Fixes

.github/workflows/tests.yml

@@ -20,8 +20,10 @@ jobs:
       - name: "Build Tests"
         run: cmake --build build --target build-tests
       - name: "Run TactilityCore Tests"
-        run: build/Tests/TactilityCore/TactilityCoreTests --exit
+        run: build/Tests/TactilityCore/TactilityCoreTests
       - name: "Run TactilityFreeRtos Tests"
-        run: build/Tests/TactilityFreeRtos/TactilityFreeRtosTests --exit
+        run: build/Tests/TactilityFreeRtos/TactilityFreeRtosTests
       - name: "Run TactilityHeadless Tests"
-        run: build/Tests/Tactility/TactilityTests --exit
+        run: build/Tests/Tactility/TactilityTests
+      - name: "Run TactilityKernel Tests"
+        run: build/Tests/TactilityKernel/TactilityKernelTests

Buildscripts/devicetree-compiler/compile.py

@@ -5,7 +5,7 @@ from source.main import *
 
 def print_help():
     print("Usage: python compile.py [in_file] [out_path] [arguments]\n")
-    print(f"\t[in_file]                 the .dts file")
+    print(f"\t[in_path]                 the path where the root devicetree.yaml file is")
     print(f"\t[out_path]                output folder for C file output")
     print("")
     print("Optional arguments:\n")

Buildscripts/devicetree-compiler/source/main.py

@@ -13,7 +13,7 @@ from source.config import *
 def main(config_path: str, output_path: str, verbose: bool):
     print(f"Generating devicetree code\n  config: {config_path}\n  output: {output_path}")
     if not os.path.isdir(config_path):
-        raise Exception(f"Not found: {config_path}")
+        raise Exception(f"Directory not found: {config_path}")
 
     config = parse_config(config_path, os.getcwd())
     if verbose:

Devices/lilygo-tlora-pager/devicetree.yaml

@@ -1,4 +1,5 @@
 dependencies:
+  - Devices/lilygo-tlora-pager/Source/bindings
   - Drivers/PlatformEsp32
 bindings: ./
-dts: lilygo,tlora_pager.dts
+dts: lilygo,tlora-pager.dts

Drivers/PlatformEsp32/Source/Esp32Gpio.cpp

@@ -36,11 +36,12 @@ static bool set_options(Device* device, gpio_pin_t pin, gpio_flags_t options) {
     } else if (options & GPIO_DIRECTION_OUTPUT) {
         mode = GPIO_MODE_OUTPUT;
     } else {
-        assert(false);
+        ESP_LOGE(TAG, "set_options: no direction flag specified for pin %d", pin);
+        return false;
     }
 
     const gpio_config_t esp_config = {
-        .pin_bit_mask = 1UL << pin,
+        .pin_bit_mask = 1ULL << pin,
         .mode = mode,
         .pull_up_en = (options & GPIO_PULL_UP) ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE,
         .pull_down_en = (options & GPIO_PULL_DOWN) ? GPIO_PULLDOWN_ENABLE : GPIO_PULLDOWN_DISABLE,

TactilityKernel/Include/Tactility/Device.h

@@ -38,7 +38,7 @@ struct Device {
         struct Mutex mutex;
         /** The device state */
         struct {
-            uint8_t start_result;
+            int start_result;
             bool started : 1;
             bool added : 1;
         } state;
@@ -154,7 +154,7 @@ static inline void device_unlock(struct Device* device) {
 }
 
 static inline const struct DeviceType* device_get_type(struct Device* device) {
-    return device->internal.driver->device_type;
+    return device->internal.driver ? device->internal.driver->device_type : nullptr;
 }
 /**
  * Iterate through all the known devices

TactilityKernel/Include/Tactility/concurrent/Mutex.h

@@ -1,8 +1,8 @@
 #pragma once
 
-#include <Tactility/FreeRTOS/semphr.h>
 #include <assert.h>
 #include <stdbool.h>
+#include <Tactility/FreeRTOS/semphr.h>
 
 #ifdef __cplusplus
 extern "C" {

TactilityKernel/Include/Tactility/concurrent/RecursiveMutex.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <stdbool.h>
+#include <assert.h>
 #include <Tactility/FreeRTOS/semphr.h>
 
 #ifdef __cplusplus

TactilityKernel/Source/Device.cpp

@@ -37,22 +37,28 @@ static DeviceLedger& get_ledger() {
 
 extern "C" {
 
-#define ledger_lock() mutex_lock(&ledger.mutex);
+#define ledger_lock() mutex_lock(&ledger.mutex)
-#define ledger_unlock() mutex_unlock(&ledger.mutex);
+#define ledger_unlock() mutex_unlock(&ledger.mutex)
 
