Various improvements (#461)

* **New Features**
  * Time and delay utilities added (ticks, ms, µs); SD card now uses an expansion-header CS pin; HTTP downloads warn when run on the GUI task and yield to avoid blocking.

* **Bug Fixes / Reliability**
  * Many hard-crash paths converted to guarded checks to reduce abrupt termination and improve stability.

* **Tests**
  * Unit tests added to validate time and delay accuracy.

* **Chores**
  * License header and build/macro updates.

CODING_STYLE.md

@@ -46,14 +46,6 @@ void getLimit() {
 }
 ```
 
-### Preprocessor
-
-Preprocessor functions are written in snake-case and prefixed with `tt_`, for example:
-
-```c++
-#define tt_check(x) if (!(x)) { /* .. */ }
-```
-
 ### Type names
 
 Consts are lower camel case with capital letters.

Devices/lilygo-tdeck/Source/devices/TdeckKeyboard.cpp

@@ -29,7 +29,7 @@ static bool keyboard_i2c_read(uint8_t* output) {
  * @param indev_drv
  * @param data
  */
-static void keyboard_read_callback(TT_UNUSED lv_indev_t* indev, lv_indev_data_t* data) {
+static void keyboard_read_callback(lv_indev_t* indev, lv_indev_data_t* data) {
     static uint8_t last_buffer = 0x00;
     uint8_t read_buffer = 0x00;
 

Devices/m5stack-cardputer-adv/Source/devices/SdCard.cpp

@@ -3,6 +3,7 @@
 #include <Tactility/hal/sdcard/SpiSdCardDevice.h>
 
 constexpr auto SDCARD_PIN_CS = GPIO_NUM_12;
+constexpr auto EXPANSION_HEADER_PIN_CS = GPIO_NUM_5;
 
 using tt::hal::sdcard::SpiSdCardDevice;
 
@@ -14,7 +15,7 @@ std::shared_ptr<SdCardDevice> createSdCard() {
         GPIO_NUM_NC,
         SdCardDevice::MountBehaviour::AtBoot,
         tt::hal::spi::getLock(SPI3_HOST),
-        std::vector<gpio_num_t>(),
+        std::vector { EXPANSION_HEADER_PIN_CS },
         SPI3_HOST
     );
 

Devices/m5stack-tab5/device.properties

@@ -18,6 +18,9 @@ dpi=294
 [lvgl]
 colorDepth=16
 
+[cdn]
+warningMessage=Only the original hardware variant with the ILI9881C display is supported for now
+
 [sdkconfig]
 CONFIG_WIFI_PROV_SCAN_MAX_ENTRIES=16
 CONFIG_WIFI_PROV_AUTOSTOP_TIMEOUT=30

Devices/simulator/Source/LvglTask.cpp

@@ -52,7 +52,7 @@ static void lvgl_unlock() {
 }
 
 void lvgl_task_interrupt() {
-    tt_check(task_lock(portMAX_DELAY));
+    check(task_lock(portMAX_DELAY));
     task_set_running(false); // interrupt task with boolean as flag
     task_unlock();
 }
@@ -75,7 +75,7 @@ void lvgl_task_start() {
     assert(task_result == pdTRUE);
 }
 
-static void lvgl_task(TT_UNUSED void* arg) {
+static void lvgl_task(void* arg) {
     LOGGER.info("LVGL task started");
 
     /** Ideally. the display handle would be created during Simulator.start(),

Devices/simulator/Source/Main.cpp

@@ -15,7 +15,7 @@ void setMain(MainFunction newMainFunction) {
     mainFunction = newMainFunction;
 }
 
-static void freertosMainTask(TT_UNUSED void* parameter) {
+static void freertosMainTask(void* parameter) {
     LOGGER.info("starting app_main()");
     assert(simulator::mainFunction);
     mainFunction();

Devices/simulator/Source/Simulator.cpp

@@ -17,7 +17,7 @@ static bool initBoot() {
     return true;
 }
 
-TT_UNUSED static void deinitPower() {
+static void deinitPower() {
     lvgl_task_interrupt();
     while (lvgl_task_is_running()) {
         tt::kernel::delayMillis(10);

Devices/simulator/Source/hal/SdlDisplay.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "SdlTouch.h"
+#include <Tactility/Check.h>
 #include <Tactility/hal/display/DisplayDevice.h>
 
 /** Hack: variable comes from LvglTask.cpp */
@@ -14,11 +15,11 @@ public:
     std::string getDescription() const override { return ""; }
 
     bool start() override { return true; }
-    bool stop() override { tt_crash("Not supported"); }
+    bool stop() override { check(false, "Not supported"); }
 
     bool supportsLvgl() const override { return true; }
     bool startLvgl() override { return displayHandle != nullptr; }
-    bool stopLvgl() override { tt_crash("Not supported"); }
+    bool stopLvgl() override { check(false, "Not supported"); }
     lv_display_t* _Nullable getLvglDisplay() const override { return displayHandle; }
 
     std::shared_ptr<tt::hal::touch::TouchDevice> _Nullable getTouchDevice() override { return std::make_shared<SdlTouch>(); }

Devices/simulator/Source/hal/SdlKeyboard.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <Tactility/hal/keyboard/KeyboardDevice.h>
+#include <Tactility/Check.h>
 #include <Tactility/TactilityCore.h>
 
 class SdlKeyboard final : public tt::hal::keyboard::KeyboardDevice {
@@ -17,7 +18,7 @@ public:
         return handle != nullptr;
     }
 
-    bool stopLvgl() override { tt_crash("Not supported"); }
+    bool stopLvgl() override { check(false, "Not supported"); }
 
     bool isAttached() const override { return true; }
 

Devices/simulator/Source/hal/SdlTouch.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "Tactility/hal/touch/TouchDevice.h"
+#include <Tactility/Check.h>
 #include <Tactility/TactilityCore.h>
 
 class SdlTouch final : public tt::hal::touch::TouchDevice {
@@ -15,7 +16,7 @@ public:
 
     bool start() override { return true; }
 
-    bool stop() override { tt_crash("Not supported"); }
+    bool stop() override { check(false, "Not supported"); }
 
     bool supportsLvgl() const override { return true; }
 
@@ -24,7 +25,7 @@ public:
         return handle != nullptr;
     }
 
-    bool stopLvgl() override { tt_crash("Not supported"); }
+    bool stopLvgl() override { check(false, "Not supported"); }
 
     lv_indev_t* _Nullable getLvglIndev() override { return handle; }
 

Drivers/DRV2605/Source/Drv2605.cpp

@@ -6,10 +6,7 @@
 static const auto LOGGER = tt::Logger("DRV2605");
 
 Drv2605::Drv2605(i2c_port_t port, bool autoPlayStartupBuzz) : I2cDevice(port, ADDRESS), autoPlayStartupBuzz(autoPlayStartupBuzz) {
-    if (!init()) {
+    check(init(), "Initialize DRV2605");
-        LOGGER.error("Failed to initialize DRV2605");
-        tt_crash();
-    }
 
     if (autoPlayStartupBuzz) {
         setWaveFormForBuzz();

Drivers/EspLcdCompat/Source/EspLcdDisplay.cpp

@@ -10,9 +10,10 @@
 static const auto LOGGER = tt::Logger("EspLcdDisplay");
 
 EspLcdDisplay::~EspLcdDisplay() {
-    if (displayDriver != nullptr && displayDriver.use_count() > 1) {
+    check(
-        tt_crash("DisplayDriver is still in use. This will cause memory access violations.");
+        displayDriver == nullptr || displayDriver.use_count() < 2, // 1 reference is held by this class
-    }
+        "DisplayDriver is still in use. This will cause memory access violations."
+    );
 }
 
 bool EspLcdDisplay::start() {
@@ -115,7 +116,7 @@ std::shared_ptr<tt::hal::display::DisplayDriver> EspLcdDisplay::getDisplayDriver
         } else if (lvgl_port_config.color_format == LV_COLOR_FORMAT_RGB888) {
             color_format = tt::hal::display::ColorFormat::RGB888;
         } else {
-            tt_crash("unsupported driver");
+            check(false, "unsupported driver");
         }
 
         displayDriver = std::make_shared<EspLcdDisplayDriver>(

Drivers/EspLcdCompat/Source/EspLcdDisplay.h

@@ -7,7 +7,8 @@
 #include <esp_lcd_types.h>
 #include <esp_lvgl_port_disp.h>
 
-class TT_DEPRECATED EspLcdDisplay : public tt::hal::display::DisplayDevice {
+/** @deprecated use EspLcdDisplayV2 */
+class EspLcdDisplay : public tt::hal::display::DisplayDevice {
 
     esp_lcd_panel_io_handle_t _Nullable ioHandle = nullptr;
     esp_lcd_panel_handle_t _Nullable panelHandle = nullptr;
@@ -29,7 +30,7 @@ protected:
 
     virtual bool isRgbPanel() const { return false; }
 
-    virtual lvgl_port_display_rgb_cfg_t getLvglPortDisplayRgbConfig(esp_lcd_panel_io_handle_t ioHandle, esp_lcd_panel_handle_t panelHandle) { tt_crash("Not supported"); }
+    virtual lvgl_port_display_rgb_cfg_t getLvglPortDisplayRgbConfig(esp_lcd_panel_io_handle_t ioHandle, esp_lcd_panel_handle_t panelHandle) { check(false, "Not supported"); }
 
 public:
 

Drivers/EspLcdCompat/Source/EspLcdDisplayV2.cpp

@@ -18,9 +18,10 @@ inline unsigned int getBufferSize(const std::shared_ptr<EspLcdConfiguration>& co
 }
 
 EspLcdDisplayV2::~EspLcdDisplayV2() {
-    if (displayDriver != nullptr && displayDriver.use_count() > 1) {
+    check(
-        tt_crash("DisplayDriver is still in use. This will cause memory access violations.");
+        displayDriver == nullptr || displayDriver.use_count() < 2, // 1 reference is held by this class
-    }
+        "DisplayDriver is still in use. This will cause memory access violations."
