Tactility/TactilityKernel/source/driver.cpp

// SPDX-License-Identifier: Apache-2.0

#include <cstring>
#include <ranges>
#include <vector>

#include <tactility/driver.h>
#include <tactility/concurrent/mutex.h>
#include <tactility/device.h>
#include <tactility/error.h>
#include <tactility/log.h>
#include <tactility/time.h>

#define TAG "driver"

constexpr TickType_t SLOW_START_WARNING_TICKS = pdMS_TO_TICKS(100);

struct DriverInternal {
    int use_count = 0;
    bool destroying = false;
};

struct DriverLedger {
    std::vector<Driver*> drivers;
    Mutex mutex {};

    DriverLedger() { mutex_construct(&mutex); }
    ~DriverLedger() { mutex_destruct(&mutex); }

    void lock() { mutex_lock(&mutex); }
    void unlock() { mutex_unlock(&mutex); }
};

static DriverLedger ledger;

extern "C" {

error_t driver_construct(Driver* driver) {
    driver->internal = new(std::nothrow) DriverInternal;
    if (driver->internal == nullptr) {
        return ERROR_OUT_OF_MEMORY;
    }
    return ERROR_NONE;
}

error_t driver_destruct(Driver* driver) {
    auto* internal = driver->internal;

    if (driver->owner == nullptr) {
        return ERROR_NOT_ALLOWED;
    }
    if (internal->use_count != 0 || internal->destroying) {
        return ERROR_INVALID_STATE;
    }
    internal->destroying = true;

    // Nullify internal reference before deletion to prevent use-after-free
    driver->internal = nullptr;
    delete internal;

    return ERROR_NONE;
}

error_t driver_add(Driver* driver) {
    LOG_D(TAG, "add %s", driver->name);
    ledger.lock();
    ledger.drivers.push_back(driver);
    ledger.unlock();
    return ERROR_NONE;
}

error_t driver_remove(Driver* driver) {
    LOG_D(TAG, "remove %s", driver->name);

    if (driver->owner == nullptr) return ERROR_NOT_ALLOWED;

    ledger.lock();
    const auto iterator = std::ranges::find(ledger.drivers, driver);
    if (iterator == ledger.drivers.end()) {
        ledger.unlock();
        return ERROR_NOT_FOUND;
    }
    ledger.drivers.erase(iterator);
    ledger.unlock();

    return ERROR_NONE;
}

error_t driver_construct_add(struct Driver* driver) {
    if (driver_construct(driver) != ERROR_NONE) return ERROR_RESOURCE;
    if (driver_add(driver) != ERROR_NONE) return ERROR_RESOURCE;
    return ERROR_NONE;
}

error_t driver_remove_destruct(struct Driver* driver) {
    if (driver_remove(driver) != ERROR_NONE) return ERROR_RESOURCE;
    if (driver_destruct(driver) != ERROR_NONE) return ERROR_RESOURCE;
    return ERROR_NONE;
}

bool driver_is_compatible(Driver* driver, const char* compatible) {
    if (compatible == nullptr || driver->compatible == nullptr) {
        return false;
    }
    const char** compatible_iterator = driver->compatible;
    while (*compatible_iterator != nullptr) {
        if (strcmp(*compatible_iterator, compatible) == 0) {
            return true;
        }
        compatible_iterator++;
    }
    return false;
}

Driver* driver_find_compatible(const char* compatible) {
    ledger.lock();
    Driver* result = nullptr;
    for (auto* driver : ledger.drivers) {
        if (driver_is_compatible(driver, compatible)) {
            result = driver;
            break;
        }
    }
    ledger.unlock();
    return result;
}

error_t driver_bind(Driver* driver, Device* device) {
    error_t error = ERROR_NONE;
    if (driver->internal->destroying || !device_is_added(device)) {
        error = ERROR_INVALID_STATE;
        goto error;
    }

    if (driver->probe != nullptr && driver->probe(device) != ERROR_NONE) {
        error = ERROR_NOT_FOUND;
        goto error;
    }

    if (driver->start_device != nullptr) {
        const TickType_t start_ticks = get_ticks();
        error = driver->start_device(device);
        const TickType_t elapsed_ticks = get_ticks() - start_ticks;
        if (elapsed_ticks > SLOW_START_WARNING_TICKS) {
            LOG_W(TAG, "starting %s with %s took %u ms", device->name, driver->name, static_cast<unsigned>(elapsed_ticks * portTICK_PERIOD_MS));
        }
        if (error != ERROR_NONE) {
            goto error;
        }
    }

    driver->internal->use_count++;

    LOG_I(TAG, "bound %s to %s", driver->name, device->name);
    return ERROR_NONE;

error:
    return error;
}

error_t driver_unbind(Driver* driver, Device* device) {
    error_t error = ERROR_NONE;
    if (driver->internal->destroying || !device_is_added(device)) {
        error = ERROR_INVALID_STATE;
        goto error;
    }

    if (driver->stop_device != nullptr) {
        error = driver->stop_device(device);
        if (error != ERROR_NONE) {
            goto error;
        }
    }

    driver->internal->use_count--;

    LOG_I(TAG, "unbound %s from %s", driver->name, device->name);

    return ERROR_NONE;

error:
    return error;
}

const struct DeviceType* driver_get_device_type(struct Driver* driver) {
    return driver->device_type;
}

} // extern "C"