 #define get_device_data(device) static_cast<DeviceData*>(device->internal.data)
 
 int device_construct(Device* device) {
-    LOG_I(TAG, "construct %s", device->name);
     device->internal.data = new(std::nothrow) DeviceData;
     if (device->internal.data == nullptr) {
         return ENOMEM;
     }
+    LOG_I(TAG, "construct %s", device->name);
     mutex_construct(&device->internal.mutex);
     return 0;
 }
 
 int device_destruct(Device* device) {
+    if (device->internal.state.started || device->internal.state.added) {
+        return ERROR_INVALID_STATE;
+    }
+    if (!get_device_data(device)->children.empty()) {
+        return ERROR_INVALID_STATE;
+    }
     LOG_I(TAG, "destruct %s", device->name);
     mutex_destruct(&device->internal.mutex);
     delete get_device_data(device);
@@ -189,7 +195,7 @@ void for_each_device(void* callback_context, bool(*on_device)(Device* device, vo
             break;
         }
     }
-    ledger_unlock()
+    ledger_unlock();
 }
 
 void for_each_device_child(Device* device, void* callback_context, bool(*on_device)(struct Device* device, void* context)) {
@@ -213,7 +219,7 @@ void for_each_device_of_type(const DeviceType* type, void* callback_context, boo
             }
         }
     }
-    ledger_unlock()
+    ledger_unlock();
 }
 
 } // extern "C"

TactilityKernel/Source/Driver.cpp

@@ -69,6 +69,7 @@ static bool driver_remove(Driver* driver) {
     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 false;
     }
     ledger.drivers.erase(iterator);

Tests/Tactility/Main.cpp

@@ -23,9 +23,7 @@ void test_task(void* parameter) {
 
     data->result = context.run();
 
-    if (context.shouldExit()) { // important - query flags (and --exit) rely on the user doing this
+    vTaskEndScheduler();
-        vTaskEndScheduler();
-    }
 
     vTaskDelete(nullptr);
 }

Tests/TactilityCore/Main.cpp

@@ -23,9 +23,7 @@ void test_task(void* parameter) {
 
     data->result = context.run();
 
-    if (context.shouldExit()) { // important - query flags (and --exit) rely on the user doing this
+    vTaskEndScheduler();
-        vTaskEndScheduler();
-    }
 
     vTaskDelete(nullptr);
 }

Tests/TactilityFreeRtos/Main.cpp

@@ -23,9 +23,7 @@ void test_task(void* parameter) {
 
     data->result = context.run();
 
-    if (context.shouldExit()) { // important - query flags (and --exit) rely on the user doing this
+    vTaskEndScheduler();
-        vTaskEndScheduler();
-    }
 
     vTaskDelete(nullptr);
 }

Tests/TactilityKernel/DeviceTest.cpp

@@ -146,14 +146,14 @@ TEST_CASE("device_remove should remove the device from its parent") {
 
 TEST_CASE("device_remove should clear the state 'added'") {
     Device device = { 0 };
-    device_construct(&device);
+    CHECK_EQ(device_construct(&device), 0);
 
-    device_add(&device);
+    CHECK_EQ(device_add(&device), 0);
     CHECK_EQ(device.internal.state.added, true);
-    device_remove(&device);
+    CHECK_EQ(device_remove(&device), 0);
     CHECK_EQ(device.internal.state.added, false);
 
-    device_destruct(&device);
+    CHECK_EQ(device_destruct(&device), 0);
 }
 
 TEST_CASE("device_is_ready should return true only when it is started") {
@@ -177,8 +177,7 @@ TEST_CASE("device_is_ready should return true only when it is started") {
     CHECK_EQ(device.internal.state.started, false);
     CHECK_EQ(device_add(&device), 0);
     CHECK_EQ(device.internal.state.started, false);
-    int result = device_start(&device);
+    CHECK_EQ(device_start(&device), 0);
-    CHECK_EQ(result, 0);
     CHECK_EQ(device.internal.state.started, true);
     CHECK_EQ(device_stop(&device), 0);
     CHECK_EQ(device.internal.state.started, false);

Tests/TactilityKernel/DriverTest.cpp

@@ -13,7 +13,7 @@ TEST_CASE("driver_construct and driver_destruct should set and unset the correct
     CHECK_EQ(driver.internal.data, nullptr);
 }
 
-TEST_CASE("driver_is_comptable should return true if a compatible value is found") {
+TEST_CASE("driver_is_compatible should return true if a compatible value is found") {
     Driver driver = {
         .name = "test_driver",
         .compatible = (const char*[]) { "test_compatible", nullptr },
@@ -28,7 +28,7 @@ TEST_CASE("driver_is_comptable should return true if a compatible value is found
     CHECK_EQ(driver_is_compatible(&driver, nullptr), false);
 }
 
-TEST_CASE("driver_is_comptable should return true if a compatible value is found") {
+TEST_CASE("driver_is_compatible should return true if a compatible value is found") {
     Driver driver = {
         .name = "test_driver",
         .compatible = nullptr,

Tests/TactilityKernel/Main.cpp

@@ -22,9 +22,7 @@ void test_task(void* parameter) {
 
     data->result = context.run();
 
-    if (context.shouldExit()) { // important - query flags (and --exit) rely on the user doing this
+    vTaskEndScheduler();
-        vTaskEndScheduler();
-    }
 
     vTaskDelete(nullptr);
 }