_singleton->pubsubExternal->publish(&event_external);
 
     if (instance_to_resume != nullptr) {
         if (result_set) {

Tactility/Source/service/loader/Loader.h

@@ -1,8 +1,8 @@
 #pragma once
 
-#include "app/AppManifest.h"
 #include "Bundle.h"
-#include "Pubsub.h"
+#include "PubSub.h"
+#include "app/AppManifest.h"
 #include "service/ServiceManifest.h"
 #include <memory>
 

Tactility/Source/service/screenshot/ScreenshotTask.cpp

@@ -41,7 +41,7 @@ bool ScreenshotTask::isFinished() {
 
 void ScreenshotTask::setFinished() {
     auto scoped_lockable = mutex.scoped();
-    scoped_lockable->lock(TtWaitForever);
+    scoped_lockable->lock();
     finished = true;
 }
 

Tactility/Source/service/statusbar/Statusbar.cpp

@@ -138,11 +138,11 @@ private:
     std::unique_ptr<service::Paths> paths;
 
     void lock() const {
-        tt_check(mutex.acquire(TtWaitForever) == TtStatusOk);
+        mutex.lock();
     }
 
     void unlock() const {
-        tt_check(mutex.release() == TtStatusOk);
+        mutex.unlock();
     }
 
     void updateWifiIcon() {

TactilityCore/Source/CoreTypes.h

@@ -1,42 +0,0 @@
-#pragma once
-
-#include <cstdint>
-#include "TactilityCoreConfig.h"
-
-namespace tt {
-
-[[deprecated("Using this is poor software design in most scenarios")]]
-typedef enum {
-    TtWaitForever = 0xFFFFFFFFU,
-} TtWait;
-
-[[deprecated("Define flags as needed")]]
-typedef enum {
-    TtFlagWaitAny = 0x00000000U, ///< Wait for any flag (default).
-    TtFlagWaitAll = 0x00000001U, ///< Wait for all flags.
-    TtFlagNoClear = 0x00000002U, ///< Do not clear flags which have been specified to wait for.
-
-    TtFlagError = 0x80000000U,          ///< Error indicator.
-    TtFlagErrorUnknown = 0xFFFFFFFFU,   ///< TtStatusError (-1).
-    TtFlagErrorTimeout = 0xFFFFFFFEU,   ///< TtStatusErrorTimeout (-2).
-    TtFlagErrorResource = 0xFFFFFFFDU,  ///< TtStatusErrorResource (-3).
-    TtFlagErrorParameter = 0xFFFFFFFCU, ///< TtStatusErrorParameter (-4).
-    TtFlagErrorISR = 0xFFFFFFFAU,       ///< TtStatusErrorISR (-6).
-} TtFlag;
-
-[[deprecated("Use bool or specific type")]]
-typedef enum {
-    TtStatusOk = 0, ///< Operation completed successfully.
-    TtStatusError =
-        -1,                        ///< Unspecified RTOS error: run-time error but no other error message fits.
-    TtStatusErrorTimeout = -2,   ///< Operation not completed within the timeout period.
-    TtStatusErrorResource = -3,  ///< Resource not available.
-    TtStatusErrorParameter = -4, ///< Parameter error.
-    TtStatusErrorNoMemory =
-        -5, ///< System is out of memory: it was impossible to allocate or reserve memory for the operation.
-    TtStatusErrorISR =
-        -6,                         ///< Not allowed in ISR context: the function cannot be called from interrupt service routines.
-    TtStatusReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
-} TtStatus;
-
-} // namespace

TactilityCore/Source/Dispatcher.cpp

@@ -5,17 +5,13 @@
 namespace tt {
 
 #define TAG "dispatcher"
-#define BACKPRESSURE_WARNING_COUNT 100
+#define BACKPRESSURE_WARNING_COUNT ((EventBits_t)100)
-#define WAIT_FLAG 1
+#define WAIT_FLAG ((EventBits_t)1)
-
-Dispatcher::Dispatcher() :
-    mutex(Mutex::Type::Normal)
-{}
 
 Dispatcher::~Dispatcher() {
     // Wait for Mutex usage
-    mutex.acquire(TtWaitForever);
+    mutex.lock();
-    mutex.release();
+    mutex.unlock();
 }
 
 void Dispatcher::dispatch(Function function, std::shared_ptr<void> context) {
@@ -37,7 +33,7 @@ void Dispatcher::dispatch(Function function, std::shared_ptr<void> context) {
 uint32_t Dispatcher::consume(TickType_t timeout) {
     // Wait for signal and clear
     TickType_t start_ticks = kernel::getTicks();
-    if (eventFlag.wait(WAIT_FLAG, TtFlagWaitAny, timeout) == WAIT_FLAG) {
+    if (eventFlag.wait(WAIT_FLAG, EventFlag::WaitAny, timeout)) {
         eventFlag.clear(WAIT_FLAG);
     } else {
         return 0;

TactilityCore/Source/Dispatcher.h

@@ -43,7 +43,7 @@ private:
 
 public:
 
-    explicit Dispatcher();
+    explicit Dispatcher() = default;
     ~Dispatcher();
 
     /**
@@ -58,7 +58,7 @@ public:
      * @param[in] timeout the ticks to wait for a message
      * @return the amount of messages that were consumed
      */
-    uint32_t consume(TickType_t timeout);
+    uint32_t consume(TickType_t timeout = portMAX_DELAY);
 };
 
 } // namespace

TactilityCore/Source/EventFlag.cpp

@@ -8,15 +8,15 @@
 
 namespace tt {
 
-EventFlag::EventFlag() {
+EventFlag::EventFlag() :
+    handle(xEventGroupCreate())
+{
     assert(!TT_IS_IRQ_MODE());
-    handle = xEventGroupCreate();
     tt_check(handle);
 }
 
 EventFlag::~EventFlag() {
     assert(!TT_IS_IRQ_MODE());
-    vEventGroupDelete(handle);
 }
 
 uint32_t EventFlag::set(uint32_t flags) const {
@@ -28,14 +28,14 @@ uint32_t EventFlag::set(uint32_t flags) const {
 
     if (TT_IS_IRQ_MODE()) {
         yield = pdFALSE;
-        if (xEventGroupSetBitsFromISR(handle, (EventBits_t)flags, &yield) == pdFAIL) {
+        if (xEventGroupSetBitsFromISR(handle.get(), (EventBits_t)flags, &yield) == pdFAIL) {
-            rflags = (uint32_t)TtFlagErrorResource;
+            rflags = (uint32_t)ErrorResource;
         } else {
             rflags = flags;
             portYIELD_FROM_ISR(yield);
         }
     } else {
-        rflags = xEventGroupSetBits(handle, (EventBits_t)flags);
+        rflags = xEventGroupSetBits(handle.get(), (EventBits_t)flags);
     }
 
     /* Return event flags after setting */
@@ -48,10 +48,10 @@ uint32_t EventFlag::clear(uint32_t flags) const {
     uint32_t rflags;
 
     if (TT_IS_IRQ_MODE()) {
-        rflags = xEventGroupGetBitsFromISR(handle);
+        rflags = xEventGroupGetBitsFromISR(handle.get());
 
-        if (xEventGroupClearBitsFromISR(handle, (EventBits_t)flags) == pdFAIL) {
+        if (xEventGroupClearBitsFromISR(handle.get(), (EventBits_t)flags) == pdFAIL) {
-            rflags = (uint32_t)TtStatusErrorResource;
+            rflags = (uint32_t)ErrorResource;
         } else {
             /* xEventGroupClearBitsFromISR only registers clear operation in the timer command queue. */
             /* Yield is required here otherwise clear operation might not execute in the right order. */
@@ -59,7 +59,7 @@ uint32_t EventFlag::clear(uint32_t flags) const {
             portYIELD_FROM_ISR(pdTRUE);
         }
     } else {
-        rflags = xEventGroupClearBits(handle, (EventBits_t)flags);
+        rflags = xEventGroupClearBits(handle.get(), (EventBits_t)flags);
     }
 
     /* Return event flags before clearing */
@@ -70,9 +70,9 @@ uint32_t EventFlag::get() const {
     uint32_t rflags;
 
     if (TT_IS_IRQ_MODE()) {
-        rflags = xEventGroupGetBitsFromISR(handle);
+        rflags = xEventGroupGetBitsFromISR(handle.get());
     } else {
-        rflags = xEventGroupGetBits(handle);
+        rflags = xEventGroupGetBits(handle.get());
     }
 
     /* Return current event flags */
@@ -91,40 +91,40 @@ uint32_t EventFlag::wait(
     BaseType_t exit_clear;
     uint32_t rflags;
 
-    if (options & TtFlagWaitAll) {
+    if (options & WaitAll) {
         wait_all = pdTRUE;
     } else {
         wait_all = pdFAIL;
     }
 
-    if (options & TtFlagNoClear) {
+    if (options & NoClear) {
         exit_clear = pdFAIL;
     } else {
         exit_clear = pdTRUE;
     }
 
     rflags = xEventGroupWaitBits(
-        handle,
+        handle.get(),
         (EventBits_t)flags,
         exit_clear,
         wait_all,
         (TickType_t)timeout
     );
 
-    if (options & TtFlagWaitAll) {
+    if (options & WaitAll) {
         if ((flags & rflags) != flags) {
             if (timeout > 0U) {
-                rflags = (uint32_t)TtStatusErrorTimeout;
+                rflags = (uint32_t)ErrorTimeout;
             } else {
-                rflags = (uint32_t)TtStatusErrorResource;
+                rflags = (uint32_t)ErrorResource;
             }
         }
     } else {
         if ((flags & rflags) == 0U) {
             if (timeout > 0U) {
-                rflags = (uint32_t)TtStatusErrorTimeout;
+                rflags = (uint32_t)ErrorTimeout;
             } else {
-                rflags = (uint32_t)TtStatusErrorResource;
+                rflags = (uint32_t)ErrorResource;
             }
         }
     }