+    );
 }
 
 bool EspLcdDisplayV2::applyConfiguration() const {
@@ -215,7 +216,7 @@ std::shared_ptr<tt::hal::display::DisplayDriver> EspLcdDisplayV2::getDisplayDriv
         } else if (lvgl_port_config.color_format == LV_COLOR_FORMAT_RGB888) {
             color_format = tt::hal::display::ColorFormat::RGB888;
         } else {
-            tt_crash("unsupported driver");
+            check(false, "unsupported driver");
         }
 
         displayDriver = std::make_shared<EspLcdDisplayDriver>(

Drivers/EspLcdCompat/Source/EspLcdDisplayV2.h

@@ -53,7 +53,7 @@ protected:
 
     virtual bool isRgbPanel() const { return false; }
 
-    virtual lvgl_port_display_rgb_cfg_t getLvglPortDisplayRgbConfig(esp_lcd_panel_io_handle_t ioHandle, esp_lcd_panel_handle_t panelHandle) { tt_crash("Not supported"); }
+    virtual lvgl_port_display_rgb_cfg_t getLvglPortDisplayRgbConfig(esp_lcd_panel_io_handle_t ioHandle, esp_lcd_panel_handle_t panelHandle) { check(false, "Not supported"); }
 
     // Hook for MIPI-DSI DPI panels to let LVGL port use DSI-specific path
     virtual bool useDsiPanel() const { return false; }

Drivers/RgbDisplay/Source/RgbDisplay.cpp

@@ -12,9 +12,10 @@
 static const auto LOGGER = tt::Logger("RgbDisplay");
 
 RgbDisplay::~RgbDisplay() {
-    if (displayDriver != nullptr && displayDriver.use_count() > 1) {
+    check(
-        tt_crash("DisplayDriver is still in use. This will cause memory access violations.");
+        displayDriver == nullptr || displayDriver.use_count() == 0,
-    }
+        "DisplayDriver is still in use. This will cause memory access violations."
+    );
 }
 
 bool RgbDisplay::start() {

Platforms/PlatformEsp32/Source/ErrorEsp32.cpp

@@ -1,3 +1,4 @@
+// SPDX-License-Identifier: Apache-2.0
 #include <Tactility/ErrorEsp32.h>
 
 error_t esp_err_to_error(esp_err_t error) {

Tactility/Include/Tactility/service/loader/Loader.h

@@ -46,12 +46,12 @@ private:
 
     int findAppInStack(const std::string& id) const;
 
-    bool onStart(TT_UNUSED ServiceContext& service) override {
+    bool onStart(ServiceContext& service) override {
         dispatcherThread->start();
         return true;
     }
 
-    void onStop(TT_UNUSED ServiceContext& service) override {
+    void onStop(ServiceContext& service) override {
         // Send stop signal to thread and wait for thread to finish
         mutex.withLock([this] {
             dispatcherThread->stop();

Tactility/Private/Tactility/app/AppInstance.h

@@ -53,10 +53,10 @@ class AppInstance : public AppContext {
 #ifdef ESP_PLATFORM
             return createElfApp(manifest);
 #else
-            tt_crash("not supported");
+            check(false, "not supported");
 #endif
         } else {
-            tt_crash("not implemented");
+            check(false, "not implemented");
         }
     }
 

Tactility/Private/Tactility/service/gui/GuiService.h

@@ -17,6 +17,13 @@ constexpr auto GUI_THREAD_FLAG_INPUT = (1 << 1);
 constexpr auto GUI_THREAD_FLAG_EXIT = (1 << 2);
 constexpr auto GUI_THREAD_FLAG_ALL = (GUI_THREAD_FLAG_DRAW | GUI_THREAD_FLAG_INPUT | GUI_THREAD_FLAG_EXIT);
 
+/**
+ * Output a log warning if the current task is the GUI task.
+ * This is meant for code that should either create their own task or use a different task to execute on.
+ * @param[in] context a descriptive name or label that refers to the caller of this function
+ */
+void warnIfRunningOnGuiTask(const char* context);
+
 class GuiService final : public Service {
 
     // Thread and lock
@@ -46,7 +53,7 @@ class GuiService final : public Service {
     void redraw();
 
     void lock() const {
-        tt_check(mutex.lock(pdMS_TO_TICKS(1000)));
+        check(mutex.lock(pdMS_TO_TICKS(1000)));
     }
 
     void unlock() const {
@@ -59,9 +66,9 @@ class GuiService final : public Service {
 
 public:
 
-    bool onStart(TT_UNUSED ServiceContext& service) override;
+    bool onStart(ServiceContext& service) override;
 
-    void onStop(TT_UNUSED ServiceContext& service) override;
+    void onStop(ServiceContext& service) override;
 
     void requestDraw();
 

Tactility/Source/app/alertdialog/AlertDialog.cpp

@@ -95,7 +95,7 @@ public:
 
     void onShow(AppContext& app, lv_obj_t* parent) override {
         auto parameters = app.getParameters();
-        tt_check(parameters != nullptr, "Parameters missing");
+        check(parameters != nullptr, "Parameters missing");
 
         std::string title = getTitleParameter(app.getParameters());
         lv_obj_t* toolbar = lvgl::toolbar_create(parent, title);

Tactility/Source/app/appdetails/AppDetails.cpp

@@ -4,9 +4,9 @@
 #include <Tactility/app/AppContext.h>
 #include <Tactility/app/AppManifest.h>
 #include <Tactility/app/alertdialog/AlertDialog.h>
+#include <Tactility/Check.h>
 #include <Tactility/lvgl/Style.h>
 #include <Tactility/lvgl/Toolbar.h>
-#include <Tactility/TactilityCore.h>
 
 #include <lvgl.h>
 #include <format>
@@ -27,7 +27,7 @@ class AppDetailsApp : public App {
 
     std::shared_ptr<AppManifest> manifest;
 
-    static void onPressUninstall(TT_UNUSED lv_event_t* event) {
+    static void onPressUninstall(lv_event_t* event) {
         auto* self = static_cast<AppDetailsApp*>(lv_event_get_user_data(event));
         std::vector<std::string> choices = {
             "Yes",
@@ -40,7 +40,7 @@ public:
 
     void onCreate(AppContext& app) override {
         const auto parameters = app.getParameters();
-        tt_check(parameters != nullptr, "Parameters missing");
+        check(parameters != nullptr, "Parameters missing");
         auto app_id = parameters->getString("appId");
         manifest = findAppManifestById(app_id);
         assert(manifest != nullptr);
@@ -86,7 +86,7 @@ public:
         }
     }
 
-    void onResult(TT_UNUSED AppContext& appContext, TT_UNUSED LaunchId launchId, TT_UNUSED Result result, std::unique_ptr<Bundle> bundle) override {
+    void onResult(AppContext& appContext, LaunchId launchId, Result result, std::unique_ptr<Bundle> bundle) override {
         if (result != Result::Ok || bundle == nullptr) {
             return;
         }

Tactility/Source/app/apphub/AppHubApp.cpp

@@ -157,7 +157,7 @@ class AppHubApp final : public App {
 
 public:
 
-    void onShow(TT_UNUSED AppContext& app, lv_obj_t* parent) override {
+    void onShow(AppContext& app, lv_obj_t* parent) override {
         lv_obj_set_flex_flow(parent, LV_FLEX_FLOW_COLUMN);
         lv_obj_set_style_pad_row(parent, 0, LV_STATE_DEFAULT);
 

Tactility/Source/app/apphubdetails/AppHubDetailsApp.cpp

@@ -186,7 +186,7 @@ public:
         }
     }
 
-    void onShow(TT_UNUSED AppContext& app, lv_obj_t* parent) override {
+    void onShow(AppContext& app, lv_obj_t* parent) override {
         lv_obj_set_flex_flow(parent, LV_FLEX_FLOW_COLUMN);
         lv_obj_set_style_pad_row(parent, 0, LV_STATE_DEFAULT);
 

Tactility/Source/app/applist/AppList.cpp

@@ -24,7 +24,7 @@ class AppListApp final : public App {
 
 public:
 
-    void onShow(TT_UNUSED AppContext& app, lv_obj_t* parent) override {
+    void onShow(AppContext& app, lv_obj_t* parent) override {
         auto* toolbar = lvgl::toolbar_create(parent, app);
         lv_obj_align(toolbar, LV_ALIGN_TOP_MID, 0, 0);
 

Tactility/Source/app/appsettings/AppSettings.cpp

@@ -25,7 +25,7 @@ class AppSettingsApp final : public App {
 
 public:
 
-    void onShow(TT_UNUSED AppContext& app, lv_obj_t* parent) override {
+    void onShow(AppContext& app, lv_obj_t* parent) override {
         auto* toolbar = lvgl::toolbar_create(parent, "Installed Apps");
         lv_obj_align(toolbar, LV_ALIGN_TOP_MID, 0, 0);
 

Tactility/Source/app/boot/Boot.cpp

@@ -170,7 +170,7 @@ public:
         thread.join();
     }
 
-    void onShow(TT_UNUSED AppContext& app, lv_obj_t* parent) override {
+    void onShow(AppContext& app, lv_obj_t* parent) override {
         lvgl::obj_set_style_bg_blacken(parent);
         lv_obj_set_style_border_width(parent, 0, LV_STATE_DEFAULT);
         lv_obj_set_style_radius(parent, 0, LV_STATE_DEFAULT);

Tactility/Source/app/crashdiagnostics/CrashDiagnostics.cpp

@@ -17,7 +17,7 @@ static const auto LOGGER = Logger("CrashDiagnostics");
 
 extern const AppManifest manifest;
 
-void onContinuePressed(TT_UNUSED lv_event_t* event) {
+void onContinuePressed(lv_event_t* event) {
     stop(manifest.appId);
     launcher::start();
 }

Tactility/Source/app/display/Display.cpp

@@ -236,7 +236,7 @@ public:
         }
     }
 
-    void onHide(TT_UNUSED AppContext& app) override {
+    void onHide(AppContext& app) override {
         if (displaySettingsUpdated) {
             // Dispatch it, so file IO doesn't block the UI
             const settings::display::DisplaySettings settings_to_save = displaySettings;

