PR feedback fixes

Devices/simulator/Source/hal/SdlDisplay.h

@@ -6,7 +6,7 @@
 
 class SdlDisplay final : public tt::hal::display::DisplayDevice {
 
-    lv_disp_t* displayHandle;
+    lv_disp_t* displayHandle = nullptr;
 
 public:
 
@@ -20,12 +20,14 @@ public:
     bool supportsLvgl() const override { return true; }
 
     bool startLvgl() override {
+        if (displayHandle) return true; // already started
         displayHandle = lv_sdl_window_create(320, 240);
         lv_sdl_window_set_title(displayHandle, "Tactility");
         return displayHandle != nullptr;
     }
 
     bool stopLvgl() override {
+        if (!displayHandle) return true;
         lv_display_delete(displayHandle);
         displayHandle = nullptr;
         return true;

Modules/lvgl-module/Include/tactility/lvgl_module.h

@@ -69,7 +69,7 @@ bool lvgl_lock(void);
 /**
  * @brief Tries to lock the LVGL mutex with a timeout.
  *
- * @param timeout Timeout in milliseconds.
+ * @param timeout Timeout in ticks
  * @return true if the lock was acquired, false otherwise.
  */
 bool lvgl_try_lock_timed(uint32_t timeout);

Modules/lvgl-module/Source/arch/lvgl_esp32.c

@@ -3,6 +3,7 @@
 
 #include <esp_lvgl_port.h>
 
+#include <tactility/time.h>
 #include <tactility/error.h>
 #include <tactility/lvgl_module.h>
 
@@ -17,7 +18,7 @@ bool lvgl_lock(void) {
 
 bool lvgl_try_lock_timed(uint32_t timeout) {
     if (!initialized) return false;
-    return lvgl_port_lock(timeout);
+    return lvgl_port_lock(millis_to_ticks(timeout));
 }
 
 void lvgl_unlock(void) {

Modules/lvgl-module/Source/arch/lvgl_posix.c

@@ -5,8 +5,8 @@
 #include <tactility/delay.h>
 #include <tactility/concurrent/recursive_mutex.h>
 #include <tactility/concurrent/thread.h>
-
 #include <tactility/freertos/task.h>
+#include <tactility/time.h>
 
 #include <lvgl.h>
 
@@ -28,42 +28,34 @@ static bool lvgl_task_interrupt_requested = false;
 #define LVGL_STOP_TIMEOUT 5000
 
 static void task_lock(void) {
-    if (!task_mutex_initialised) {
-        recursive_mutex_construct(&task_mutex);
-        task_mutex_initialised = true;
-    }
+    if (!task_mutex_initialised) return;
     recursive_mutex_lock(&task_mutex);
 }
 
 static void task_unlock(void) {
+    if (!task_mutex_initialised) return;
     recursive_mutex_unlock(&task_mutex);
 }
 
 bool lvgl_lock(void) {
-    if (!lvgl_mutex_initialised) {
-        recursive_mutex_construct(&lvgl_mutex);
-        lvgl_mutex_initialised = true;
-    }
+    if (!lvgl_mutex_initialised) return false;
     recursive_mutex_lock(&lvgl_mutex);
     return true;
 }
 
 bool lvgl_try_lock_timed(uint32_t timeout) {
-    if (!lvgl_mutex_initialised) {
-        recursive_mutex_construct(&lvgl_mutex);
-        lvgl_mutex_initialised = true;
-    }
-
-    return recursive_mutex_try_lock_timed(&lvgl_mutex, timeout);
+    if (!lvgl_mutex_initialised) return false;
+    return recursive_mutex_try_lock_timed(&lvgl_mutex, millis_to_ticks(timeout));
 }
 
 void lvgl_unlock(void) {
+    if (!lvgl_mutex_initialised) return;
     recursive_mutex_unlock(&lvgl_mutex);
 }
 
-static void lvgl_task_interrupt() {
+static void lvgl_task_set_interrupted(bool interrupted) {
     task_lock();
-    lvgl_task_interrupt_requested = false; // interrupt task with boolean as flag
+    lvgl_task_interrupt_requested = interrupted;
     task_unlock();
 }
 
@@ -79,7 +71,7 @@ static void lvgl_task(void* arg) {
 
     check(!lvgl_task_is_interrupt_requested());
 
-    // on_start must be called from the task, otherwhise the display doesn't work
+    // on_start must be called from the task, otherwise the display doesn't work
     if (lvgl_module_config.on_start) lvgl_module_config.on_start();
 
     while (!lvgl_task_is_interrupt_requested()) {
@@ -97,10 +89,26 @@ static void lvgl_task(void* arg) {
 
     if (lvgl_module_config.on_stop) lvgl_module_config.on_stop();
 