TactilityCore/Source/EventFlag.h

@@ -1,7 +1,7 @@
 #pragma once
 
-#include "CoreTypes.h"
 #include "RtosCompatEventGroups.h"
+#include <memory>
 
 namespace tt {
 
@@ -10,17 +10,40 @@ namespace tt {
  */
 class EventFlag {
 private:
-    EventGroupHandle_t handle;
+
+    struct EventGroupHandleDeleter {
+        void operator()(EventGroupHandle_t handleToDelete) {
+            vEventGroupDelete(handleToDelete);
+        }
+    };
+
+    std::unique_ptr<std::remove_pointer_t<EventGroupHandle_t>, EventGroupHandleDeleter> handle;
+
 public:
+
     EventFlag();
     ~EventFlag();
+
+    enum Flag {
+        WaitAny = 0x00000000U, ///< Wait for any flag (default).
+        WaitAll = 0x00000001U, ///< Wait for all flags.
+        NoClear = 0x00000002U, ///< Do not clear flags which have been specified to wait for.
+
+        Error = 0x80000000U,          ///< Error indicator.
+        ErrorUnknown = 0xFFFFFFFFU,   ///< TtStatusError (-1).
+        ErrorTimeout = 0xFFFFFFFEU,   ///< TtStatusErrorTimeout (-2).
+        ErrorResource = 0xFFFFFFFDU,  ///< TtStatusErrorResource (-3).
+        ErrorParameter = 0xFFFFFFFCU, ///< TtStatusErrorParameter (-4).
+        ErrorISR = 0xFFFFFFFAU,       ///< TtStatusErrorISR (-6).
+    };
+
     uint32_t set(uint32_t flags) const;
     uint32_t clear(uint32_t flags) const;
     uint32_t get() const;
     uint32_t wait(
         uint32_t flags,
-        uint32_t options = TtFlagWaitAny,
+        uint32_t options = WaitAny,
-        uint32_t timeout = TtWaitForever
+        uint32_t timeout = portMAX_DELAY
     ) const;
 };
 

TactilityCore/Source/Lockable.h

@@ -3,6 +3,8 @@
 #include "Check.h"
 #include "RtosCompat.h"
 #include <memory>
+#include <functional>
+#include <algorithm>
 
 namespace tt {
 
@@ -15,6 +17,8 @@ public:
 
     virtual bool lock(TickType_t timeoutTicks) const = 0;
 
+    virtual bool lock() const { return lock(portMAX_DELAY); }
+
     virtual bool unlock() const = 0;
 
     std::unique_ptr<ScopedLockableUsage> scoped() const;
@@ -43,6 +47,8 @@ public:
         return lockable.lock(timeout);
     }
 
+    bool lock() const override { return lock(portMAX_DELAY); }
+
     bool unlock() const override {
         return lockable.unlock();
     }

TactilityCore/Source/MessageQueue.cpp

@@ -4,63 +4,64 @@
 
 namespace tt {
 
-MessageQueue::MessageQueue(uint32_t capacity, uint32_t msg_size) {
+static inline QueueHandle_t createQueue(uint32_t capacity, uint32_t messageSize) {
-    assert(!TT_IS_ISR() && (capacity > 0U) && (msg_size > 0U));
+    assert(!TT_IS_ISR() && (capacity > 0U) && (messageSize > 0U));
-    queue_handle = xQueueCreate(capacity, msg_size);
+    return xQueueCreate(capacity, messageSize);
-    tt_check(queue_handle);
+}
+
+MessageQueue::MessageQueue(uint32_t capacity, uint32_t messageSize) : handle(createQueue(capacity, messageSize)) {
+    tt_check(handle != nullptr);
 }
 
 MessageQueue::~MessageQueue() {
     assert(!TT_IS_ISR());
-    vQueueDelete(queue_handle);
 }
 
-bool MessageQueue::put(const void* message, uint32_t timeout) {
+bool MessageQueue::put(const void* message, TickType_t timeout) {
     bool result = true;
     BaseType_t yield;
 
     if (TT_IS_ISR()) {
-        if ((queue_handle == nullptr) || (message == nullptr) || (timeout != 0U)) {
+        if ((handle == nullptr) || (message == nullptr) || (timeout != 0U)) {
             result = false;
         } else {
             yield = pdFALSE;
 
-            if (xQueueSendToBackFromISR(queue_handle, message, &yield) != pdTRUE) {
+            if (xQueueSendToBackFromISR(handle.get(), message, &yield) != pdTRUE) {
                 result = false;
             } else {
                 portYIELD_FROM_ISR(yield);
             }
         }
-    } else if ((queue_handle == nullptr) || (message == nullptr)) {
+    } else if ((handle == nullptr) || (message == nullptr)) {
         result = false;
-    } else if (xQueueSendToBack(queue_handle, message, (TickType_t)timeout) != pdPASS) {
+    } else if (xQueueSendToBack(handle.get(), message, (TickType_t)timeout) != pdPASS) {
         result = false;
     }
 
     return result;
 }
 
-bool MessageQueue::get(void* msg_ptr, uint32_t timeout_ticks) {
+bool MessageQueue::get(void* msg_ptr, TickType_t timeout) {
     bool result = true;
     BaseType_t yield;
 
-
     if (TT_IS_ISR()) {
-        if ((queue_handle == nullptr) || (msg_ptr == nullptr) || (timeout_ticks != 0U)) {
+        if ((handle == nullptr) || (msg_ptr == nullptr) || (timeout != 0U)) {
             result = false;
         } else {
             yield = pdFALSE;
 
-            if (xQueueReceiveFromISR(queue_handle, msg_ptr, &yield) != pdPASS) {
+            if (xQueueReceiveFromISR(handle.get(), msg_ptr, &yield) != pdPASS) {
                 result = false;
             } else {
                 portYIELD_FROM_ISR(yield);
             }
         }
     } else {
-        if ((queue_handle == nullptr) || (msg_ptr == nullptr)) {
+        if ((handle == nullptr) || (msg_ptr == nullptr)) {
             result = false;
-        } else if (xQueueReceive(queue_handle, msg_ptr, (TickType_t)timeout_ticks) != pdPASS) {
+        } else if (xQueueReceive(handle.get(), msg_ptr, (TickType_t)timeout) != pdPASS) {
             result = false;
         }
     }
@@ -69,7 +70,7 @@ bool MessageQueue::get(void* msg_ptr, uint32_t timeout_ticks) {
 }
 
 uint32_t MessageQueue::getCapacity() const {
-    auto* mq = (StaticQueue_t*)(queue_handle);
+    auto* mq = (StaticQueue_t*)(handle.get());
     if (mq == nullptr) {
         return 0U;
     } else {
@@ -78,7 +79,7 @@ uint32_t MessageQueue::getCapacity() const {
 }
 
 uint32_t MessageQueue::getMessageSize() const {
-    auto* mq = (StaticQueue_t*)(queue_handle);
+    auto* mq = (StaticQueue_t*)(handle.get());
     if (mq == nullptr) {
         return 0U;
     } else {
@@ -89,12 +90,12 @@ uint32_t MessageQueue::getMessageSize() const {
 uint32_t MessageQueue::getCount() const {
     UBaseType_t count;
 
-    if (queue_handle == nullptr) {
+    if (handle == nullptr) {
         count = 0U;
     } else if (TT_IS_ISR()) {
-        count = uxQueueMessagesWaitingFromISR(queue_handle);
+        count = uxQueueMessagesWaitingFromISR(handle.get());
     } else {
-        count = uxQueueMessagesWaiting(queue_handle);
+        count = uxQueueMessagesWaiting(handle.get());
     }
 
     /* Return number of queued messages */
@@ -102,7 +103,7 @@ uint32_t MessageQueue::getCount() const {
 }
 
 uint32_t MessageQueue::getSpace() const {
-    auto* mq = (StaticQueue_t*)(queue_handle);
+    auto* mq = (StaticQueue_t*)(handle.get());
     uint32_t space;
     uint32_t isrm;
 
@@ -124,10 +125,10 @@ uint32_t MessageQueue::getSpace() const {
 
 bool MessageQueue::reset() {
     tt_check(!TT_IS_ISR());
-    if (queue_handle == nullptr) {
+    if (handle == nullptr) {
         return false;
     } else {
-        xQueueReset(queue_handle);
+        xQueueReset(handle.get());
         return true;
     }
 }

TactilityCore/Source/MessageQueue.h

@@ -7,7 +7,7 @@
  */
 #pragma once
 
-#include "CoreTypes.h"
+#include <memory>
 
 #ifdef ESP_PLATFORM
 #include "freertos/FreeRTOS.h"
@@ -25,7 +25,14 @@ namespace tt {
  */
 class MessageQueue {
 private:
-    QueueHandle_t queue_handle;
+
+    struct QueueHandleDeleter {
+        void operator()(QueueHandle_t handleToDelete) {
+            vQueueDelete(handleToDelete);
+        }
+    };
+
+    std::unique_ptr<std::remove_pointer_t<QueueHandle_t>, QueueHandleDeleter> handle;
 
 public:
     /** Allocate message queue
@@ -39,17 +46,17 @@ public:
     /** Post a message to the queue.
      * The message is queued by copy, not by reference.
      * @param[in] message A pointer to a message. The message will be copied into a buffer.
-     * @param[in] timeoutTicks
+     * @param[in] timeout
      * @return success result
      */
-    bool put(const void* message, uint32_t timeoutTicks);
+    bool put(const void* message, TickType_t timeout);
 
     /** Get message from queue
      * @param[out] message A pointer to an already allocated message object
-     * @param[in] timeoutTicks
+     * @param[in] timeout
      * @return success result
      */
-    bool get(void* message, uint32_t timeoutTicks);
+    bool get(void* message, TickType_t timeout);
 
     /**
      * @return The maximum amount of messages that can be in the queue at any given time.

TactilityCore/Source/Mutex.cpp

@@ -22,88 +22,56 @@ namespace tt {
 #define tt_mutex_info(mutex, text)
 #endif
 
-Mutex::Mutex(Type type) : type(type) {
+static inline SemaphoreHandle_t createSemaphoreHandle(Mutex::Type type) {
-    tt_mutex_info(data, "alloc");
     switch (type) {
-        case Type::Normal:
+        case Mutex::Type::Normal:
-            semaphore = xSemaphoreCreateMutex();
+            return xSemaphoreCreateMutex();
-            break;
+        case Mutex::Type::Recursive:
-        case Type::Recursive:
+            return xSemaphoreCreateRecursiveMutex();
-            semaphore = xSemaphoreCreateRecursiveMutex();
-            break;
         default:
             tt_crash("Mutex type unknown/corrupted");
     }
-
-    assert(semaphore != nullptr);
 }
 
-Mutex::~Mutex() {
+Mutex::Mutex(Type type) : handle(createSemaphoreHandle(type)), type(type) {
-    assert(!TT_IS_IRQ_MODE());
+    tt_mutex_info(data, "alloc");
-    vSemaphoreDelete(semaphore);
+    assert(handle != nullptr);
-    semaphore = nullptr; // If the mutex is used after release, this might help debugging
 }
 
-TtStatus Mutex::acquire(TickType_t timeout) const {
+bool Mutex::lock(TickType_t timeout) const {
     assert(!TT_IS_IRQ_MODE());
-    assert(semaphore != nullptr);
+    assert(handle != nullptr);
-
     tt_mutex_info(mutex, "acquire");
 
     switch (type) {
         case Type::Normal:
-            if (xSemaphoreTake(semaphore, timeout) != pdPASS) {
+            return xSemaphoreTake(handle.get(), timeout) == pdPASS;
-                if (timeout != 0U) {
-                    return TtStatusErrorTimeout;
-                } else {
-                    return TtStatusErrorResource;
-                }
-            } else {
-                return TtStatusOk;
-            }
         case Type::Recursive:
-            if (xSemaphoreTakeRecursive(semaphore, timeout) != pdPASS) {
+            return xSemaphoreTakeRecursive(handle.get(), timeout) == pdPASS;
-                if (timeout != 0U) {
-                    return TtStatusErrorTimeout;
-                } else {
-                    return TtStatusErrorResource;
-                }
-            } else {
-                return TtStatusOk;
-            }
         default:
-            tt_crash("mutex type unknown/corrupted");
+            tt_crash();
     }
 }
 