Tactility/Source/app/files/FilesApp.cpp

@@ -27,7 +27,7 @@ public:
         view->init(appContext, parent);
     }
 
-    void onResult(AppContext& appContext, TT_UNUSED LaunchId launchId, Result result, std::unique_ptr<Bundle> bundle) override {
+    void onResult(AppContext& appContext, LaunchId launchId, Result result, std::unique_ptr<Bundle> bundle) override {
         view->onResult(launchId, result, std::move(bundle));
     }
 };

Tactility/Source/app/files/View.cpp

@@ -1,12 +1,13 @@
 #include <Tactility/app/files/View.h>
 #include <Tactility/app/files/SupportedFiles.h>
 
-#include <Tactility/file/File.h>
 #include <Tactility/app/alertdialog/AlertDialog.h>
 #include <Tactility/app/imageviewer/ImageViewer.h>
 #include <Tactility/app/inputdialog/InputDialog.h>
 #include <Tactility/app/notes/Notes.h>
 #include <Tactility/app/ElfApp.h>
+#include <Tactility/Check.h>
+#include <Tactility/file/File.h>
 #include <Tactility/kernel/Platform.h>
 #include <Tactility/Logger.h>
 #include <Tactility/LogMessages.h>
@@ -58,7 +59,7 @@ static void onDeletePressedCallback(lv_event_t* event) {
     view->onDeletePressed();
 }
 
-static void onNavigateUpPressedCallback(TT_UNUSED lv_event_t* event) {
+static void onNavigateUpPressedCallback(lv_event_t* event) {
     auto* view = static_cast<View*>(lv_event_get_user_data(event));
     view->onNavigateUpPressed();
 }
@@ -179,7 +180,7 @@ void View::onDirEntryLongPressed(int32_t index) {
 }
 
 void View::createDirEntryWidget(lv_obj_t* list, dirent& dir_entry) {
-    tt_check(list);
+    check(list);
     const char* symbol;
     if (dir_entry.d_type == file::TT_DT_DIR || dir_entry.d_type == file::TT_DT_CHR) {
         symbol = LV_SYMBOL_DIRECTORY;

Tactility/Source/app/fileselection/View.cpp

@@ -1,6 +1,7 @@
 #include <Tactility/app/fileselection/View.h>
 
 #include <Tactility/app/alertdialog/AlertDialog.h>
+#include <Tactility/Check.h>
 #include <Tactility/file/File.h>
 #include <Tactility/Logger.h>
 #include <Tactility/LogMessages.h>
@@ -30,7 +31,7 @@ static void onDirEntryPressedCallback(lv_event_t* event) {
     view->onDirEntryPressed(index);
 }
 
-static void onNavigateUpPressedCallback(TT_UNUSED lv_event_t* event) {
+static void onNavigateUpPressedCallback(lv_event_t* event) {
     auto* view = static_cast<View*>(lv_event_get_user_data(event));
     view->onNavigateUpPressed();
 }
@@ -126,7 +127,7 @@ void View::onPathTextChanged(lv_event_t* event) {
 }
 
 void View::createDirEntryWidget(lv_obj_t* list, dirent& dir_entry) {
-    tt_check(list);
+    check(list);
     const char* symbol;
     if (dir_entry.d_type == file::TT_DT_DIR || dir_entry.d_type == file::TT_DT_CHR) {
         symbol = LV_SYMBOL_DIRECTORY;

Tactility/Source/app/gpssettings/GpsSettings.cpp

@@ -318,7 +318,7 @@ class GpsSettingsApp final : public App {
         }
     }
 
-    void onGpsToggled(TT_UNUSED lv_event_t* event) {
+    void onGpsToggled(lv_event_t* event) {
         bool wants_on = lv_obj_has_state(switchWidget, LV_STATE_CHECKED);
         auto state = service->getState();
         bool is_on = (state == service::gps::State::On) || (state == service::gps::State::OnPending);

Tactility/Source/app/i2cscanner/I2cScanner.cpp

@@ -325,7 +325,7 @@ void I2cScannerApp::selectBus(int32_t selected) {
     updateViews();
 }
 
-void I2cScannerApp::onPressScan(TT_UNUSED lv_event_t* event) {
+void I2cScannerApp::onPressScan(lv_event_t* event) {
     if (scanState == ScanStateScanning) {
         stopScanning();
     } else {

Tactility/Source/app/imageviewer/ImageViewer.cpp

@@ -45,7 +45,7 @@ class ImageViewerApp final : public App {
         lv_obj_align_to(file_label, wrapper, LV_ALIGN_BOTTOM_LEFT, 0, 0);
 
         std::shared_ptr<const Bundle> bundle = app.getParameters();
-        tt_check(bundle != nullptr, "Parameters not set");
+        check(bundle != nullptr, "Parameters not set");
         std::string file_argument;
         if (bundle->optString(IMAGE_VIEWER_FILE_ARGUMENT, file_argument)) {
             std::string prefixed_path = lvgl::PATH_PREFIX + file_argument;

Tactility/Source/app/inputdialog/InputDialog.cpp

@@ -79,7 +79,7 @@ public:
 
     void onShow(AppContext& app, lv_obj_t* parent) override {
         auto parameters = app.getParameters();
-        tt_check(parameters != nullptr, "Parameters missing");
+        check(parameters != nullptr, "Parameters missing");
 
         std::string title = getTitleParameter(app.getParameters());
         auto* toolbar = lvgl::toolbar_create(parent, title);

Tactility/Source/app/keyboard/KeyboardSettings.cpp

@@ -170,7 +170,7 @@ public:
         }
     }
 
-    void onHide(TT_UNUSED AppContext& app) override {
+    void onHide(AppContext& app) override {
         if (updated) {
             const auto copy = kbSettings;
             getMainDispatcher().dispatch([copy]{ settings::keyboard::save(copy); });

Tactility/Source/app/launcher/Launcher.cpp

@@ -76,7 +76,7 @@ class LauncherApp final : public App {
         return show_power_button;
     }
 
-    static void onAppPressed(TT_UNUSED lv_event_t* e) {
+    static void onAppPressed(lv_event_t* e) {
         auto* appId = static_cast<const char*>(lv_event_get_user_data(e));
         start(appId);
     }
@@ -90,7 +90,7 @@ class LauncherApp final : public App {
 
 public:
 
-    void onCreate(TT_UNUSED AppContext& app) override {
+    void onCreate(AppContext& app) override {
         settings::BootSettings boot_properties;
         if (settings::loadBootSettings(boot_properties) && !boot_properties.autoStartAppId.empty()) {
             LOGGER.info("Starting {}", boot_properties.autoStartAppId);
@@ -98,7 +98,7 @@ public:
         }
     }
 
-    void onShow(TT_UNUSED AppContext& app, lv_obj_t* parent) override {
+    void onShow(AppContext& app, lv_obj_t* parent) override {
         auto* buttons_wrapper = lv_obj_create(parent);
 
         auto ui_scale = hal::getConfiguration()->uiScale;

Tactility/Source/app/localesettings/LocaleSettings.cpp

@@ -149,7 +149,7 @@ public:
         lv_obj_add_event_cb(languageDropdown, onLanguageSet, LV_EVENT_VALUE_CHANGED, this);
     }
 
-    void onHide(TT_UNUSED AppContext& app) override {
+    void onHide(AppContext& app) override {
         if (settingsUpdated && regionTextArea) {
             settings::SystemSettings sysSettings;
             if (settings::loadSystemSettings(sysSettings)) {

Tactility/Source/app/power/Power.cpp

@@ -183,7 +183,7 @@ public:
         update_timer.start();
     }
 
-    void onHide(TT_UNUSED AppContext& app) override {
+    void onHide(AppContext& app) override {
         update_timer.stop();
     }
 };

Tactility/Source/app/screenshot/Screenshot.cpp

@@ -58,14 +58,14 @@ std::shared_ptr<ScreenshotApp> _Nullable optApp() {
     }
 }
 
-static void onStartPressedCallback(TT_UNUSED lv_event_t* event) {
+static void onStartPressedCallback(lv_event_t* event) {
     auto app = optApp();
     if (app != nullptr) {
         app->onStartPressed();
     }
 }
 
-static void onModeSetCallback(TT_UNUSED lv_event_t* event) {
+static void onModeSetCallback(lv_event_t* event) {
     auto app = optApp();
     if (app != nullptr) {
         app->onModeSet();

Tactility/Source/app/selectiondialog/SelectionDialog.cpp

@@ -80,7 +80,7 @@ public:
         lv_obj_set_flex_grow(list, 1);
 
         auto parameters = app.getParameters();
-        tt_check(parameters != nullptr, "Parameters missing");
+        check(parameters != nullptr, "Parameters missing");
         std::string items_concatenated;
         if (parameters->optString(PARAMETER_BUNDLE_KEY_ITEMS, items_concatenated)) {
             std::vector<std::string> items = string::split(items_concatenated, PARAMETER_ITEM_CONCATENATION_TOKEN);

Tactility/Source/app/settings/Settings.cpp

@@ -16,7 +16,7 @@ static void onAppPressed(lv_event_t* e) {
 }
 
 static void createWidget(const std::shared_ptr<AppManifest>& manifest, void* parent) {
-    tt_check(parent);
+    check(parent);
     auto* list = (lv_obj_t*)parent;
     const void* icon = !manifest->appIcon.empty() ? manifest->appIcon.c_str() : TT_ASSETS_APP_ICON_FALLBACK;
     auto* btn = lv_list_add_button(list, icon, manifest->appName.c_str());

Tactility/Source/app/systeminfo/SystemInfo.cpp

@@ -692,7 +692,7 @@ class SystemInfoApp final : public App {
         tasksTimer.start();    // Tasks/CPU: every 15s
     }
 
-    void onHide(TT_UNUSED AppContext& app) override {
+    void onHide(AppContext& app) override {
         memoryTimer.stop();
         tasksTimer.stop();
     }

Tactility/Source/app/timedatesettings/TimeDateSettings.cpp

@@ -134,7 +134,7 @@ public:
         lv_label_set_text(timeZoneLabel, timeZoneName.c_str());
     }
 