+    task_lock();
+    lvgl_task_handle = nullptr;
+    task_unlock();
+
     vTaskDelete(NULL);
 }
 
 error_t lvgl_arch_start() {
+    if (!lvgl_mutex_initialised) {
+        recursive_mutex_construct(&lvgl_mutex);
+        lvgl_mutex_initialised = true;
+    }
+
+    if (!task_mutex_initialised) {
+        recursive_mutex_construct(&task_mutex);
+        task_mutex_initialised = true;
+    }
+
+    lvgl_task_set_interrupted(false);
+
     lv_init();
 
     // Create the main app loop, like ESP-IDF
@@ -108,9 +116,9 @@ error_t lvgl_arch_start() {
         lvgl_task,
         "lvgl",
         lvgl_module_config.task_stack_size,
-        &lvgl_task_handle,
+        NULL,
         lvgl_module_config.task_priority,
-        NULL
+        &lvgl_task_handle
     );
 
     return (task_result == pdTRUE) ? ERROR_NONE : ERROR_RESOURCE;
@@ -118,9 +126,15 @@ error_t lvgl_arch_start() {
 
 error_t lvgl_arch_stop() {
     TickType_t start_ticks = get_ticks();
-    lvgl_task_interrupt();
-    while (lvgl_task_handle != NULL) { // TODO: make thread-safe
+    lvgl_task_set_interrupted(true);
+    while (true) {
+        task_lock();
+        bool done = (lvgl_task_handle == nullptr);
+        task_unlock();
+        if (done) break;
+
         delay_ticks(LVGL_STOP_POLL_INTERVAL);
+
         if (get_ticks() - start_ticks > LVGL_STOP_TIMEOUT) {
             return ERROR_TIMEOUT;
         }

Platforms/PlatformPosix/Source/freertos.c

@@ -1,4 +1,7 @@
+#include <stdlib.h>
+#if defined(__GLIBC__)
 #include <assert.h>
+#endif
 #include <tactility/freertos/task.h>
 #include <tactility/log.h>
 
@@ -9,5 +12,9 @@
  */
 void vAssertCalled(unsigned long line, const char* const file) {
     LOG_E("Assert triggered at {}:{}", file, line);
+#if defined(__GLIBC__)
     __assert_fail("assert failed", file, line, "");
+#else
+    abort();
+#endif
 }

Tactility/Source/Tactility.cpp

@@ -371,7 +371,7 @@ void run(const Configuration& config, Module* platformModule, Module* deviceModu
         .task_affinity = getCpuAffinityConfiguration().graphics
 #endif
     });
-    module_set_parent(&lvgl_module, &tactility_module_parent);
+    check(module_set_parent(&lvgl_module, &tactility_module_parent) == ERROR_NONE);
     lvgl::start();
 
     registerAndStartSecondaryServices();

Tactility/Source/app/App.cpp

@@ -43,7 +43,7 @@ std::shared_ptr<AppContext> getCurrentAppContext() {
 
 std::shared_ptr<App> getCurrentApp() {
     const auto app_context = getCurrentAppContext();
-    return (app_context !=  nullptr) ? app_context->getApp() : nullptr;
+    return (app_context != nullptr) ? app_context->getApp() : nullptr;
 }
 
 }

Tactility/Source/service/gui/GuiService.cpp

@@ -59,10 +59,6 @@ int32_t GuiService::guiMain() {
     lv_obj_set_style_border_width(screen_root, 0, LV_STATE_DEFAULT);
     lv_obj_set_style_pad_all(screen_root, 0, LV_STATE_DEFAULT);
 
-    service->keyboardGroup = lv_group_create();
-    lv_obj_set_style_border_width(screen_root, 0, LV_STATE_DEFAULT);
-    lv_obj_set_style_pad_all(screen_root, 0, LV_STATE_DEFAULT);
-
     lv_obj_t* vertical_container = lv_obj_create(screen_root);
     lv_obj_set_size(vertical_container, LV_PCT(100), LV_PCT(100));
     lv_obj_set_flex_flow(vertical_container, LV_FLEX_FLOW_COLUMN);
@@ -214,12 +210,15 @@ void GuiService::onStop(ServiceContext& service) {
     unlock();
     thread->join();
 
-    lvgl::lock();
-    if (keyboardGroup != nullptr) {
-        lv_group_delete(keyboardGroup);
-        keyboardGroup = nullptr;
+    if (lvgl::lock()) {
+        if (keyboardGroup != nullptr) {
+            lv_group_delete(keyboardGroup);
+            keyboardGroup = nullptr;
+        }
+        lvgl::unlock();
+    } else {
+        LOGGER.error("Failed to unlock LVGL during GUI stop");
     }
-    lvgl::unlock();
 
     delete thread;
 }