-TtStatus Mutex::release() const {
+bool Mutex::unlock() const {
     assert(!TT_IS_IRQ_MODE());
-    assert(semaphore);
+    assert(handle != nullptr);
     tt_mutex_info(mutex, "release");
 
     switch (type) {
-        case Type::Normal: {
+        case Type::Normal:
-            if (xSemaphoreGive(semaphore) != pdPASS) {
+            return xSemaphoreGive(handle.get()) == pdPASS;
-                return TtStatusErrorResource;
-            } else {
-                return TtStatusOk;
-            }
-        }
         case Type::Recursive:
-            if (xSemaphoreGiveRecursive(semaphore) != pdPASS) {
+            return xSemaphoreGiveRecursive(handle.get()) == pdPASS;
-                return TtStatusErrorResource;
-            } else {
-                return TtStatusOk;
-            }
         default:
-            tt_crash("mutex type unknown/corrupted");
+            tt_crash();
     }
 }
 
 ThreadId Mutex::getOwner() const {
     assert(!TT_IS_IRQ_MODE());
-    assert(semaphore);
+    assert(handle != nullptr);
-    return (ThreadId)xSemaphoreGetMutexHolder(semaphore);
+    return (ThreadId)xSemaphoreGetMutexHolder(handle.get());
 }
 
 } // namespace

TactilityCore/Source/Mutex.h

@@ -4,7 +4,6 @@
  */
 #pragma once
 
-#include "CoreTypes.h"
 #include "Thread.h"
 #include "RtosCompatSemaphore.h"
 #include "Check.h"
@@ -15,9 +14,9 @@ namespace tt {
 
 /**
  * Wrapper for FreeRTOS xSemaphoreCreateMutex and xSemaphoreCreateRecursiveMutex
- * Can be used in IRQ mode (within ISR context)
+ * Cannot be used in IRQ mode (within ISR context)
  */
-class Mutex : public Lockable {
+class Mutex final : public Lockable {
 
 public:
 
@@ -28,35 +27,36 @@ public:
 
 private:
 
-    SemaphoreHandle_t semaphore;
+    struct SemaphoreHandleDeleter {
+        void operator()(QueueHandle_t handleToDelete) {
+            assert(!TT_IS_IRQ_MODE());
+            vSemaphoreDelete(handleToDelete);
+        }
+    };
+
+    std::unique_ptr<std::remove_pointer_t<QueueHandle_t>, SemaphoreHandleDeleter> handle;
     Type type;
 
 public:
 
     explicit Mutex(Type type = Type::Normal);
-    ~Mutex() override;
+    ~Mutex() override = default;
-
-    /** Attempt to lock the mutex. Blocks until timeout passes or lock is acquired.
-     * @param[in] timeout
-     * @return status result
-     */
-    TtStatus acquire(TickType_t timeout) const;
-
-    /** Attempt to unlock the mutex.
-     * @return status result
-     */
-    TtStatus release() const;
 
     /** Attempt to lock the mutex. Blocks until timeout passes or lock is acquired.
      * @param[in] timeout
      * @return success result
      */
-    bool lock(TickType_t timeout) const override { return acquire(timeout) == TtStatusOk; }
+    bool lock(TickType_t timeout) const override;
+
+    /** Attempt to lock the mutex. Blocks until lock is acquired, without timeout.
+     * @return success result
+     */
+    bool lock() const override { return lock(portMAX_DELAY); }
 
     /** Attempt to unlock the mutex.
      * @return success result
      */
-    bool unlock() const override { return release() == TtStatusOk; }
+    bool unlock() const override;
 
     /** @return the owner of the thread */
     ThreadId getOwner() const;

TactilityCore/Source/PubSub.cpp

@@ -0,0 +1,47 @@
+#include "PubSub.h"
+#include "Check.h"
+
+namespace tt {
+
+PubSub::SubscriptionHandle PubSub::subscribe(PubSubCallback callback, void* callbackParameter) {
+    mutex.lock();
+    items.push_back({
+        .id = (++lastId),
+        .callback = callback,
+        .callbackParameter = callbackParameter});
+
+    mutex.unlock();
+
+    return (Subscription*)lastId;
+}
+
+void PubSub::unsubscribe(SubscriptionHandle subscription) {
+    assert(subscription);
+
+    mutex.lock();
+    bool result = false;
+    auto id = (uint64_t)subscription;
+    for (auto it = items.begin(); it != items.end(); it++) {
+        if (it->id == id) {
+            items.erase(it);
+            result = true;
+            break;
+        }
+    }
+
+    mutex.unlock();
+    tt_check(result);
+}
+
+void PubSub::publish(void* message) {
+    mutex.lock();
+
+    // Iterate over subscribers
+    for (auto& it : items) {
+        it.callback(message, it.callbackParameter);
+    }
+
+    mutex.unlock();
+}
+
+} // namespace

TactilityCore/Source/PubSub.h

@@ -0,0 +1,61 @@
+/**
+ * @file pubsub.h
+ * PubSub
+ */
+#pragma once
+
+#include "Mutex.h"
+#include <list>
+
+namespace tt {
+
+/** PubSub Callback type */
+typedef void (*PubSubCallback)(const void* message, void* context);
+
+/** Publish and subscribe to messages in a thread-safe manner. */
+class PubSub {
+
+private:
+
+    struct Subscription {
+        uint64_t id;
+        PubSubCallback callback;
+        void* callbackParameter;
+    };
+
+    typedef std::list<Subscription> Subscriptions;
+    uint64_t lastId = 0;
+    Subscriptions items;
+    Mutex mutex;
+
+public:
+
+    typedef void* SubscriptionHandle;
+
+    PubSub() = default;
+
+    ~PubSub() {
+        tt_check(items.empty());
+    }
+
+    /** Start receiving messages at the specified handle (Threadsafe, Re-entrable)
+     * @param[in] callback
+     * @param[in] callbackParameter the data to pass to the callback
+     * @return subscription instance
+     */
+    SubscriptionHandle subscribe(PubSubCallback callback, void* callbackParameter);
+
+    /** Stop receiving messages at the specified handle (Threadsafe, Re-entrable.)
+     * No use of `tt_pubsub_subscription` allowed after call of this method
+     * @param[in] subscription
+     */
+    void unsubscribe(SubscriptionHandle subscription);
+
+    /** Publish message to all subscribers (Threadsafe, Re-entrable.)
+     * @param[in] message message pointer to publish - it is passed as-is to the callback
+     */
+    void publish(void* message);
+};
+
+
+} // namespace

TactilityCore/Source/Pubsub.cpp

@@ -1,52 +0,0 @@
-#include "Pubsub.h"
-#include "Check.h"
-
-namespace tt {
-
-PubSubSubscription* tt_pubsub_subscribe(std::shared_ptr<PubSub> pubsub, PubSubCallback callback, void* callbackContext) {
-    tt_check(pubsub->mutex.acquire(TtWaitForever) == TtStatusOk);
-    PubSubSubscription subscription = {
-        .id = (++pubsub->last_id),
-        .callback = callback,
-        .callback_context = callbackContext
-    };
-    pubsub->items.push_back(
-        subscription
-    );
-
-    tt_check(pubsub->mutex.release() == TtStatusOk);
-
-    return (PubSubSubscription*)pubsub->last_id;
-}
-
-void tt_pubsub_unsubscribe(std::shared_ptr<PubSub> pubsub, PubSubSubscription* pubsub_subscription) {
-    assert(pubsub);
-    assert(pubsub_subscription);
-
-    tt_check(pubsub->mutex.acquire(TtWaitForever) == TtStatusOk);
-    bool result = false;
-    auto id = (uint64_t)pubsub_subscription;
-    for (auto it = pubsub->items.begin(); it != pubsub->items.end(); it++) {
-        if (it->id == id) {
-            pubsub->items.erase(it);
-            result = true;
-            break;
-        }
-    }
-
-    tt_check(pubsub->mutex.release() == TtStatusOk);
-    tt_check(result);
-}
-
-void tt_pubsub_publish(std::shared_ptr<PubSub> pubsub, void* message) {
-    tt_check(pubsub->mutex.acquire(TtWaitForever) == TtStatusOk);
-
-    // Iterate over subscribers
-    for (auto& it : pubsub->items) {
-        it.callback(message, it.callback_context);
-    }
-
-    tt_check(pubsub->mutex.release() == TtStatusOk);
-}
-
-} // namespace

TactilityCore/Source/Pubsub.h

@@ -1,57 +0,0 @@
-/**
- * @file pubsub.h
- * PubSub
- */
-#pragma once
-
-#include "Mutex.h"
-#include <list>
-
-namespace tt {
-
-/** PubSub Callback type */
-typedef void (*PubSubCallback)(const void* message, void* context);
-
-struct PubSubSubscription {
-    uint64_t id;
-    PubSubCallback callback;
-    void* callback_context;
-};
-
-struct PubSub {
-    typedef std::list<PubSubSubscription> Subscriptions;
-    uint64_t last_id = 0;
-    Subscriptions items;
-    Mutex mutex;
-
-    ~PubSub() {
-        tt_check(items.empty());
-    }
-};
-
-/** Subscribe to PubSub
- * Threadsafe, Reentrable
- * @param[in] pubsub pointer to PubSub instance
- * @param[in] callback
- * @param[in] callbackContext the data to pass to the callback
- * @return subscription instance
- */
-PubSubSubscription*
-tt_pubsub_subscribe(std::shared_ptr<PubSub> pubsub, PubSubCallback callback, void* callbackContext);
-
-/** Unsubscribe from PubSub
- * No use of `tt_pubsub_subscription` allowed after call of this method
- * Threadsafe, Re-entrable.
- * @param[in] pubsub
- * @param[in] subscription
- */
-void tt_pubsub_unsubscribe(std::shared_ptr<PubSub> pubsub, PubSubSubscription* subscription);
-
-/** Publish message to PubSub
- * Threadsafe, Reentrable.
- * @param[in] pubsub
- * @param[in] message message pointer to publish - it is passed as-is to the callback
- */
-void tt_pubsub_publish(std::shared_ptr<PubSub> pubsub, void* message);
-
-} // namespace