-    void onResult(AppContext& app, TT_UNUSED LaunchId launchId, Result result, std::unique_ptr<Bundle> bundle) override {
+    void onResult(AppContext& app, LaunchId launchId, Result result, std::unique_ptr<Bundle> bundle) override {
         if (result == Result::Ok && bundle != nullptr) {
             const auto name = timezone::getResultName(*bundle);
             const auto code = timezone::getResultCode(*bundle);

Tactility/Source/app/timezone/TimeZone.cpp

@@ -73,12 +73,12 @@ class TimeZoneApp final : public App {
     lv_obj_t* listWidget = nullptr;
     lv_obj_t* filterTextareaWidget = nullptr;
 
-    static void onTextareaValueChangedCallback(TT_UNUSED lv_event_t* e) {
+    static void onTextareaValueChangedCallback(lv_event_t* e) {
         auto* app = (TimeZoneApp*)lv_event_get_user_data(e);
         app->onTextareaValueChanged(e);
     }
 
-    void onTextareaValueChanged(TT_UNUSED lv_event_t* e) {
+    void onTextareaValueChanged(lv_event_t* e) {
         if (mutex.lock(100 / portTICK_PERIOD_MS)) {
             if (updateTimer->isRunning()) {
                 updateTimer->stop();

Tactility/Source/app/trackball/TrackballSettings.cpp

@@ -197,7 +197,7 @@ public:
         }
     }
 
-    void onHide(TT_UNUSED AppContext& app) override {
+    void onHide(AppContext& app) override {
         if (updated) {
             const auto copy = tbSettings;
             getMainDispatcher().dispatch([copy]{ settings::trackball::save(copy); });

Tactility/Source/app/usbsettings/UsbSettings.cpp

@@ -11,12 +11,12 @@
 
 namespace tt::app::usbsettings {
 
-static void onRebootMassStorageSdmmc(TT_UNUSED lv_event_t* event) {
+static void onRebootMassStorageSdmmc(lv_event_t* event) {
     hal::usb::rebootIntoMassStorageSdmmc();
 }
 
 // Flash reboot handler
-static void onRebootMassStorageFlash(TT_UNUSED lv_event_t* event) {
+static void onRebootMassStorageFlash(lv_event_t* event) {
     hal::usb::rebootIntoMassStorageFlash();
 }
 

Tactility/Source/app/webserversettings/WebServerSettings.cpp

@@ -183,7 +183,7 @@ class WebServerSettingsApp final : public App {
     }
 
 public:
-    void onCreate(TT_UNUSED AppContext& app) override {
+    void onCreate(AppContext& app) override {
         wsSettings = settings::webserver::loadOrGetDefault();
         originalSettings = wsSettings;
     }
@@ -353,7 +353,7 @@ public:
             "AP mode uses the password configured above.");
     }
 
-    void onHide(TT_UNUSED AppContext& app) override {
+    void onHide(AppContext& app) override {
         if (updated) {
             // Read values from text areas
             if (textAreaApPassword) {

Tactility/Source/app/wifiapsettings/WifiApSettings.cpp

@@ -6,6 +6,7 @@
 #include <Tactility/app/AppContext.h>
 #include <Tactility/app/AppManifest.h>
 #include <Tactility/app/alertdialog/AlertDialog.h>
+#include <Tactility/Check.h>
 #include <Tactility/Logger.h>
 #include <Tactility/LogMessages.h>
 #include <Tactility/lvgl/Style.h>
@@ -34,7 +35,7 @@ class WifiApSettings : public App {
     std::string ssid;
     PubSub<service::wifi::WifiEvent>::SubscriptionHandle wifiSubscription = nullptr;
 
-    static void onPressForget(TT_UNUSED lv_event_t* event) {
+    static void onPressForget(lv_event_t* event) {
         std::vector<std::string> choices = {
             "Yes",
             "No"
@@ -61,7 +62,7 @@ class WifiApSettings : public App {
     static void onPressConnect(lv_event_t* event) {
         auto app = getCurrentAppContext();
         auto parameters = app->getParameters();
-        tt_check(parameters != nullptr, "Parameters missing");
+        check(parameters != nullptr, "Parameters missing");
 
         std::string ssid = parameters->getString("ssid");
         service::wifi::settings::WifiApSettings settings;
@@ -124,7 +125,7 @@ public:
 
     void onCreate(AppContext& app) override {
         const auto parameters = app.getParameters();
-        tt_check(parameters != nullptr, "Parameters missing");
+        check(parameters != nullptr, "Parameters missing");
         ssid = parameters->getString("ssid");
     }
 
@@ -209,7 +210,7 @@ public:
         viewEnabled = false;
     }
 
-    void onResult(TT_UNUSED AppContext& appContext, TT_UNUSED LaunchId launchId, TT_UNUSED Result result, std::unique_ptr<Bundle> bundle) override {
+    void onResult(AppContext& appContext, LaunchId launchId, Result result, std::unique_ptr<Bundle> bundle) override {
         if (result != Result::Ok || bundle == nullptr) {
             return;
         }
@@ -220,7 +221,7 @@ public:
         }
 
         auto parameters = appContext.getParameters();
-        tt_check(parameters != nullptr, "Parameters missing");
+        check(parameters != nullptr, "Parameters missing");
 
         std::string ssid = parameters->getString("ssid");
         if (!service::wifi::settings::remove(ssid.c_str())) {

Tactility/Source/app/wificonnect/View.cpp

@@ -21,7 +21,7 @@ void View::resetErrors() {
     lv_obj_add_flag(connection_error, LV_OBJ_FLAG_HIDDEN);
 }
 
-static void onConnect(TT_UNUSED lv_event_t* event) {
+static void onConnect(lv_event_t* event) {
     auto wifi = std::static_pointer_cast<WifiConnect>(getCurrentApp());
     auto& view = wifi->getView();
 

Tactility/Source/app/wificonnect/WifiConnect.cpp

@@ -15,7 +15,7 @@ constexpr auto* WIFI_CONNECT_PARAM_PASSWORD = "password"; // String
 
 extern const AppManifest manifest;
 
-static void onConnect(const service::wifi::settings::WifiApSettings& ap_settings, bool remember, TT_UNUSED void* parameter) {
+static void onConnect(const service::wifi::settings::WifiApSettings& ap_settings, bool remember, void* parameter) {
     auto* wifi = static_cast<WifiConnect*>(parameter);
     wifi->getState().setApSettings(ap_settings);
     wifi->getState().setConnecting(true);
@@ -88,7 +88,7 @@ void WifiConnect::onShow(AppContext& app, lv_obj_t* parent) {
     unlock();
 }
 
-void WifiConnect::onHide(TT_UNUSED AppContext& app) {
+void WifiConnect::onHide(AppContext& app) {
     // No need to lock view, as this is called from within Gui's LVGL context
     lock();
     viewEnabled = false;

Tactility/Source/app/wifimanage/WifiManage.cpp

@@ -131,7 +131,7 @@ void WifiManage::onShow(AppContext& app, lv_obj_t* parent) {
     }
 }
 
-void WifiManage::onHide(TT_UNUSED AppContext& app) {
+void WifiManage::onHide(AppContext& app) {
     lock();
     service::wifi::getPubsub()->unsubscribe(wifiSubscription);
     wifiSubscription = nullptr;

Tactility/Source/hal/Hal.cpp

@@ -1,4 +1,5 @@
 #include <Tactility/Tactility.h>
+#include <Tactility/Check.h>
 #include <Tactility/hal/Configuration.h>
 #include <Tactility/hal/Device.h>
 #include <Tactility/hal/gps/GpsInit.h>
@@ -68,20 +69,19 @@ void init(const Configuration& configuration) {
     kernel::publishSystemEvent(kernel::SystemEvent::BootInitHalBegin);
 
     kernel::publishSystemEvent(kernel::SystemEvent::BootInitI2cBegin);
-    tt_check(i2c::init(configuration.i2c), "I2C init failed");
+    check(i2c::init(configuration.i2c), "I2C init failed");
     kernel::publishSystemEvent(kernel::SystemEvent::BootInitI2cEnd);
 
     kernel::publishSystemEvent(kernel::SystemEvent::BootInitSpiBegin);
-    tt_check(spi::init(configuration.spi), "SPI init failed");
+    check(spi::init(configuration.spi), "SPI init failed");
     kernel::publishSystemEvent(kernel::SystemEvent::BootInitSpiEnd);
 
     kernel::publishSystemEvent(kernel::SystemEvent::BootInitUartBegin);
-    tt_check(uart::init(configuration.uart), "UART init failed");
+    check(uart::init(configuration.uart), "UART init failed");
     kernel::publishSystemEvent(kernel::SystemEvent::BootInitUartEnd);
 
     if (configuration.initBoot != nullptr) {
-        LOGGER.info("Init boot");
+        check(configuration.initBoot(), "Init boot failed");
-        tt_check(configuration.initBoot(), "Init boot failed");
     }
 
     registerDevices(configuration);

Tactility/Source/hal/gps/GpsInit.cpp

@@ -139,7 +139,7 @@ GpsResponse getACKCas(uart::Uart& uart, uint8_t class_id, uint8_t msg_id, uint32
 bool init(uart::Uart& uart, GpsModel type) {
     switch (type) {
         case GpsModel::Unknown:
-            tt_crash();
+            check(false);
         case GpsModel::AG3335:
         case GpsModel::AG3352:
             return initAg33xx(uart);

Tactility/Source/hal/i2c/I2c.cpp

@@ -202,7 +202,7 @@ bool masterWrite(i2c_port_t port, uint8_t address, const uint8_t* data, uint16_t
 }
 
 bool masterWriteRegister(i2c_port_t port, uint8_t address, uint8_t reg, const uint8_t* data, uint16_t dataSize, TickType_t timeout) {
-    tt_check(reg != 0);
+    check(reg != 0);
 
     auto lock = getLock(port).asScopedLock();
     if (!lock.lock(timeout)) {

Tactility/Source/kernel/SystemEvents.cpp

@@ -4,6 +4,7 @@