TactilityCore/Source/Semaphore.cpp

@@ -4,28 +4,30 @@
 
 namespace tt {
 
-Semaphore::Semaphore(uint32_t maxCount, uint32_t initialCount) {
+static inline struct QueueDefinition* createHandle(uint32_t maxCount, uint32_t initialCount) {
-    assert(!TT_IS_IRQ_MODE());
     assert((maxCount > 0U) && (initialCount <= maxCount));
 
     if (maxCount == 1U) {
-        handle = xSemaphoreCreateBinary();
+        auto handle = xSemaphoreCreateBinary();
         if ((handle != nullptr) && (initialCount != 0U)) {
             if (xSemaphoreGive(handle) != pdPASS) {
                 vSemaphoreDelete(handle);
                 handle = nullptr;
             }
         }
+        return handle;
     } else {
-        handle = xSemaphoreCreateCounting(maxCount, initialCount);
+        return xSemaphoreCreateCounting(maxCount, initialCount);
     }
+}
 
-    tt_check(handle);
+Semaphore::Semaphore(uint32_t maxCount, uint32_t initialCount) : handle(createHandle(maxCount, initialCount)){
+    assert(!TT_IS_IRQ_MODE());
+    tt_check(handle != nullptr);
 }
 
 Semaphore::~Semaphore() {
     assert(!TT_IS_IRQ_MODE());
-    vSemaphoreDelete(handle);
 }
 
 bool Semaphore::acquire(uint32_t timeout) const {
@@ -35,7 +37,7 @@ bool Semaphore::acquire(uint32_t timeout) const {
         } else {
             BaseType_t yield = pdFALSE;
 
-            if (xSemaphoreTakeFromISR(handle, &yield) != pdPASS) {
+            if (xSemaphoreTakeFromISR(handle.get(), &yield) != pdPASS) {
                 return false;
             } else {
                 portYIELD_FROM_ISR(yield);
@@ -43,21 +45,21 @@ bool Semaphore::acquire(uint32_t timeout) const {
             }
         }
     } else {
-        return xSemaphoreTake(handle, (TickType_t)timeout) == pdPASS;
+        return xSemaphoreTake(handle.get(), (TickType_t)timeout) == pdPASS;
     }
 }
 
 bool Semaphore::release() const {
     if (TT_IS_IRQ_MODE()) {
         BaseType_t yield = pdFALSE;
-        if (xSemaphoreGiveFromISR(handle, &yield) != pdTRUE) {
+        if (xSemaphoreGiveFromISR(handle.get(), &yield) != pdTRUE) {
             return false;
         } else {
             portYIELD_FROM_ISR(yield);
             return true;
         }
     } else {
-        return xSemaphoreGive(handle) == pdPASS;
+        return xSemaphoreGive(handle.get()) == pdPASS;
     }
 }
 
@@ -65,12 +67,12 @@ uint32_t Semaphore::getCount() const {
     if (TT_IS_IRQ_MODE()) {
         // TODO: uxSemaphoreGetCountFromISR is not supported on esp-idf 5.1.2 - perhaps later on?
 #ifdef uxSemaphoreGetCountFromISR
-        return uxSemaphoreGetCountFromISR(handle);
+        return uxSemaphoreGetCountFromISR(handle.get());
 #else
         return uxQueueMessagesWaitingFromISR((QueueHandle_t)hSemaphore);
 #endif
     } else {
-        return uxSemaphoreGetCount(handle);
+        return uxSemaphoreGetCount(handle.get());
     }
 }
 

TactilityCore/Source/Semaphore.h

@@ -1,7 +1,8 @@
 #pragma once
 
-#include "CoreTypes.h"
 #include "Thread.h"
+#include <cassert>
+#include <memory>
 
 #ifdef ESP_PLATFORM
 #include "freertos/FreeRTOS.h"
@@ -18,8 +19,18 @@ namespace tt {
  * Can be used from IRQ/ISR mode, but cannot be created/destroyed from such a context.
  */
 class Semaphore {
+
 private:
-    SemaphoreHandle_t handle;
+
+    struct SemaphoreHandleDeleter {
+        void operator()(QueueHandle_t handleToDelete) {
+            assert(!TT_IS_IRQ_MODE());
+            vSemaphoreDelete(handleToDelete);
+        }
+    };
+
+    std::unique_ptr<std::remove_pointer_t<QueueHandle_t>, SemaphoreHandleDeleter> handle;
+
 public:
     /**
      * Cannot be called from IRQ/ISR mode.

TactilityCore/Source/StreamBuffer.cpp

@@ -2,22 +2,20 @@
 
 #include "Check.h"
 #include "CoreDefines.h"
-#include "CoreTypes.h"
 
 namespace tt {
 
-StreamBuffer::StreamBuffer(size_t size, size_t triggerLevel) {
+inline static StreamBufferHandle_t createStreamBuffer(size_t size, size_t triggerLevel) {
     assert(size != 0);
-    handle = xStreamBufferCreate(size, triggerLevel);
+    return xStreamBufferCreate(size, triggerLevel);
+}
+
+StreamBuffer::StreamBuffer(size_t size, size_t triggerLevel) : handle(createStreamBuffer(size, triggerLevel)) {
     tt_check(handle);
 };
 
-StreamBuffer::~StreamBuffer() {
-    vStreamBufferDelete(handle);
-};
-
 bool StreamBuffer::setTriggerLevel(size_t triggerLevel) const {
-    return xStreamBufferSetTriggerLevel(handle, triggerLevel) == pdTRUE;
+    return xStreamBufferSetTriggerLevel(handle.get(), triggerLevel) == pdTRUE;
 };
 
 size_t StreamBuffer::send(
@@ -27,11 +25,11 @@ size_t StreamBuffer::send(
 ) const {
     if (TT_IS_IRQ_MODE()) {
         BaseType_t yield;
-        size_t result = xStreamBufferSendFromISR(handle, data, length, &yield);
+        size_t result = xStreamBufferSendFromISR(handle.get(), data, length, &yield);
         portYIELD_FROM_ISR(yield);
         return result;
     } else {
-        return xStreamBufferSend(handle, data, length, timeout);
+        return xStreamBufferSend(handle.get(), data, length, timeout);
     }
 };
 
@@ -42,32 +40,32 @@ size_t StreamBuffer::receive(
 ) const {
     if (TT_IS_IRQ_MODE()) {
         BaseType_t yield;
-        size_t result = xStreamBufferReceiveFromISR(handle, data, length, &yield);
+        size_t result = xStreamBufferReceiveFromISR(handle.get(), data, length, &yield);
         portYIELD_FROM_ISR(yield);
         return result;
     } else {
-        return xStreamBufferReceive(handle, data, length, timeout);
+        return xStreamBufferReceive(handle.get(), data, length, timeout);
     }
 }
 
 size_t StreamBuffer::getAvailableReadBytes() const {
-    return xStreamBufferBytesAvailable(handle);
+    return xStreamBufferBytesAvailable(handle.get());
 };
 
 size_t StreamBuffer::getAvailableWriteBytes() const {
-    return xStreamBufferSpacesAvailable(handle);
+    return xStreamBufferSpacesAvailable(handle.get());
 };
 
 bool StreamBuffer::isFull() const {
-    return xStreamBufferIsFull(handle) == pdTRUE;
+    return xStreamBufferIsFull(handle.get()) == pdTRUE;
 };
 
 bool StreamBuffer::isEmpty() const {
-    return xStreamBufferIsEmpty(handle) == pdTRUE;
+    return xStreamBufferIsEmpty(handle.get()) == pdTRUE;
 };
 
 bool StreamBuffer::reset() const {
-    return xStreamBufferReset(handle) == pdPASS;
+    return xStreamBufferReset(handle.get()) == pdPASS;
 }
 
 } // namespace

TactilityCore/Source/StreamBuffer.h

@@ -1,8 +1,6 @@
 #pragma once
 
-#include "CoreTypes.h"
+#include <memory>
-#include <cstddef>
-#include <cstdint>
 
 #ifdef ESP_PLATFORM
 #include "freertos/FreeRTOS.h"
@@ -25,8 +23,16 @@ namespace tt {
  * interrupt that will read from the buffer (the reader).
  */
 class StreamBuffer {
+
 private:
-    StreamBufferHandle_t handle;
+
+    struct StreamBufferHandleDeleter {
+        void operator()(StreamBufferHandle_t handleToDelete) {
+            vStreamBufferDelete(handleToDelete);
+        }
+    };
+
+    std::unique_ptr<std::remove_pointer_t<StreamBufferHandle_t>, StreamBufferHandleDeleter> handle;
 
 public:
 
@@ -42,7 +48,7 @@ public:
      */
     StreamBuffer(size_t size, size_t triggerLevel);
 
-    ~StreamBuffer();
+    ~StreamBuffer() = default;
 
     /**
      * @brief Set trigger level for stream buffer.
@@ -65,7 +71,7 @@ public:
      * @param[in] timeout The maximum amount of time the task should remain in the
      * Blocked state to wait for space to become available if the stream buffer is full.
      * Will return immediately if timeout is zero.
-     * Setting timeout to TtWaitForever will cause the task to wait indefinitely.
+     * Setting timeout to portMAX_DELAY will cause the task to wait indefinitely.
      * Ignored if called from ISR.
      * @return The number of bytes actually written to the stream buffer.
      */
@@ -85,7 +91,7 @@ public:
      * @param[in] timeout The maximum amount of time the task should remain in the
      * Blocked state to wait for data to become available if the stream buffer is empty.
      * Will return immediately if timeout is zero.
-     * Setting timeout to TtWaitForever will cause the task to wait indefinitely.
+     * Setting timeout to portMAX_DELAY will cause the task to wait indefinitely.
      * Ignored if called from ISR.
      * @return The number of bytes read from the stream buffer, if any.
      */

TactilityCore/Source/TactilityCore.h

@@ -5,7 +5,6 @@
 #include "Check.h"
 #include "CoreDefines.h"
 #include "CoreExtraDefines.h"
-#include "CoreTypes.h"
 #include "EventFlag.h"
 #include "kernel/Kernel.h"
 #include "kernel/critical/Critical.h"

TactilityCore/Source/Thread.cpp

@@ -1,10 +1,13 @@
 #include "Thread.h"
-#include <string>
 
 #include "Check.h"
 #include "CoreDefines.h"
+#include "EventFlag.h"
 #include "kernel/Kernel.h"
 #include "Log.h"
+#include "TactilityCoreConfig.h"
+
+#include <string>
 
 namespace tt {
 
@@ -22,180 +25,155 @@ namespace tt {
 static_assert(static_cast<UBaseType_t>(Thread::Priority::Critical) <= TT_CONFIG_THREAD_MAX_PRIORITIES, "highest thread priority is higher than max priority");
 static_assert(TT_CONFIG_THREAD_MAX_PRIORITIES <= configMAX_PRIORITIES, "highest tactility priority is higher than max FreeRTOS priority");
 
-void setState(Thread::Data* data, Thread::State state) {
+void Thread::setState(Thread::State newState) {
-    data->state = state;
+    state = newState;
-    if (data->stateCallback) {
+    if (stateCallback) {
-        data->stateCallback(state, data->stateCallbackContext);
+        stateCallback(state, stateCallbackContext);
     }
 }
 
 static_assert(configSUPPORT_DYNAMIC_ALLOCATION == 1);
 
 /** Catch threads that are trying to exit wrong way */
-__attribute__((__noreturn__)) void thread_catch() { //-V1082
+__attribute__((__noreturn__)) void threadCatch() { //-V1082
-    // If you're here it means you're probably doing something wrong
+    // If you're here it means you're probably doing something wrong with critical sections or with scheduler state
-    // with critical sections or with scheduler state
+    asm volatile("nop");
-    asm volatile("nop");                // extra magic
+    tt_crash();
-    tt_crash("You are doing it wrong"); //-V779
     __builtin_unreachable();
 }
 
-
+void Thread::mainBody(void* context) {
-static void thread_body(void* context) {
+    assert(context != nullptr);
-    assert(context);
+    auto* thread = static_cast<Thread*>(context);
-    auto* data = static_cast<Thread::Data*>(context);
 
     // Store thread data instance to thread local storage
     assert(pvTaskGetThreadLocalStoragePointer(nullptr, 0) == nullptr);
-    vTaskSetThreadLocalStoragePointer(nullptr, 0, data->thread);
+    vTaskSetThreadLocalStoragePointer(nullptr, 0, thread);
 
-    assert(data->state == Thread::State::Starting);
+    assert(thread->state == Thread::State::Starting);
-    setState(data, Thread::State::Running);
+    thread->setState(Thread::State::Running);
-    data->callbackResult = data->callback(data->callbackContext);
+    thread->callbackResult = thread->callback(thread->callbackContext);
-    assert(data->state == Thread::State::Running);
+    assert(thread->state == Thread::State::Running);
 
-    setState(data, Thread::State::Stopped);
+    thread->setState(Thread::State::Stopped);
 
     vTaskSetThreadLocalStoragePointer(nullptr, 0, nullptr);
-    data->taskHandle = nullptr;
+    thread->taskHandle = nullptr;
 
     vTaskDelete(nullptr);
-    thread_catch();
+    threadCatch();
 }
 
-Thread::Thread() :
-    data({
-        .thread = nullptr,
-        .taskHandle = nullptr,
-        .state = State::Stopped,
-        .callback = nullptr,
-        .callbackContext = nullptr,
-        .callbackResult = 0,
-        .stateCallback = nullptr,
-        .stateCallbackContext = nullptr,
-        .name = std::string(),
-        .priority = Priority::Normal,
-        .stackSize = 0,
-    }) { }
-
 Thread::Thread(
-    const std::string& name,
+    std::string name,
     configSTACK_DEPTH_TYPE stackSize,
     Callback callback,
     _Nullable void* callbackContext,
     portBASE_TYPE affinity
 ) :
-    data({
+    callback(callback),
-        .thread = nullptr,
+    callbackContext(callbackContext),
-        .taskHandle = nullptr,
+    name(std::move(name)),
-        .state = State::Stopped,
+    stackSize(stackSize),
-        .callback = callback,
+    affinity(affinity)
-        .callbackContext = callbackContext,
+{}
-        .callbackResult = 0,
-        .stateCallback = nullptr,
-        .stateCallbackContext = nullptr,
-        .name = name,
-        .priority = Priority::Normal,
-        .stackSize = stackSize,
-        .affinity = affinity
-    }) { }
 
 Thread::~Thread() {
     // Ensure that use join before free
-    assert(data.state == State::Stopped);
+    assert(state == State::Stopped);
-    assert(data.taskHandle == nullptr);
+    assert(taskHandle == nullptr);
 }
 
-void Thread::setName(const std::string& newName) {
+void Thread::setName(std::string newName) {
-    assert(data.state == State::Stopped);
+    assert(state == State::Stopped);
-    data.name = newName;
+    name = std::move(newName);
 }
 
-void Thread::setStackSize(size_t stackSize) {
+void Thread::setStackSize(size_t newStackSize) {
-    assert(data.state == State::Stopped);
+    assert(state == State::Stopped);
     assert(stackSize % 4 == 0);
-    data.stackSize = stackSize;
+    stackSize = newStackSize;
 }
 
-void Thread::setCallback(Callback callback, _Nullable void* callbackContext) {
+void Thread::setCallback(Callback newCallback, _Nullable void* newCallbackContext) {
-    assert(data.state == State::Stopped);
+    assert(state == State::Stopped);
-    data.callback = callback;
+    callback = newCallback;
-    data.callbackContext = callbackContext;
+    callbackContext = newCallbackContext;
 }
 
 
-void Thread::setPriority(Priority priority) {
+void Thread::setPriority(Priority newPriority) {
-    assert(data.state == State::Stopped);
+    assert(state == State::Stopped);
-    data.priority = priority;
+    priority = newPriority;
 }
 
 
 void Thread::setStateCallback(StateCallback callback, _Nullable void* callbackContext) {
-    assert(data.state == State::Stopped);
+    assert(state == State::Stopped);
-    data.stateCallback = callback;
+    stateCallback = callback;
-    data.stateCallbackContext = callbackContext;
+    stateCallbackContext = callbackContext;
 }
 
 Thread::State Thread::getState() const {
-    return data.state;
+    return state;
 }
 
 void Thread::start() {
-    assert(data.callback);
+    assert(callback);
-    assert(data.state == State::Stopped);
+    assert(state == State::Stopped);
-    assert(data.stackSize > 0U && data.stackSize < (UINT16_MAX * sizeof(StackType_t)));
+    assert(stackSize > 0U && stackSize < (UINT16_MAX * sizeof(StackType_t)));
 
-    setState(&data, State::Starting);
+    setState(State::Starting);
 
-    uint32_t stack_depth = data.stackSize / sizeof(StackType_t);
+    uint32_t stack_depth = stackSize / sizeof(StackType_t);
 
     BaseType_t result;
-    if (data.affinity != -1) {
+    if (affinity != -1) {
 #ifdef ESP_PLATFORM
         result = xTaskCreatePinnedToCore(
-            thread_body,
+            mainBody,
-            data.name.c_str(),
+            name.c_str(),
             stack_depth,
             this,
-            static_cast<UBaseType_t>(data.priority),
+            static_cast<UBaseType_t>(priority),
-            &(data.taskHandle),
+            &taskHandle,
-            data.affinity
+            affinity
         );
 #else
         TT_LOG_W(TAG, "Pinned tasks are not supported by current FreeRTOS platform - creating regular one");
         result = xTaskCreate(
-            thread_body,
+            mainBody,
-            data.name.c_str(),
+            name.c_str(),
             stack_depth,
             this,
-            static_cast<UBaseType_t>(data.priority),
+            static_cast<UBaseType_t>(priority),
-            &(data.taskHandle)
+            &taskHandle
         );
 #endif
     } else {
         result = xTaskCreate(
-            thread_body,
+            mainBody,
-            data.name.c_str(),
+            name.c_str(),
             stack_depth,
             this,
-            static_cast<UBaseType_t>(data.priority),
+            static_cast<UBaseType_t>(priority),
-            &(data.taskHandle)
+            &taskHandle
         );
     }
 
     tt_check(result == pdPASS);
-    tt_check(data.state == State::Stopped || data.taskHandle);
+    tt_check(state == State::Stopped || taskHandle);
 }
 
 bool Thread::join(TickType_t timeout, TickType_t pollInterval) {
-    tt_check(thread_get_current() != this);
+    tt_check(getCurrent() != this);
 
     // !!! IMPORTANT NOTICE !!!
     //
     // If your thread exited, but your app stuck here: some other thread uses
     // all cpu time, which delays kernel from releasing task handle
     TickType_t start_ticks = kernel::getTicks();
-    while (data.taskHandle) {
+    while (taskHandle) {
         kernel::delayTicks(pollInterval);
         if ((kernel::getTicks() - start_ticks) > timeout) {
             return false;
@@ -206,45 +184,27 @@ bool Thread::join(TickType_t timeout, TickType_t pollInterval) {
 }
 
 ThreadId Thread::getId() const {
-    return data.taskHandle;
+    return taskHandle;
 }
 
 int32_t Thread::getReturnCode() const {
-    assert(data.state == State::Stopped);
+    assert(state == State::Stopped);
-    return data.callbackResult;
+    return callbackResult;
 }
 
-ThreadId thread_get_current_id() {
+Thread* Thread::getCurrent() {
-    return xTaskGetCurrentTaskHandle();
+    return static_cast<Thread*>(pvTaskGetThreadLocalStoragePointer(nullptr, 0));
 }
 
-Thread* thread_get_current() {
+uint32_t Thread::setFlags(ThreadId threadId, uint32_t flags) {
-    auto* thread = static_cast<Thread*>(pvTaskGetThreadLocalStoragePointer(nullptr, 0));
+    auto hTask = (TaskHandle_t)threadId;
-    return thread;
-}
-
-void thread_set_current_priority(Thread::Priority priority) {
-    vTaskPrioritySet(nullptr, static_cast<UBaseType_t>(priority));
-}
-
-Thread::Priority thread_get_current_priority() {
-    return (Thread::Priority)uxTaskPriorityGet(nullptr);
-}
-
-void thread_yield() {
-    assert(!TT_IS_IRQ_MODE());
-    taskYIELD();
-}
-
-uint32_t thread_flags_set(ThreadId thread_id, uint32_t flags) {
-    auto hTask = (TaskHandle_t)thread_id;
     uint32_t rflags;
     BaseType_t yield;
 
     if ((hTask == nullptr) || ((flags & THREAD_FLAGS_INVALID_BITS) != 0U)) {
-        rflags = (uint32_t)TtStatusErrorParameter;
+        rflags = (uint32_t)EventFlag::ErrorParameter;
     } else {
-        rflags = (uint32_t)TtStatusError;
+        rflags = (uint32_t)EventFlag::Error;
 
         if (TT_IS_IRQ_MODE()) {
             yield = pdFALSE;
@@ -264,14 +224,14 @@ uint32_t thread_flags_set(ThreadId thread_id, uint32_t flags) {
     return (rflags);
 }
 
-uint32_t thread_flags_clear(uint32_t flags) {
+uint32_t Thread::clearFlags(uint32_t flags) {
     TaskHandle_t hTask;
     uint32_t rflags, cflags;
 
     if (TT_IS_IRQ_MODE()) {
-        rflags = (uint32_t)TtStatusErrorISR;
+        rflags = (uint32_t)EventFlag::ErrorISR;
     } else if ((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
-        rflags = (uint32_t)TtStatusErrorParameter;
+        rflags = (uint32_t)EventFlag::ErrorParameter;
     } else {
         hTask = xTaskGetCurrentTaskHandle();
 