 #include <Tactility/Logger.h>
 #include <Tactility/Mutex.h>
 
+#include <Tactility/CoreDefines.h>
 #include <list>
 
 namespace tt::kernel {
@@ -53,7 +54,7 @@ static const char* getEventName(SystemEvent event) {
             return TT_STRINGIFY(Time);
     }
 
-    tt_crash(); // Missing case above
+    check(false); // Missing case above
 }
 
 void publishSystemEvent(SystemEvent event) {
@@ -83,7 +84,7 @@ SystemEventSubscription subscribeSystemEvent(SystemEvent event, OnSystemEvent ha
         mutex.unlock();
         return id;
     } else {
-        tt_crash();
+        check(false);
     }
 }
 

Tactility/Source/lvgl/Spinner.cpp

@@ -42,7 +42,7 @@ static void anim_rotation_callback(void* var, int32_t v) {
     lv_obj_set_style_transform_rotation(object, v, 0);
 }
 
-static void spinner_constructor(TT_UNUSED const lv_obj_class_t* object_class, lv_obj_t* object) {
+static void spinner_constructor(const lv_obj_class_t* object_class, lv_obj_t* object) {
     lv_obj_remove_flag(object, LV_OBJ_FLAG_CLICKABLE);
 
     lv_anim_t a;

Tactility/Source/lvgl/Statusbar.cpp

@@ -1,5 +1,6 @@
 #define LV_USE_PRIVATE_API 1 // For actual lv_obj_t declaration
 
+#include <Tactility/Check.h>
 #include <Tactility/kernel/SystemEvents.h>
 #include <Tactility/Logger.h>
 #include <Tactility/LogMessages.h>
@@ -10,7 +11,6 @@
 #include <Tactility/RecursiveMutex.h>
 #include <Tactility/settings/Time.h>
 #include <Tactility/Tactility.h>
-#include <Tactility/TactilityCore.h>
 #include <Tactility/Timer.h>
 
 #include <lvgl.h>
@@ -116,7 +116,7 @@ static void statusbar_pubsub_event(Statusbar* statusbar) {
     }
 }
 
-static void onTimeChanged(TT_UNUSED kernel::SystemEvent event) {
+static void onTimeChanged(kernel::SystemEvent event) {
     if (statusbar_data.mutex.lock()) {
         statusbar_data.time_update_timer->reset(5);
         statusbar_data.mutex.unlock();
@@ -142,7 +142,7 @@ 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) {
+static void statusbar_destructor(const lv_obj_class_t* class_p, lv_obj_t* obj) {
     auto* statusbar = (Statusbar*)obj;
     statusbar_data.pubsub->unsubscribe(statusbar->pubsub_subscription);
 }
@@ -215,7 +215,7 @@ static void update_main(Statusbar* statusbar) {
     }
 }
 
-static void statusbar_event(TT_UNUSED const lv_obj_class_t* class_p, lv_event_t* event) {
+static void statusbar_event(const lv_obj_class_t* class_p, lv_event_t* event) {
     // Call the ancestor's event handler
     lv_result_t result = lv_obj_event_base(&statusbar_class, event);
     if (result != LV_RES_OK) {
@@ -258,7 +258,7 @@ void statusbar_icon_remove(int8_t id) {
     if (LOGGER.isLoggingDebug()) {
         LOGGER.debug("id {}: remove", id);
     }
-    tt_check(id >= 0 && id < STATUSBAR_ICON_LIMIT);
+    check(id >= 0 && id < STATUSBAR_ICON_LIMIT);
     statusbar_data.mutex.lock();
     StatusbarIcon* icon = &statusbar_data.icons[id];
     icon->claimed = false;
@@ -276,10 +276,10 @@ void statusbar_icon_set_image(int8_t id, const std::string& image) {
             LOGGER.debug("id {}: set image {}", id, image);
         }
     }
-    tt_check(id >= 0 && id < STATUSBAR_ICON_LIMIT);
+    check(id >= 0 && id < STATUSBAR_ICON_LIMIT);
     statusbar_data.mutex.lock();
     StatusbarIcon* icon = &statusbar_data.icons[id];
-    tt_check(icon->claimed);
+    check(icon->claimed);
     icon->image = image;
     statusbar_data.mutex.unlock();
     statusbar_data.pubsub->publish(nullptr);
@@ -289,10 +289,10 @@ void statusbar_icon_set_visibility(int8_t id, bool visible) {
     if (LOGGER.isLoggingDebug()) {
         LOGGER.debug("id {}: set visibility {}", id, visible);
     }
-    tt_check(id >= 0 && id < STATUSBAR_ICON_LIMIT);
+    check(id >= 0 && id < STATUSBAR_ICON_LIMIT);
     statusbar_data.mutex.lock();
     StatusbarIcon* icon = &statusbar_data.icons[id];
-    tt_check(icon->claimed);
+    check(icon->claimed);
     icon->visible = visible;
     statusbar_data.mutex.unlock();
     statusbar_data.pubsub->publish(nullptr);

Tactility/Source/lvgl/Toolbar.cpp

@@ -2,6 +2,7 @@
 
 #include <Tactility/lvgl/Toolbar.h>
 
+#include <Tactility/Check.h>
 #include <Tactility/service/loader/Loader.h>
 #include <Tactility/lvgl/Spinner.h>
 
@@ -63,7 +64,7 @@ static const lv_obj_class_t toolbar_class = {
     .theme_inheritable = false
 };
 
-static void stop_app(TT_UNUSED lv_event_t* event) {
+static void stop_app(lv_event_t* event) {
     app::stop();
 }
 
@@ -166,7 +167,7 @@ void toolbar_set_nav_action(lv_obj_t* obj, const char* icon, lv_event_cb_t callb
 
 lv_obj_t* toolbar_add_button_action(lv_obj_t* obj, const char* imageOrButton, bool isImage, lv_event_cb_t callback, void* user_data) {
     auto* toolbar = reinterpret_cast<Toolbar*>(obj);
-    tt_check(toolbar->action_count < TOOLBAR_ACTION_LIMIT, "max actions reached");
+    check(toolbar->action_count < TOOLBAR_ACTION_LIMIT, "max actions reached");
     toolbar->action_count++;
 
     auto ui_scale = hal::getConfiguration()->uiScale;

Tactility/Source/network/Http.cpp

@@ -3,6 +3,8 @@
 #include <Tactility/Logger.h>
 #include <Tactility/network/Http.h>
 
+#include "Tactility/service/gui/GuiService.h"
+
 #ifdef ESP_PLATFORM
 #include <Tactility/network/EspHttpClient.h>
 #include <esp_http_client.h>
@@ -19,7 +21,8 @@ void download(
     const std::function<void()>& onSuccess,
     const std::function<void(const char* errorMessage)>& onError
 ) {
-    LOGGER.info("Downloading {} to {}", url, downloadFilePath);
+    service::gui::warnIfRunningOnGuiTask("HTTP");
+    LOGGER.info("Downloading from {} to {}", url, downloadFilePath);
 #ifdef ESP_PLATFORM
     getMainDispatcher().dispatch([url, certFilePath, downloadFilePath, onSuccess, onError] {
         LOGGER.info("Loading certificate");
@@ -90,6 +93,7 @@ void download(
                 onError("Failed to write all bytes");
                 return;
             }
+            taskYIELD();
         }
         fclose(file);
         LOGGER.info("Downloaded {} to {}", url, downloadFilePath);

Tactility/Source/service/displayidle/DisplayIdle.cpp

@@ -59,7 +59,7 @@ class DisplayIdleService final : public Service {
     }
 
 public:
-    bool onStart(TT_UNUSED ServiceContext& service) override {
+    bool onStart(ServiceContext& service) override {
         // Load settings once at startup and cache them
         // This eliminates file I/O from timer callback (prevents watchdog timeout)
         cachedDisplaySettings = settings::display::loadOrGetDefault();
@@ -73,7 +73,7 @@ public:
         return true;
     }
 
-    void onStop(TT_UNUSED ServiceContext& service) override {
+    void onStop(ServiceContext& service) override {
         if (timer) {
             timer->stop();
             timer = nullptr;

Tactility/Source/service/gui/GuiService.cpp

@@ -1,5 +1,7 @@
 #include <Tactility/service/gui/GuiService.h>
 
+#include <cstring>
+
 #include <Tactility/app/AppInstance.h>
 #include <Tactility/Logger.h>
 #include <Tactility/LogMessages.h>
@@ -15,6 +17,15 @@ extern const ServiceManifest manifest;
 static const auto LOGGER = Logger("GuiService");
 using namespace loader;
 
+constexpr auto* GUI_TASK_NAME = "gui";
+
+void warnIfRunningOnGuiTask(const char* context) {
+    const char* task_name = pcTaskGetName(nullptr);
+    if (strcmp(GUI_TASK_NAME, task_name) == 0) {
+        LOGGER.warn("{} shouldn't run on the GUI task", context);
+    }
+}
+
 // region AppManifest
 
 void GuiService::onLoaderEvent(LoaderService::Event event) {
@@ -114,7 +125,7 @@ void GuiService::redraw() {
     unlock();
 }
 
-bool GuiService::onStart(TT_UNUSED ServiceContext& service) {
+bool GuiService::onStart(ServiceContext& service) {
     auto* screen_root = lv_screen_active();
     if (screen_root == nullptr) {
         LOGGER.error("No display found");
@@ -122,11 +133,13 @@ bool GuiService::onStart(TT_UNUSED ServiceContext& service) {
     }
 
     thread = new Thread(
-        "gui",
+        GUI_TASK_NAME,
         4096, // Last known minimum was 2800 for launching desktop
         []() { return guiMain(); }
     );
 
+    thread->setPriority(THREAD_PRIORITY_SERVICE);
+
     const auto loader = findLoaderService();
     assert(loader != nullptr);
     loader_pubsub_subscription = loader->getPubsub()->subscribe([this](auto event) {
@@ -169,7 +182,7 @@ bool GuiService::onStart(TT_UNUSED ServiceContext& service) {
     return true;
 }
 
-void GuiService::onStop(TT_UNUSED ServiceContext& service) {
+void GuiService::onStop(ServiceContext& service) {
     lock();
 
     const auto loader = findLoaderService();
@@ -186,7 +199,7 @@ void GuiService::onStop(TT_UNUSED ServiceContext& service) {
 
     unlock();
 
-    tt_check(lvgl::lock(1000 / portTICK_PERIOD_MS));
+    check(lvgl::lock(1000 / portTICK_PERIOD_MS));
     lv_group_delete(keyboardGroup);
     lvgl::unlock();
 }

Tactility/Source/service/gui/Keyboard.cpp

@@ -17,7 +17,7 @@ static void show_keyboard(lv_event_t* event) {
     }
 }
 
-static void hide_keyboard(TT_UNUSED lv_event_t* event) {
+static void hide_keyboard(lv_event_t* event) {
     auto service = findService();
     if (service != nullptr) {
         service->softwareKeyboardHide();
@@ -53,7 +53,7 @@ void GuiService::keyboardAddTextArea(lv_obj_t* textarea) {
     lock();
 
     if (isStarted) {
-        tt_check(lvgl::lock(0), "lvgl should already be locked before calling this method");
+        check(lvgl::lock(0), "lvgl should already be locked before calling this method");
 
         if (softwareKeyboardIsEnabled()) {
             lv_obj_add_event_cb(textarea, show_keyboard, LV_EVENT_FOCUSED, nullptr);

Tactility/Source/service/keyboardidle/KeyboardIdle.cpp

@@ -58,7 +58,7 @@ class KeyboardIdleService final : public Service {
     }
 
 public:
-    bool onStart(TT_UNUSED ServiceContext& service) override {
+    bool onStart(ServiceContext& service) override {
         // Load settings once at startup and cache them
         // This eliminates file I/O from timer callback (prevents watchdog timeout)
         cachedKeyboardSettings = settings::keyboard::loadOrGetDefault();
@@ -72,7 +72,7 @@ public:
         return true;
     }
 
-    void onStop(TT_UNUSED ServiceContext& service) override {
+    void onStop(ServiceContext& service) override {
         if (timer) {
             timer->stop();
             timer = nullptr;

Tactility/Source/service/loader/Loader.cpp

@@ -245,7 +245,7 @@ void LoaderService::transitionAppToState(const std::shared_ptr<app::AppInstance>
     switch (state) {
         using enum app::State;
         case Initial:
-            tt_crash(LOG_MESSAGE_ILLEGAL_STATE);
+            check(false, LOG_MESSAGE_ILLEGAL_STATE);
         case Created:
             assert(app->getState() == app::State::Initial);
             app->getApp()->onCreate(*app);

Tactility/Source/service/screenshot/ScreenshotTask.cpp

@@ -107,7 +107,7 @@ void ScreenshotTask::taskStart() {
         return;
     }
 
-    tt_check(thread == nullptr);
+    check(thread == nullptr);
     thread = new Thread(
         "screenshot",
         8192,

Tactility/Source/service/statusbar/Statusbar.cpp

@@ -1,5 +1,6 @@
 #include <Tactility/lvgl/Statusbar.h>
 
+#include <Tactility/Check.h>
 #include <Tactility/hal/power/PowerDevice.h>
 #include <Tactility/hal/sdcard/SdCardDevice.h>
 #include <Tactility/Logger.h>
@@ -71,7 +72,7 @@ static const char* getWifiStatusIcon(wifi::RadioState state, bool secure) {
             rssi = wifi::getRssi();
             return getWifiStatusIconForRssi(rssi);
         default:
-            tt_crash("not implemented");
+            check(false, "not implemented");
     }
 }
 
@@ -85,7 +86,7 @@ static const char* getSdCardStatusIcon(hal::sdcard::SdCardDevice::State state) {
         case Timeout:
             return STATUSBAR_ICON_SDCARD_ALERT;
         default:
-            tt_crash("Unhandled SdCard state");
+            check(false, "Unhandled SdCard state");
     }
 }
 

Tactility/Source/service/webserver/WebServerService.cpp

@@ -1,5 +1,6 @@
 #ifdef ESP_PLATFORM
 
+#include <Tactility/Check.h>
 #include <Tactility/service/webserver/WebServerService.h>
 #include <Tactility/service/webserver/AssetVersion.h>
 #include <Tactility/service/ServiceManifest.h>
@@ -93,7 +94,7 @@ static void publish_event(WebServerService* webserver, WebServerEvent event) {
 std::shared_ptr<PubSub<WebServerEvent>> getPubsub() {
     WebServerService* webserver = g_webServerInstance.load();
     if (webserver == nullptr) {
-        tt_crash("Service not running");
+        check(false, "Service not running");
     }
 
     return webserver->getPubsub();

Tactility/Source/service/wifi/Wifi.cpp

@@ -1,6 +1,7 @@
 #include <Tactility/service/wifi/Wifi.h>
 
 #include <Tactility/Check.h>
+#include <Tactility/CoreDefines.h>
 #include <Tactility/service/ServiceManifest.h>
 #include <Tactility/service/ServiceRegistration.h>
 
@@ -22,7 +23,7 @@ const char* radioStateToString(RadioState state) {
         case Off:
             return TT_STRINGIFY(Off);
     }
-    tt_crash("not implemented");
+    check(false, "not implemented");
 }
 
 extern const ServiceManifest manifest;

Tactility/Source/service/wifi/WifiEsp.cpp

@@ -6,6 +6,7 @@
 
 #include <Tactility/service/wifi/Wifi.h>
 
+#include <Tactility/Check.h>
 #include <Tactility/EventGroup.h>
 #include <Tactility/Logger.h>
 #include <Tactility/LogMessages.h>
@@ -140,7 +141,7 @@ static std::shared_ptr<Wifi> wifi_singleton;
 std::shared_ptr<PubSub<WifiEvent>> getPubsub() {
     auto wifi = wifi_singleton;
     if (wifi == nullptr) {
-        tt_crash("Service not running");
+        check(false, "Service not running");
     }
 
     return wifi->pubsub;
@@ -472,7 +473,7 @@ static void dispatchAutoConnect(std::shared_ptr<Wifi> wifi) {
     }
 }
 
-static void eventHandler(TT_UNUSED void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data) {
+static void eventHandler(void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data) {
     auto wifi = wifi_singleton;
     if (wifi == nullptr) {
         LOGGER.error("eventHandler: no wifi instance");

Tactility/Source/service/wifi/WifiMock.cpp

@@ -76,7 +76,7 @@ void setScanRecords(uint16_t records) {
 }
 
 std::vector<ApRecord> getScanResults() {
-    tt_check(wifi);
+    check(wifi);
 
     std::vector<ApRecord> records;
     records.push_back((ApRecord) {
@@ -145,14 +145,14 @@ class WifiService final : public Service {
 
 public:
 
-    bool onStart(TT_UNUSED ServiceContext& service) override {
+    bool onStart(ServiceContext& service) override {
-        tt_check(wifi == nullptr);
+        check(wifi == nullptr);
         wifi = new Wifi();
         return true;
     }
 
-    void onStop(TT_UNUSED ServiceContext& service) override {
+    void onStop(ServiceContext& service) override {
-        tt_check(wifi != nullptr);
+        check(wifi != nullptr);
         delete wifi;
         wifi = nullptr;
     }

TactilityC/Source/tt_app.cpp

@@ -28,7 +28,7 @@ void tt_app_register(
         reinterpret_cast<tt::app::OnResult>(appRegistration.onResult)
     );
 #else
-    tt_crash("TactilityC is not intended for PC/Simulator");
+    check(false, "TactilityC is not intended for PC/Simulator");
 #endif
 }
 

TactilityC/Source/tt_hal_device.cpp

@@ -21,7 +21,7 @@ static tt::hal::Device::Type toTactilityDeviceType(DeviceType type) {
         case DEVICE_TYPE_GPS:
             return tt::hal::Device::Type::Gps;
         default:
-            tt_crash("Device::Type not supported");
+            check(false, "Device::Type not supported");
     }
 }
 

TactilityC/Source/tt_hal_display.cpp

@@ -20,7 +20,7 @@ static ColorFormat toColorFormat(tt::hal::display::ColorFormat format) {
         case tt::hal::display::ColorFormat::RGB888:
             return COLOR_FORMAT_RGB888;
         default:
-            tt_crash("ColorFormat not supported");
+            check(false, "ColorFormat not supported");
     }
 }
 

TactilityCore/CMakeLists.txt

@@ -6,7 +6,7 @@ if (DEFINED ENV{ESP_IDF_VERSION})
     idf_component_register(
         SRCS ${SOURCE_FILES}
         INCLUDE_DIRS "Include/"
-        REQUIRES TactilityFreeRtos mbedtls nvs_flash esp_rom
+        REQUIRES TactilityFreeRtos TactilityKernel mbedtls nvs_flash esp_rom
     )
 
     if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
@@ -26,8 +26,9 @@ else()
     add_definitions(-D_Nullable=)
     add_definitions(-D_Nonnull=)
 
-    target_link_libraries(TactilityCore
+    target_link_libraries(TactilityCore PUBLIC
-        PUBLIC TactilityFreeRtos
+        TactilityFreeRtos
-        PUBLIC mbedtls
+        TactilityKernel
+        mbedtls
     )
 endif()

TactilityCore/Include/Tactility/Check.h

@@ -1,69 +0,0 @@
-/**
- * @file check.h
- * 
- * Tactility crash and check functions.
- * 
- * The main problem with crashing is that you can't do anything without disturbing registers,
- * and if you disturb registers, you won't be able to see the correct register values in the debugger.
- * 
- * Current solution works around it by passing the message through r12 and doing some magic with registers in crash function.
- * r0-r10 are stored in the ram2 on crash routine start and restored at the end.
- * The only register that is going to be lost is r11.
- * 
- */
-#pragma once
-
-#include "CoreDefines.h"
-#include "Logger.h"
-
-#include <cassert>
-
-#define TT_NORETURN [[noreturn]]
-
-/** Crash system */
-namespace tt {
-    /**
-     * Don't call this directly. Use tt_crash() as it will trace info.