@@ -282,10 +242,10 @@ uint32_t thread_flags_clear(uint32_t flags) {
 
             if (xTaskNotifyIndexed(hTask, THREAD_NOTIFY_INDEX, cflags, eSetValueWithOverwrite) !=
                 pdPASS) {
-                rflags = (uint32_t)TtStatusError;
+                rflags = (uint32_t)EventFlag::Error;
             }
         } else {
-            rflags = (uint32_t)TtStatusError;
+            rflags = (uint32_t)EventFlag::Error;
         }
     }
 
@@ -293,36 +253,36 @@ uint32_t thread_flags_clear(uint32_t flags) {
     return (rflags);
 }
 
-uint32_t thread_flags_get() {
+uint32_t Thread::getFlags() {
     TaskHandle_t hTask;
     uint32_t rflags;
 
     if (TT_IS_IRQ_MODE()) {
-        rflags = (uint32_t)TtStatusErrorISR;
+        rflags = (uint32_t)EventFlag::ErrorISR;
     } else {
         hTask = xTaskGetCurrentTaskHandle();
 
         if (xTaskNotifyAndQueryIndexed(hTask, THREAD_NOTIFY_INDEX, 0, eNoAction, &rflags) !=
             pdPASS) {
-            rflags = (uint32_t)TtStatusError;
+            rflags = (uint32_t)EventFlag::Error;
         }
     }
 
     return (rflags);
 }
 
-uint32_t thread_flags_wait(uint32_t flags, uint32_t options, uint32_t timeout) {
+uint32_t Thread::awaitFlags(uint32_t flags, uint32_t options, uint32_t timeout) {
     uint32_t rflags, nval;
     uint32_t clear;
     TickType_t t0, td, tout;
     BaseType_t rval;
 
     if (TT_IS_IRQ_MODE()) {
-        rflags = (uint32_t)TtStatusErrorISR;
+        rflags = (uint32_t)EventFlag::ErrorISR;
     } else if ((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
-        rflags = (uint32_t)TtStatusErrorParameter;
+        rflags = (uint32_t)EventFlag::ErrorParameter;
     } else {
-        if ((options & TtFlagNoClear) == TtFlagNoClear) {
+        if ((options & EventFlag::NoClear) == EventFlag::NoClear) {
             clear = 0U;
         } else {
             clear = flags;
@@ -339,12 +299,12 @@ uint32_t thread_flags_wait(uint32_t flags, uint32_t options, uint32_t timeout) {
                 rflags &= flags;
                 rflags |= nval;
 
-                if ((options & TtFlagWaitAll) == TtFlagWaitAll) {
+                if ((options & EventFlag::WaitAll) == EventFlag::WaitAll) {
                     if ((flags & rflags) == flags) {
                         break;
                     } else {
                         if (timeout == 0U) {
-                            rflags = (uint32_t)TtStatusErrorResource;
+                            rflags = (uint32_t)EventFlag::ErrorResource;
                             break;
                         }
                     }
@@ -353,7 +313,7 @@ uint32_t thread_flags_wait(uint32_t flags, uint32_t options, uint32_t timeout) {
                         break;
                     } else {
                         if (timeout == 0U) {
-                            rflags = (uint32_t)TtStatusErrorResource;
+                            rflags = (uint32_t)EventFlag::ErrorResource;
                             break;
                         }
                     }
@@ -369,9 +329,9 @@ uint32_t thread_flags_wait(uint32_t flags, uint32_t options, uint32_t timeout) {
                 }
             } else {
                 if (timeout == 0) {
-                    rflags = (uint32_t)TtStatusErrorResource;
+                    rflags = (uint32_t)EventFlag::ErrorResource;
                 } else {
-                    rflags = (uint32_t)TtStatusErrorTimeout;
+                    rflags = (uint32_t)EventFlag::ErrorTimeout;
                 }
             }
         } while (rval != pdFAIL);
@@ -381,21 +341,8 @@ uint32_t thread_flags_wait(uint32_t flags, uint32_t options, uint32_t timeout) {
     return (rflags);
 }
 
-const char* thread_get_name(ThreadId thread_id) {
+uint32_t Thread::getStackSpace(ThreadId threadId) {
-    auto hTask = (TaskHandle_t)thread_id;
+    auto hTask = (TaskHandle_t)threadId;
-    const char* name;
-
-    if (TT_IS_IRQ_MODE() || (hTask == nullptr)) {
-        name = nullptr;
-    } else {
-        name = pcTaskGetName(hTask);
-    }
-
-    return (name);
-}
-
-uint32_t thread_get_stack_space(ThreadId thread_id) {
-    auto hTask = (TaskHandle_t)thread_id;
     uint32_t sz;
 
     if (TT_IS_IRQ_MODE() || (hTask == nullptr)) {
@@ -407,13 +354,13 @@ uint32_t thread_get_stack_space(ThreadId thread_id) {
     return (sz);
 }
 
-void thread_suspend(ThreadId thread_id) {
+void Thread::suspend(ThreadId threadId) {
-    auto hTask = (TaskHandle_t)thread_id;
+    auto hTask = (TaskHandle_t)threadId;
     vTaskSuspend(hTask);
 }
 
-void thread_resume(ThreadId thread_id) {
+void Thread::resume(ThreadId threadId) {
-    auto hTask = (TaskHandle_t)thread_id;
+    auto hTask = (TaskHandle_t)threadId;
     if (TT_IS_IRQ_MODE()) {
         xTaskResumeFromISR(hTask);
     } else {
@@ -421,8 +368,8 @@ void thread_resume(ThreadId thread_id) {
     }
 }
 
-bool thread_is_suspended(ThreadId thread_id) {
+bool Thread::isSuspended(ThreadId threadId) {
-    auto hTask = (TaskHandle_t)thread_id;
+    auto hTask = (TaskHandle_t)threadId;
     return eTaskGetState(hTask) == eSuspended;
 }
 

TactilityCore/Source/Thread.h

@@ -1,11 +1,9 @@
 #pragma once
 
 #include "CoreDefines.h"
-#include "CoreTypes.h"
 
-#include <cstddef>
-#include <cstdint>
 #include <string>
+#include <memory>
 
 #include "RtosCompatTask.h"
 
@@ -14,6 +12,7 @@ namespace tt {
 typedef TaskHandle_t ThreadId;
 
 class Thread {
+
 public:
 
     enum class State{
@@ -34,6 +33,7 @@ public:
         Critical = 7U
     };
 
+
     /** ThreadCallback Your callback to run in new thread
      * @warning never use osThreadExit in Thread
      */
@@ -51,22 +51,27 @@ public:
      */
     typedef void (*StateCallback)(State state, void* context);
 
-    typedef struct {
+private:
-        Thread* thread;
-        TaskHandle_t taskHandle;
-        State state;
-        Callback callback;
-        void* callbackContext;
-        int32_t callbackResult;
-        StateCallback stateCallback;
-        void* stateCallbackContext;
-        std::string name;
-        Priority priority;
-        configSTACK_DEPTH_TYPE stackSize;
-        portBASE_TYPE affinity;
-    } Data;
 
-    Thread();
+    static void mainBody(void* context);
+
+    TaskHandle_t taskHandle = nullptr;
+    State state = State::Stopped;
+    Callback callback = nullptr;
+    void* callbackContext = nullptr;
+    int32_t callbackResult = 0;
+    StateCallback stateCallback = nullptr;
+    void* stateCallbackContext = nullptr;
+    std::string name = {};
+    Priority priority = Priority::Normal;
+    configSTACK_DEPTH_TYPE stackSize = 0;
+    portBASE_TYPE affinity = -1;
+
+    void setState(Thread::State state);
+
+public:
+
+    Thread() = default;
 
     /** Allocate Thread, shortcut version
      * @param[in] name the name of the thread
@@ -76,7 +81,7 @@ public:
      * @param[in] affinity Which CPU core to pin this task to, -1 means unpinned (only works on ESP32)
      */
     Thread(
-        const std::string& name,
+        std::string name,
         configSTACK_DEPTH_TYPE stackSize,
         Callback callback,
         _Nullable void* callbackContext,
@@ -88,7 +93,7 @@ public:
     /** Set Thread name
      * @param[in] name string
      */
-    void setName(const std::string& name);
+    void setName(std::string name);
 
     /** Set Thread stack size
      * @param[in] stackSize stack size in bytes
@@ -140,9 +145,39 @@ public:
      */
     int32_t getReturnCode() const;
 
-private:
+    /** Suspend thread
+     * @param[in] threadId thread id
+     */
+    static void suspend(ThreadId threadId);
 
-    Data data;
+    /** Resume thread
+     * @param[in] threadId thread id
+     */
+    static void resume(ThreadId threadId);
+
+    /** Get thread suspended state
+     * @param[in] threadId thread id
+     * @return true if thread is suspended
+     */
+    static bool isSuspended(ThreadId threadId);
+
+    /**
+     * @brief Get thread stack watermark
+     * @param[in] threadId
+     * @return uint32_t
+     */
+    static uint32_t getStackSpace(ThreadId threadId);
+
+    /** @return pointer to Thread instance or nullptr if this thread doesn't belong to Tactility */
+    static Thread* getCurrent();
+
+    static uint32_t setFlags(ThreadId threadId, uint32_t flags);
+
+    static uint32_t clearFlags(uint32_t flags);
+
+    static uint32_t getFlags();
+
+    static uint32_t awaitFlags(uint32_t flags, uint32_t options, uint32_t timeout);
 };
 
 #define THREAD_PRIORITY_APP Thread::PriorityNormal
@@ -150,59 +185,4 @@ private:
 #define THREAD_PRIORITY_RENDER Thread::Priority::Higher
 #define THREAD_PRIORITY_ISR Thread::Priority::Critical
 
-/** Set current thread priority
- * @param[in] priority ThreadPriority value
- */
-void thread_set_current_priority(Thread::Priority priority);
-
-/** @return ThreadPriority value */
-Thread::Priority thread_get_current_priority();
-
-/** @return FreeRTOS ThreadId or NULL */
-ThreadId thread_get_current_id();
-
-/** @return pointer to Thread instance or NULL if this thread doesn't belongs to Tactility */
-Thread* thread_get_current();
-
-/** Return control to scheduler */
-void thread_yield();
-
-uint32_t thread_flags_set(ThreadId thread_id, uint32_t flags);
-
-uint32_t thread_flags_clear(uint32_t flags);
-
-uint32_t thread_flags_get();
-
-uint32_t thread_flags_wait(uint32_t flags, uint32_t options, uint32_t timeout);
-
-/**
- * @brief Get thread name
- * @param[in] threadId
- * @return const char* name or NULL
- */
-const char* thread_get_name(ThreadId threadId);
-
-/**
- * @brief Get thread stack watermark
- * @param[in] threadId
- * @return uint32_t 
- */
-uint32_t thread_get_stack_space(ThreadId threadId);
-
-/** Suspend thread
- * @param[in] threadId thread id
- */
-void thread_suspend(ThreadId threadId);
-
-/** Resume thread
- * @param[in] threadId thread id
- */
-void thread_resume(ThreadId threadId);
-
-/** Get thread suspended state
- * @param[in] threadId thread id
- * @return true if thread is suspended
- */
-bool thread_is_suspended(ThreadId threadId);
-
 } // namespace