-     */
-    TT_NORETURN void _crash();
-}
-
-// TODO: Move crash logic to kernel namespace and consider refactoring to C++
-/** Crash system with message. */
-#define tt_crash(...) TT_ARG_CAT(_tt_crash,TT_ARGCOUNT(__VA_ARGS__))(__VA_ARGS__)
-
-#define _tt_crash0()  do {                                                  \
-        tt::Logger("Kernel").error("Crash at {}:{}", __FILE__, __LINE__);   \
-        tt::_crash();                                                       \
-    } while (0)
-
-#define _tt_crash1(message) do {                                                            \
-        tt::Logger("Kernel").error("Crash: {}\n\tat {}:{}", message, __FILE__, __LINE__);   \
-        tt::_crash();                                                                       \
-    } while (0)
-
-/** Halt the system
- * @param[in] optional message (const char*)
- */
-#define tt_halt(...) M_APPLY(__tt_halt, M_IF_EMPTY(__VA_ARGS__)((NULL), (__VA_ARGS__)))
-
-/** Check condition and crash if check failed */
-#define tt_check_internal(__e, __m)        \
-    do {                                   \
-        if (!(__e)) {                      \
-            tt::Logger("Kernel").error("Check failed: {}", #__e); \
-            if (__m) {                     \
-                tt_crash(__m);   \
-            } else {                       \
-                tt_crash("");     \
-            }                              \
-        }                                  \
-    } while (0)
-
-/** Check condition and crash if failed
- *
- * @param[in] condition to check
- * @param[in] optional message (const char*)
- */
-
-#define tt_check(x, ...) if (!(x)) { tt::Logger("Kernel").error("Check failed: {}", #x); tt::_crash(); }

TactilityCore/Include/Tactility/CoreDefines.h

@@ -1,7 +1,5 @@
 #pragma once
 
-#define TT_UNUSED __attribute__((unused))
-
 #define TT_STRINGIFY(x) #x
 
 // region Variable arguments support

TactilityCore/Include/Tactility/TactilityCore.h

@@ -2,6 +2,5 @@
 
 #include <cstdio>
 
-#include "Check.h"
 #include "CoreDefines.h"
 #include "Logger.h"

TactilityCore/Source/Check.cpp

@@ -1,40 +0,0 @@
-#include <Tactility/Check.h>
-
-#include <Tactility/Logger.h>
-#include <Tactility/freertoscompat/Task.h>
-
-static const auto LOGGER = tt::Logger("kernel");
-
-static void logMemoryInfo() {
-#ifdef ESP_PLATFORM
-    LOGGER.error("default caps:");
-    LOGGER.error("  total: {}", heap_caps_get_total_size(MALLOC_CAP_DEFAULT));
-    LOGGER.error("  free: {}", heap_caps_get_free_size(MALLOC_CAP_DEFAULT));
-    LOGGER.error("  min free: {}", heap_caps_get_minimum_free_size(MALLOC_CAP_DEFAULT));
-    LOGGER.error("internal caps:");
-    LOGGER.error("  total: {}", heap_caps_get_total_size(MALLOC_CAP_INTERNAL));
-    LOGGER.error("  free: {}", heap_caps_get_free_size(MALLOC_CAP_INTERNAL));
-    LOGGER.error("  min free: {}", heap_caps_get_minimum_free_size(MALLOC_CAP_INTERNAL));
-#endif
-}
-
-static void logTaskInfo() {
-    const char* name = pcTaskGetName(nullptr);
-    const char* safe_name = name ? name : "main";
-    LOGGER.error("Task: {}", safe_name);
-    LOGGER.error("Stack watermark: {}", uxTaskGetStackHighWaterMark(NULL) * 4);
-}
-
-namespace tt {
-
-TT_NORETURN void _crash() {
-    logTaskInfo();
-    logMemoryInfo();
-    // TODO: Add breakpoint when debugger is attached.
-#ifdef ESP_PLATFORM
-    esp_system_abort("System halted. Connect debugger for more info.");
-#endif
-    __builtin_unreachable();
-}
-
-}

TactilityCore/Source/crypt/Crypt.cpp

@@ -29,7 +29,7 @@ static void get_hardware_key(uint8_t key[32]) {
     // MAC can be 6 or 8 bytes
     size_t mac_length = esp_mac_addr_len_get(ESP_MAC_EFUSE_FACTORY);
     LOGGER.info("Using MAC with length {}", mac_length);
-    tt_check(mac_length <= 8);
+    check(mac_length <= 8);
     ESP_ERROR_CHECK(esp_read_mac(mac, ESP_MAC_EFUSE_FACTORY));
 
     // Fill buffer with repeating MAC
@@ -68,13 +68,13 @@ static void get_nvs_key(uint8_t key[32]) {
 
     if (result != ESP_OK) {
         LOGGER.error("Failed to get key from NVS ({})", esp_err_to_name(result));
-        tt_crash("NVS error");
+        check(false, "NVS error");
     }
 
     size_t length = 32;
     if (nvs_get_blob(handle, "key", key, &length) == ESP_OK) {
         LOGGER.info("Fetched key from NVS ({} bytes)", length);
-        tt_check(length == 32);
+        check(length == 32);
     } else {
         // TODO: Improved randomness
         esp_cpu_cycle_count_t cycle_count = esp_cpu_get_cycle_count();
@@ -144,7 +144,7 @@ static int aes256CryptCbc(
     const unsigned char* input,
     unsigned char* output
 ) {
-    tt_check(key && iv && input && output);
+    check(key && iv && input && output);
 
     if ((length % 16) || (length == 0)) {
         return -1; // TODO: Proper error code from mbed lib?
@@ -163,7 +163,7 @@ static int aes256CryptCbc(
 }
 
 int encrypt(const uint8_t iv[16], const uint8_t* inData, uint8_t* outData, size_t dataLength) {
-    tt_check(dataLength % 16 == 0, "Length is not a multiple of 16 bytes (for AES 256");
+    check(dataLength % 16 == 0, "Length is not a multiple of 16 bytes (for AES 256)");
     uint8_t key[32];
     getKey(key);
 
@@ -175,7 +175,7 @@ int encrypt(const uint8_t iv[16], const uint8_t* inData, uint8_t* outData, size_
 }
 
 int decrypt(const uint8_t iv[16], const uint8_t* inData, uint8_t* outData, size_t dataLength) {
-    tt_check(dataLength % 16 == 0, "Length is not a multiple of 16 bytes (for AES 256");
+    check(dataLength % 16 == 0, "Length is not a multiple of 16 bytes (for AES 256)");
     uint8_t key[32];
     getKey(key);
 

TactilityKernel/Include/Tactility/Check.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <Tactility/Log.h>
+
+__attribute__((noreturn)) extern void __crash(void);
+
+#define CHECK_GET_MACRO(_1, _2, NAME, ...) NAME
+#define check(...) CHECK_GET_MACRO(__VA_ARGS__, CHECK_MSG, CHECK_NO_MSG)(__VA_ARGS__)
+
+#define CHECK_NO_MSG(condition) \
+    do { \
+        if (!(condition)) { \
+            LOG_E("Error", "Check failed: %s at %s:%d", #condition, __FILE__, __LINE__); \
+            __crash(); \
+        } \
+    } while (0)
+
+#define CHECK_MSG(condition, message) \
+    do { \
+        if (!(condition)) { \
+            LOG_E("Error", "Check failed: %s at %s:%d", message, __FILE__, __LINE__); \
+            __crash(); \
+        } \
+    } while (0)
+
+#ifdef __cplusplus
+}
+#endif

TactilityKernel/Include/Tactility/Delay.h

@@ -0,0 +1,54 @@
+#pragma once
+
+#include "Time.h"
+#include <stdint.h>
+
+#ifdef ESP_PLATFORM
+#include <rom/ets_sys.h>
+#else
+#include <unistd.h>
+#endif
+
+#include <Tactility/Check.h>
+#include "Tactility/FreeRTOS/FreeRTOS.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Delay the current task for the specified amount of ticks
+ * @warning Does not work in ISR context
+ */
+static inline void delay_ticks(TickType_t ticks) {
+    check(xPortInIsrContext() == pdFALSE);
+    if (ticks == 0U) {
+        taskYIELD();
+    } else {
+        vTaskDelay(ticks);
+    }
+}
+
+/**
+ * Delay the current task for the specified amount of milliseconds
+ * @warning Does not work in ISR context
+ */
+static inline void delay_millis(uint32_t milliSeconds) {
+    delay_ticks(millis_to_ticks(milliSeconds));
+}
+
+/**
+ * Stall the currently active CPU core for the specified amount of microseconds.
+ * This does not allow other tasks to run on the stalled CPU core.
+ */
+static inline void delay_micros(uint32_t microseconds) {
+#ifdef ESP_PLATFORM
+    ets_delay_us(microseconds);
+#else
+    usleep(microseconds);
+#endif
+}
+
+#ifdef __cplusplus
+}
+#endif

TactilityKernel/Include/Tactility/FreeRTOS/port.h

@@ -5,6 +5,6 @@
 #include "FreeRTOS.h"
 
 #ifndef ESP_PLATFORM
-#define xPortInIsrContext(x) (false)
+#define xPortInIsrContext() (pdFALSE)
 #define vPortAssertIfInISR()
 #endif

TactilityKernel/Include/Tactility/Time.h

@@ -0,0 +1,65 @@
+#pragma once
+
+#include <stdint.h>
+
+#include "Tactility/FreeRTOS/task.h"
+
+#ifdef ESP_PLATFORM
+#include <esp_timer.h>
+#else
+#include <sys/time.h>
+#include <time.h>
+#endif
+
+// Projects that include this header must align with Tactility's frequency (e.g. apps)
+static_assert(configTICK_RATE_HZ == 1000);
+
+static inline uint32_t get_tick_frequency() {
+    return configTICK_RATE_HZ;
+}
+
+/** @return the amount of ticks that have passed since FreeRTOS' main task started */
+static inline TickType_t get_ticks() {
+    if (xPortInIsrContext() == pdTRUE) {
+        return xTaskGetTickCountFromISR();
+    } else {
+        return xTaskGetTickCount();
+    }
+}
+
+/** @return the milliseconds that have passed since FreeRTOS' main task started */
+static inline size_t get_millis() {
+    return get_ticks() * portTICK_PERIOD_MS;
+}
+
+/** @return the frequency at which the kernel task schedulers operate */
+uint32_t kernel_get_tick_frequency();
+
+/** @return the microseconds that have passed since boot */
+static inline int64_t get_micros_since_boot() {
+#ifdef ESP_PLATFORM
+    return esp_timer_get_time();
+#else
+    timespec ts;
+    if (clock_gettime(CLOCK_MONOTONIC, &ts) == 0) {
+        return (static_cast<int64_t>(ts.tv_sec) * 1000000LL) + (ts.tv_nsec / 1000);
+    }
+    timeval tv;
+    gettimeofday(&tv, nullptr);
+    return (static_cast<int64_t>(tv.tv_sec) * 1000000LL) + tv.tv_usec;
+#endif
+}
+
+/** Convert seconds to ticks */
+static inline TickType_t seconds_to_ticks(uint32_t seconds) {
+    return static_cast<uint64_t>(seconds) * 1000U / portTICK_PERIOD_MS;
+}
+
+/** Convert milliseconds to ticks */
+static inline TickType_t millis_to_ticks(uint32_t milliSeconds) {
+#if configTICK_RATE_HZ == 1000
+    return static_cast<TickType_t>(milliSeconds);
+#else
+    return static_cast<TickType_t>(((float)configTICK_RATE_HZ) / 1000.0f * (float)milliSeconds);
+#endif
+}

TactilityKernel/Include/Tactility/concurrent/EventGroup.h

@@ -5,21 +5,21 @@
 extern "C" {
 #endif
 
-#include <assert.h>
 #include <stdbool.h>
 #include <stdint.h>
 
+#include <Tactility/Check.h>
 #include <Tactility/Error.h>
 #include <Tactility/FreeRTOS/event_groups.h>
 
 static inline void event_group_construct(EventGroupHandle_t* eventGroup) {
-    assert(xPortInIsrContext() == pdFALSE);
+    check(xPortInIsrContext() == pdFALSE);
     *eventGroup = xEventGroupCreate();
 }
 
 static inline void event_group_destruct(EventGroupHandle_t* eventGroup) {
-    assert(xPortInIsrContext() == pdFALSE);
+    check(xPortInIsrContext() == pdFALSE);
-    assert(*eventGroup != NULL);
+    check(*eventGroup != NULL);
     vEventGroupDelete(*eventGroup);
     *eventGroup = NULL;
 }

TactilityKernel/Include/Tactility/concurrent/Mutex.h

@@ -4,6 +4,8 @@
 
 #include <assert.h>
 #include <stdbool.h>
+
+#include <Tactility/Check.h>
 #include <Tactility/FreeRTOS/semphr.h>
 
 #ifdef __cplusplus
@@ -28,17 +30,17 @@ inline static void mutex_destruct(struct Mutex* mutex) {
 }
 
 inline static void mutex_lock(struct Mutex* mutex) {
-    assert(xPortInIsrContext() != pdTRUE);
+    check(xPortInIsrContext() != pdTRUE);
     xSemaphoreTake(mutex->handle, portMAX_DELAY);
 }
 
 inline static bool mutex_try_lock(struct Mutex* mutex) {
-    assert(xPortInIsrContext() != pdTRUE);
+    check(xPortInIsrContext() != pdTRUE);
     return xSemaphoreTake(mutex->handle, 0) == pdTRUE;
 }
 
 inline static bool mutex_try_lock_timed(struct Mutex* mutex, TickType_t timeout) {
-    assert(xPortInIsrContext() != pdTRUE);
+    check(xPortInIsrContext() != pdTRUE);
     return xSemaphoreTake(mutex->handle, timeout) == pdTRUE;
 }
 
@@ -51,7 +53,7 @@ inline static bool mutex_is_locked(struct Mutex* mutex) {
 }
 
 inline static void mutex_unlock(struct Mutex* mutex) {
-    assert(xPortInIsrContext() != pdTRUE);
+    check(xPortInIsrContext() != pdTRUE);
     xSemaphoreGive(mutex->handle);
 }
 

TactilityKernel/Include/Tactility/concurrent/RecursiveMutex.h

@@ -3,7 +3,7 @@
 #pragma once
 
 #include <stdbool.h>
-#include <assert.h>
+#include <Tactility/Check.h>
 #include <Tactility/FreeRTOS/semphr.h>
 
 #ifdef __cplusplus
@@ -19,14 +19,14 @@ inline static void recursive_mutex_construct(struct RecursiveMutex* mutex) {
 }
 
 inline static void recursive_mutex_destruct(struct RecursiveMutex* mutex) {
-    assert(mutex->handle != NULL);
+    check(mutex->handle != NULL);
-    vPortAssertIfInISR();
+    check(xPortInIsrContext() != pdTRUE);
     vSemaphoreDelete(mutex->handle);
     mutex->handle = NULL;
 }
 
 inline static void recursive_mutex_lock(struct RecursiveMutex* mutex) {
-    assert(xPortInIsrContext() != pdTRUE);
+    check(xPortInIsrContext() != pdTRUE);
     xSemaphoreTakeRecursive(mutex->handle, portMAX_DELAY);
 }
 
@@ -39,17 +39,17 @@ inline static bool recursive_mutex_is_locked(struct RecursiveMutex* mutex) {
 }
 
 inline static bool recursive_mutex_try_lock(struct RecursiveMutex* mutex) {
-    assert(xPortInIsrContext() != pdTRUE);
+    check(xPortInIsrContext() != pdTRUE);
     return xSemaphoreTakeRecursive(mutex->handle, 0) == pdTRUE;
 }
 
 inline static bool recursive_mutex_try_lock_timed(struct RecursiveMutex* mutex, TickType_t timeout) {
-    assert(xPortInIsrContext() != pdTRUE);
+    check(xPortInIsrContext() != pdTRUE);
     return xSemaphoreTakeRecursive(mutex->handle, timeout) == pdTRUE;
 }
 
 inline static void recursive_mutex_unlock(struct RecursiveMutex* mutex) {
-    assert(xPortInIsrContext() != pdTRUE);
+    check(xPortInIsrContext() != pdTRUE);
     xSemaphoreGiveRecursive(mutex->handle);
 }
 

TactilityKernel/Source/Crash.cpp

@@ -0,0 +1,39 @@
+#include <Tactility/Log.h>
+#include <Tactility/FreeRTOS/task.h>
+
+static const auto* TAG = LOG_TAG("Kernel");
+
+static void log_memory_info() {
+#ifdef ESP_PLATFORM
+    LOG_E(TAG, "Default memory caps:");
+    LOG_E(TAG, "  Total: %" PRIu64, static_cast<uint64_t>(heap_caps_get_total_size(MALLOC_CAP_DEFAULT)));
+    LOG_E(TAG, "  Free: %" PRIu64, static_cast<uint64_t>(heap_caps_get_free_size(MALLOC_CAP_DEFAULT)));
+    LOG_E(TAG, "  Min free: %" PRIu64, static_cast<uint64_t>(heap_caps_get_minimum_free_size(MALLOC_CAP_DEFAULT)));
+    LOG_E(TAG, "Internal memory caps:");
+    LOG_E(TAG, "  Total: %" PRIu64, static_cast<uint64_t>(heap_caps_get_total_size(MALLOC_CAP_INTERNAL)));
+    LOG_E(TAG, "  Free: %" PRIu64, static_cast<uint64_t>(heap_caps_get_free_size(MALLOC_CAP_INTERNAL)));
+    LOG_E(TAG, "  Min free: %" PRIu64, static_cast<uint64_t>(heap_caps_get_minimum_free_size(MALLOC_CAP_INTERNAL)));
+#endif
+}
+
+static void log_task_info() {
+    const char* name = pcTaskGetName(nullptr);
+    const char* safe_name = name ? name : "main";
+    LOG_E(TAG, "Task: %s", safe_name);
+}
+
+extern "C" {
+
+__attribute__((noreturn)) void __crash(void) {
+    log_task_info();
+    log_memory_info();
+    // TODO: Add breakpoint when debugger is attached.
+#ifdef ESP_PLATFORM
+    esp_system_abort("System halted. Connect debugger for more info.");
+#else
+    while (true) { /* Indefinite lock-up */ }
+#endif
+    __builtin_unreachable();
+}
+
+}

TactilityKernel/Source/Driver.cpp

@@ -70,7 +70,6 @@ static error_t driver_remove(Driver* driver) {
 
     ledger.lock();
     const auto iterator = std::ranges::find(ledger.drivers, driver);
-    // check that there actually is a 3 in our vector
     if (iterator == ledger.drivers.end()) {
         ledger.unlock();
         return ERROR_NOT_FOUND;
@@ -184,7 +183,7 @@ error_t driver_unbind(Driver* driver, Device* device) {
     driver_internal_data(driver)->use_count--;
     driver_unlock(driver);
 
-    LOG_I(TAG, "unbound %s to %s", driver->name, device->name);
+    LOG_I(TAG, "unbound %s from %s", driver->name, device->name);
 
     return ERROR_NONE;
 

TactilityKernel/Source/Log.cpp

@@ -7,6 +7,8 @@
 #include <stdio.h>
 #include <stdarg.h>
 
+extern "C" {
+
 void log_generic(const char* tag, const char* format, ...) {
     va_list args;
     va_start(args, format);
@@ -16,4 +18,6 @@ void log_generic(const char* tag, const char* format, ...) {
     va_end(args);
 }
 
+}
+
 #endif

TactilityKernel/Source/concurrent/EventGroup.cpp

@@ -48,7 +48,7 @@ error_t event_group_wait(
     uint32_t* outFlags,
     TickType_t timeout
 ) {
-    if (xPortInIsrContext()) {
+    if (xPortInIsrContext() == pdTRUE) {
         return ERROR_ISR_STATUS;
     }
 

Tests/Tactility/CMakeLists.txt

@@ -21,7 +21,7 @@ add_test(NAME TactilityTests
 target_link_libraries(TactilityTests PRIVATE
     Tactility
     TactilityCore
-    Tactility
+    TactilityKernel
     Simulator
     SDL2::SDL2-static SDL2-static
 )

Tests/TactilityCore/CMakeLists.txt

@@ -20,6 +20,7 @@ add_test(NAME TactilityCoreTests
 
 target_link_libraries(TactilityCoreTests PUBLIC
     TactilityCore
+    TactilityKernel
     TactilityFreeRtos
     freertos_kernel
 )

Tests/TactilityKernel/TimeAndDelay.cpp

@@ -0,0 +1,30 @@
+#include "doctest.h"
+#include <Tactility/Time.h>
+#include <Tactility/Delay.h>
+
+TEST_CASE("delay ticks should be accurate within 1 tick") {
+    auto start_time = get_ticks();
+    delay_ticks(100);
+    auto end_time = get_ticks();
+    auto difference = end_time - start_time;
+    CHECK_EQ(difference >= 100, true);
+    CHECK_EQ(difference <= 101, true);
+}
+
+TEST_CASE("delay millis should be accurate within 1 tick") {
+    auto start_time = get_millis();
+    delay_millis(100);
+    auto end_time = get_millis();
+    auto difference = end_time - start_time;
+    CHECK_EQ(difference >= 100, true);
+    CHECK_EQ(difference <= 101, true);
+}
+
+TEST_CASE("microsecond time should be accurate within 1 tick") {
+    auto start_time = get_micros_since_boot();
+    delay_millis(100);
+    auto end_time = get_micros_since_boot();
+    auto difference = (end_time - start_time) / 1000;
+    CHECK_EQ(difference >= 99, true);
+    CHECK_EQ(difference <= 101, true);
+}