TactilityCore/Source/Timer.cpp

@@ -6,7 +6,7 @@
 
 namespace tt {
 
-static void timer_callback(TimerHandle_t hTimer) {
+void Timer::onCallback(TimerHandle_t hTimer) {
     auto* timer = static_cast<Timer*>(pvTimerGetTimerID(hTimer));
 
     if (timer != nullptr) {
@@ -14,54 +14,59 @@ static void timer_callback(TimerHandle_t hTimer) {
     }
 }
 
-Timer::Timer(Type type, Callback callback, std::shared_ptr<void> callbackContext) {
+static inline TimerHandle_t createTimer(Timer::Type type, void* timerId, TimerCallbackFunction_t callback) {
-    assert((!TT_IS_ISR()) && (callback != nullptr));
+    assert(timerId != nullptr);
-
+    assert(callback != nullptr);
-    this->callback = callback;
-    this->callbackContext = std::move(callbackContext);
 
     UBaseType_t reload;
-    if (type == Type::Once) {
+    if (type == Timer::Type::Once) {
         reload = pdFALSE;
     } else {
         reload = pdTRUE;
     }
 
-    this->timerHandle = xTimerCreate(nullptr, portMAX_DELAY, (BaseType_t)reload, this, timer_callback);
+    return xTimerCreate(nullptr, portMAX_DELAY, (BaseType_t)reload, timerId, callback);
-    assert(this->timerHandle);
+}
+
+Timer::Timer(Type type, Callback callback, std::shared_ptr<void> callbackContext) :
+    callback(callback),
+    callbackContext(std::move(callbackContext)),
+    handle(createTimer(type, this, onCallback))
+{
+    assert(!TT_IS_ISR());
+    assert(handle != nullptr);
 }
 
 Timer::~Timer() {
     assert(!TT_IS_ISR());
-    tt_check(xTimerDelete(timerHandle, portMAX_DELAY) == pdPASS);
 }
 
 bool Timer::start(TickType_t interval) {
     assert(!TT_IS_ISR());
     assert(interval < portMAX_DELAY);
-    return xTimerChangePeriod(timerHandle, interval, portMAX_DELAY) == pdPASS;
+    return xTimerChangePeriod(handle.get(), interval, portMAX_DELAY) == pdPASS;
 }
 
 bool Timer::restart(TickType_t interval) {
     assert(!TT_IS_ISR());
     assert(interval < portMAX_DELAY);
-    return xTimerChangePeriod(timerHandle, interval, portMAX_DELAY) == pdPASS &&
+    return xTimerChangePeriod(handle.get(), interval, portMAX_DELAY) == pdPASS &&
-        xTimerReset(timerHandle, portMAX_DELAY) == pdPASS;
+        xTimerReset(handle.get(), portMAX_DELAY) == pdPASS;
 }
 
 bool Timer::stop() {
     assert(!TT_IS_ISR());
-    return xTimerStop(timerHandle, portMAX_DELAY) == pdPASS;
+    return xTimerStop(handle.get(), portMAX_DELAY) == pdPASS;
 }
 
 bool Timer::isRunning() {
     assert(!TT_IS_ISR());
-    return xTimerIsTimerActive(timerHandle) == pdTRUE;
+    return xTimerIsTimerActive(handle.get()) == pdTRUE;
 }
 
 TickType_t Timer::getExpireTime() {
     assert(!TT_IS_ISR());
-    return xTimerGetExpiryTime(timerHandle);
+    return xTimerGetExpiryTime(handle.get());
 }
 
 bool Timer::setPendingCallback(PendingCallback callback, void* callbackContext, uint32_t callbackArg, TickType_t timeout) {

TactilityCore/Source/Timer.h

@@ -1,7 +1,5 @@
 #pragma once
 
-#include "CoreTypes.h"
-
 #include "RtosCompatTimers.h"
 #include "Thread.h"
 #include <memory>
@@ -9,15 +7,27 @@
 namespace tt {
 
 class Timer {
-private:
+
-    TimerHandle_t timerHandle;
 public:
 
     typedef void (*Callback)(std::shared_ptr<void> context);
     typedef void (*PendingCallback)(void* context, uint32_t arg);
 
+private:
+
+    struct TimerHandleDeleter {
+        void operator()(TimerHandle_t handleToDelete) {
+            xTimerDelete(handleToDelete, portMAX_DELAY);
+        }
+    };
+
     Callback callback;
     std::shared_ptr<void> callbackContext;
+    std::unique_ptr<std::remove_pointer_t<TimerHandle_t>, TimerHandleDeleter> handle;
+
+    static void onCallback(TimerHandle_t hTimer);
+
+public:
 
     enum class Type {
         Once = 0,    ///< One-shot timer.

TactilityCore/Source/kernel/Kernel.cpp

@@ -1,12 +1,11 @@
 #include "kernel/Kernel.h"
-#include "Check.h"
 #include "CoreDefines.h"
-#include "CoreTypes.h"
 #include "RtosCompatTask.h"
 
 #ifdef ESP_PLATFORM
 #include "rom/ets_sys.h"
 #else
+#include <cassert>
 #include <unistd.h>
 #endif
 
@@ -16,90 +15,72 @@ bool isRunning() {
     return xTaskGetSchedulerState() != taskSCHEDULER_RUNNING;
 }
 
-int32_t lock() {
+bool lock() {
     assert(!TT_IS_ISR());
 
     int32_t lock;
 
     switch (xTaskGetSchedulerState()) {
+        // Already suspended
         case taskSCHEDULER_SUSPENDED:
-            lock = 1;
+            return true;
-            break;
 
         case taskSCHEDULER_RUNNING:
             vTaskSuspendAll();
-            lock = 0;
+            return true;
-            break;
 
         case taskSCHEDULER_NOT_STARTED:
         default:
-            lock = (int32_t)TtStatusError;
+            return false;
-            break;
     }
 
     /* Return previous lock state */
     return (lock);
 }
 
-int32_t unlock() {
+bool unlock() {
     assert(!TT_IS_ISR());
 
-    int32_t lock;
-
     switch (xTaskGetSchedulerState()) {
         case taskSCHEDULER_SUSPENDED:
-            lock = 1;
-
             if (xTaskResumeAll() != pdTRUE) {
                 if (xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED) {
-                    lock = (int32_t)TtStatusError;
+                    return false;
                 }
             }
-            break;
+            return true;
 
         case taskSCHEDULER_RUNNING:
-            lock = 0;
+            return true;
-            break;
 
         case taskSCHEDULER_NOT_STARTED:
         default:
-            lock = (int32_t)TtStatusError;
+            return false;
-            break;
     }
-
-    /* Return previous lock state */
-    return (lock);
 }
 
-int32_t restoreLock(int32_t lock) {
+bool restoreLock(bool lock) {
     assert(!TT_IS_ISR());
 
     switch (xTaskGetSchedulerState()) {
         case taskSCHEDULER_SUSPENDED:
         case taskSCHEDULER_RUNNING:
-            if (lock == 1) {
+            if (lock) {
                 vTaskSuspendAll();
+                return true;
             } else {
-                if (lock != 0) {
+                if (xTaskResumeAll() != pdTRUE) {
-                    lock = (int32_t)TtStatusError;
+                    if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING) {
-                } else {
+                        return false;
-                    if (xTaskResumeAll() != pdTRUE) {
-                        if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING) {
-                            lock = (int32_t)TtStatusError;
-                        }
                     }
                 }
+                return true;
             }
-            break;
 
         case taskSCHEDULER_NOT_STARTED:
         default:
-            lock = (int32_t)TtStatusError;
+            return false;
-            break;
     }
-
-    /* Return new lock state */
-    return (lock);
 }
 
 uint32_t getTickFrequency() {
@@ -116,13 +97,11 @@ void delayTicks(TickType_t ticks) {
     }
 }
 
-TtStatus delayUntilTick(TickType_t tick) {
+bool delayUntilTick(TickType_t tick) {
     assert(!TT_IS_ISR());
 
     TickType_t tcnt, delay;
-    TtStatus stat;
 
-    stat = TtStatusOk;
     tcnt = xTaskGetTickCount();
 
     /* Determine remaining number of tick to delay */
@@ -130,29 +109,20 @@ TtStatus delayUntilTick(TickType_t tick) {
 
     /* Check if target tick has not expired */
     if ((delay != 0U) && (0 == (delay >> (8 * sizeof(TickType_t) - 1)))) {
-        if (xTaskDelayUntil(&tcnt, delay) == pdFALSE) {
+        if (xTaskDelayUntil(&tcnt, delay) == pdPASS) {
-            /* Did not delay */
+            return true;
-            stat = TtStatusError;
         }
-    } else {
-        /* No delay or already expired */
-        stat = TtStatusErrorParameter;
     }
 
-    /* Return execution status */
+    return false;
-    return (stat);
 }
 
 TickType_t getTicks() {
-    TickType_t ticks;
-
     if (TT_IS_ISR() != 0U) {
-        ticks = xTaskGetTickCountFromISR();
+        return xTaskGetTickCountFromISR();
     } else {
-        ticks = xTaskGetTickCount();
+        return xTaskGetTickCount();
     }
-
-    return ticks;
 }
 
 TickType_t millisToTicks(uint32_t milliseconds) {

TactilityCore/Source/kernel/Kernel.h

@@ -1,7 +1,5 @@
 #pragma once
 
-#include "CoreTypes.h"
-
 #ifdef ESP_PLATFORM
 #include "freertos/FreeRTOS.h"
 #else
@@ -23,22 +21,22 @@ bool isRunning();
 
 /** Lock kernel, pause process scheduling
  * @warning don't call from ISR context
- * @return previous lock state(0 - unlocked, 1 - locked)
+ * @return true on success
  */
-int32_t lock();
+bool lock();
 
 /** Unlock kernel, resume process scheduling
  * @warning don't call from ISR context
- * @return previous lock state(0 - unlocked, 1 - locked)
+ * @return true on success
  */
-int32_t unlock();
+bool unlock();
 
 /** Restore kernel lock state
  * @warning don't call from ISR context
  * @param[in] lock  The lock state
- * @return new lock state or error
+ * @return true on success
  */
-int32_t restoreLock(int32_t lock);
+bool restoreLock(bool lock);
 
 /** Get kernel systick frequency
  * @return systick counts per second
@@ -57,9 +55,9 @@ void delayTicks(TickType_t ticks);
 /** Delay until tick
  * @warning don't call from ISR context
  * @param[in] ticks  The tick until which kerel should delay task execution
- * @return the status
+ * @return true on success
  */
-TtStatus delayUntilTick(TickType_t tick);
+bool delayUntilTick(TickType_t tick);
 
 /** Convert milliseconds to ticks
  *

TactilityHeadless/Source/hal/i2c/I2c.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include "I2cCompat.h"
-#include "CoreTypes.h"
 #include "RtosCompat.h"
 #include <climits>
 #include <string>
@@ -29,10 +28,10 @@ struct Configuration {
     i2c_config_t config;
 };
 
-enum Status {
+enum class Status {
-    STARTED,
+    Started,
-    STOPPED,
+    Stopped,
-    UNKNOWN
+    Unknown
 };
 
 bool init(const std::vector<i2c::Configuration>& configurations);

TactilityHeadless/Source/hal/i2c/I2cDevice.cpp

@@ -1,4 +1,5 @@
 #include "I2cDevice.h"
+#include <cstdint>
 
 bool I2cDevice::readRegister12(uint8_t reg, float& out) const {
     std::uint8_t data[2] = {0};

TactilityHeadless/Source/service/ServiceRegistry.cpp

@@ -25,7 +25,7 @@ void addService(std::shared_ptr<const ServiceManifest> manifest, bool autoStart)
 
     TT_LOG_I(TAG, "Adding %s", id.c_str());
 
-    manifest_mutex.lock(TtWaitForever);
+    manifest_mutex.lock();
     if (service_manifest_map[id] == nullptr) {
         service_manifest_map[id] = std::move(manifest);
     } else {
@@ -43,18 +43,18 @@ void addService(const ServiceManifest& manifest, bool autoStart) {
 }
 
 std::shared_ptr<const ServiceManifest> _Nullable findManifestId(const std::string& id) {
-    manifest_mutex.acquire(TtWaitForever);
+    manifest_mutex.lock();
     auto iterator = service_manifest_map.find(id);
     auto manifest = iterator != service_manifest_map.end() ? iterator->second : nullptr;
-    manifest_mutex.release();
+    manifest_mutex.unlock();
     return manifest;
 }
 
 static std::shared_ptr<ServiceInstance> _Nullable findServiceInstanceById(const std::string& id) {
-    manifest_mutex.acquire(TtWaitForever);
+    manifest_mutex.lock();
     auto iterator = service_instance_map.find(id);
     auto service = iterator != service_instance_map.end() ? iterator->second : nullptr;
-    manifest_mutex.release();
+    manifest_mutex.unlock();
     return service;
 }
 
@@ -70,9 +70,9 @@ bool startService(const std::string& id) {
     auto service_instance = std::make_shared<ServiceInstance>(manifest);
 
     // Register first, so that a service can retrieve itself during onStart()
-    instance_mutex.acquire(TtWaitForever);
+    instance_mutex.lock();
     service_instance_map[manifest->id] = service_instance;
-    instance_mutex.release();
+    instance_mutex.unlock();
 
     service_instance->getService()->onStart(*service_instance);
 
@@ -100,9 +100,9 @@ bool stopService(const std::string& id) {
 
     service_instance->getService()->onStop(*service_instance);
 
-    instance_mutex.acquire(TtWaitForever);
+    instance_mutex.lock();
     service_instance_map.erase(id);
-    instance_mutex.release();
+    instance_mutex.unlock();
 
     if (service_instance.use_count() > 1) {
         TT_LOG_W(TAG, "Possible memory leak: service %s still has %ld references", service_instance->getManifest().id.c_str(), service_instance.use_count() - 1);

TactilityHeadless/Source/service/sdcard/Sdcard.cpp

@@ -20,11 +20,11 @@ private:
     hal::SdCard::State lastState = hal::SdCard::State::Unmounted;
 
     bool lock(TickType_t timeout) const {
-        return mutex.acquire(timeout) == TtStatusOk;
+        return mutex.lock(timeout);
     }
 
     void unlock() const {
-        tt_check(mutex.release() == TtStatusOk);
+        mutex.unlock();
     }
 
     void update() {

TactilityHeadless/Source/service/wifi/Wifi.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "Pubsub.h"
+#include "PubSub.h"
 #include "WifiGlobals.h"
 #include "WifiSettings.h"
 #include <cstdio>

TactilityHeadless/Source/service/wifi/WifiEsp.cpp

@@ -73,53 +73,53 @@ public:
 
     RadioState getRadioState() const {
         auto lockable = dataMutex.scoped();
-        lockable->lock(TtWaitForever);
+        lockable->lock();
         // TODO: Handle lock failure
         return radio_state;
     }
 
     void setRadioState(RadioState newState) {
         auto lockable = dataMutex.scoped();
-        lockable->lock(TtWaitForever);
+        lockable->lock();
         // TODO: Handle lock failure
         radio_state = newState;
     }
 
     bool isScanning() const {
         auto lockable = dataMutex.scoped();
-        lockable->lock(TtWaitForever);
+        lockable->lock();
         // TODO: Handle lock failure
         return scan_active;
     }
 
     void setScanning(bool newState) {
         auto lockable = dataMutex.scoped();
-        lockable->lock(TtWaitForever);
+        lockable->lock();
         // TODO: Handle lock failure
         scan_active = newState;
     }
 
     bool isScanActive() const {
         auto lcokable = dataMutex.scoped();
-        lcokable->lock(TtWaitForever);
+        lcokable->lock();
         return scan_active;
     }
 
     void setScanActive(bool newState) {
         auto lockable = dataMutex.scoped();
-        lockable->lock(TtWaitForever);
+        lockable->lock();
         scan_active = newState;
     }
 
     bool isSecureConnection() const {
         auto lockable = dataMutex.scoped();
-        lockable->lock(TtWaitForever);
+        lockable->lock();
         return secure_connection;
     }
 
     void setSecureConnection(bool newState) {
         auto lockable = dataMutex.scoped();
-        lockable->lock(TtWaitForever);
+        lockable->lock();
         secure_connection = newState;
     }
 };
@@ -325,7 +325,7 @@ int getRssi() {
 
 static void scan_list_alloc(std::shared_ptr<Wifi> wifi) {
     auto lockable = wifi->dataMutex.scoped();
-    if (lockable->lock(TtWaitForever)) {
+    if (lockable->lock()) {
         assert(wifi->scan_list == nullptr);
         wifi->scan_list = static_cast<wifi_ap_record_t*>(malloc(sizeof(wifi_ap_record_t) * wifi->scan_list_limit));
         wifi->scan_list_count = 0;
@@ -334,7 +334,7 @@ static void scan_list_alloc(std::shared_ptr<Wifi> wifi) {
 
 static void scan_list_alloc_safely(std::shared_ptr<Wifi> wifi) {
     auto lockable = wifi->dataMutex.scoped();
-    if (lockable->lock(TtWaitForever)) {
+    if (lockable->lock()) {
         if (wifi->scan_list == nullptr) {
             scan_list_alloc(wifi);
         }
@@ -343,7 +343,7 @@ static void scan_list_alloc_safely(std::shared_ptr<Wifi> wifi) {
 
 static void scan_list_free(std::shared_ptr<Wifi> wifi) {
     auto lockable = wifi->dataMutex.scoped();
-    if (lockable->lock(TtWaitForever)) {
+    if (lockable->lock()) {
         assert(wifi->scan_list != nullptr);
         free(wifi->scan_list);
         wifi->scan_list = nullptr;
@@ -353,7 +353,7 @@ static void scan_list_free(std::shared_ptr<Wifi> wifi) {
 
 static void scan_list_free_safely(std::shared_ptr<Wifi> wifi) {
     auto lockable = wifi->dataMutex.scoped();
-    if (lockable->lock(TtWaitForever)) {
+    if (lockable->lock()) {
         if (wifi->scan_list != nullptr) {
             scan_list_free(wifi);
         }
@@ -362,9 +362,9 @@ static void scan_list_free_safely(std::shared_ptr<Wifi> wifi) {
 
 static void publish_event_simple(std::shared_ptr<Wifi> wifi, EventType type) {
     auto lockable = wifi->dataMutex.scoped();
-    if (lockable->lock(TtWaitForever)) {
+    if (lockable->lock()) {
         Event turning_on_event = {.type = type};
-        tt_pubsub_publish(wifi->pubsub, &turning_on_event);
+        wifi->pubsub->publish(&turning_on_event);
     }
 }
 
@@ -379,7 +379,7 @@ static bool copy_scan_list(std::shared_ptr<Wifi> wifi) {
     }
 
     auto lockable = wifi->dataMutex.scoped();
-    if (!lockable->lock(TtWaitForever)) {
+    if (!lockable->lock()) {
         return false;
     }
 
@@ -449,7 +449,7 @@ static void eventHandler(TT_UNUSED void* arg, esp_event_base_t event_base, int32
     if (event_base == WIFI_EVENT) {
         TT_LOG_I(TAG, "eventHandler: WIFI_EVENT (%ld)", event_id);
     } else if (event_base == IP_EVENT) {
-        TT_LOG_W(TAG, "eventHandler: IP_EVENT (%ld)", event_id);
+        TT_LOG_I(TAG, "eventHandler: IP_EVENT (%ld)", event_id);
     }
 
     if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) {
@@ -967,15 +967,15 @@ public:
         wifi->autoConnectTimer = nullptr; // Must release as it holds a reference to this Wifi instance
 
         // Acquire all mutexes
-        wifi->dataMutex.acquire(TtWaitForever);
+        wifi->dataMutex.lock();
-        wifi->radioMutex.acquire(TtWaitForever);
+        wifi->radioMutex.lock();
 
         // Detach
         wifi_singleton = nullptr;
 
         // Release mutexes
-        wifi->dataMutex.release();
+        wifi->dataMutex.unlock();
-        wifi->radioMutex.release();
+        wifi->radioMutex.unlock();
 
         // Release (hopefully) last Wifi instance by scope
     }

TactilityHeadless/Source/service/wifi/WifiMock.cpp

@@ -6,7 +6,7 @@
 #include "Log.h"
 #include "MessageQueue.h"
 #include "Mutex.h"
-#include "Pubsub.h"
+#include "PubSub.h"
 #include "service/ServiceContext.h"
 
 namespace tt::service::wifi {
@@ -36,7 +36,7 @@ static Wifi* wifi = nullptr;
 
 static void publish_event_simple(Wifi* wifi, EventType type) {
     Event turning_on_event = { .type = type };
-    tt_pubsub_publish(wifi->pubsub, &turning_on_event);
+    wifi->pubsub->publish(&turning_on_event);
 }
 
 // endregion Static