16455128955

Committed 22 Jul 2025 08:27PM UTC coverage: 56.856% (-0.6%) from 57.481%

Build # 16455128955

Build Type

push

github

Committed by

laurensvalk

Commit Message

pbio/battery: Use own process.

This used to be mixed in with the motor process to save a little bit of space, but it is clearer to have the averaging process be inside the battery module.

This will allow us to stop the motor process on shutdown without stopping the battery process.

Run Details

18 of 18 new or added lines in 2 files covered. (100.0%)

211 existing lines in 16 files now uncovered.

3885 of 6833 relevant lines covered (56.86%)

20657123.87 hits per line

Source File
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33.33

/lib/pbio/sys/command.c

// SPDX-License-Identifier: MIT
// Copyright (c) 2022-2023 The Pybricks Authors

#include <assert.h>
#include <stdint.h>

#include <pbdrv/reset.h>
#include <pbio/protocol.h>
#include <pbsys/command.h>
#include <pbsys/config.h>
#include <pbsys/host.h>
#include <pbsys/storage.h>

#include "./hmi.h"
#include "./storage.h"
#include "./program_stop.h"

static pbsys_command_write_app_data_callback_t write_app_data_callback = NULL;

/**
 * Sets callback for the write program data buffer command.
 *
 * @param [in]  callback  The callback to set or @c NULL to unset.
 */
void pbsys_command_set_write_app_data_callback(pbsys_command_write_app_data_callback_t callback) {
    write_app_data_callback = callback;
}

/**
 * Parses binary data for command and dispatches handler for command.
 * @param [in]  data    The raw command data.
 * @param [in]  size    The size of @p data in bytes.
 */
pbio_pybricks_error_t pbsys_command(const uint8_t *data, uint32_t size) {
    assert(data);
    assert(size);

    pbio_pybricks_command_t cmd = data[0];

    switch (cmd) {

        case PBIO_PYBRICKS_COMMAND_STOP_USER_PROGRAM:
            pbsys_program_stop(false);
            return PBIO_PYBRICKS_ERROR_OK;

        case PBIO_PYBRICKS_COMMAND_START_USER_PROGRAM: {
            if (size > 2) {
                return PBIO_PYBRICKS_ERROR_VALUE_NOT_ALLOWED;
            }
            // Use payload as program ID, otherwise use active user slot.
            return pbio_pybricks_error_from_pbio_error(
                pbsys_main_program_request_start((size == 2 ? data[1] : pbsys_hmi_get_selected_program_slot()), PBSYS_MAIN_PROGRAM_START_REQUEST_TYPE_REMOTE));
        }
        #if PBSYS_CONFIG_FEATURE_BUILTIN_USER_PROGRAM_REPL
        case PBIO_PYBRICKS_COMMAND_START_REPL:
            // Deprecated. For backwards compatibility with Pybricks
            // Profile < v1.4.0, make it work anyway.
            return pbio_pybricks_error_from_pbio_error(
                pbsys_main_program_request_start(PBIO_PYBRICKS_USER_PROGRAM_ID_REPL, PBSYS_MAIN_PROGRAM_START_REQUEST_TYPE_REMOTE));
        #endif // PBSYS_CONFIG_FEATURE_BUILTIN_USER_PROGRAM_REPL

        case PBIO_PYBRICKS_COMMAND_WRITE_USER_PROGRAM_META:
            return pbio_pybricks_error_from_pbio_error(pbsys_storage_set_program_size(
                pbio_get_uint32_le(&data[1])));

        case PBIO_PYBRICKS_COMMAND_WRITE_USER_RAM:
            return pbio_pybricks_error_from_pbio_error(pbsys_storage_set_program_data(
                pbio_get_uint32_le(&data[1]), &data[5], size - 5));

        case PBIO_PYBRICKS_COMMAND_REBOOT_TO_UPDATE_MODE:
            pbdrv_reset(PBDRV_RESET_ACTION_RESET_IN_UPDATE_MODE);
            return PBIO_PYBRICKS_ERROR_OK;

        case PBIO_PYBRICKS_COMMAND_WRITE_STDIN:
            #if PBSYS_CONFIG_HOST
            if (pbsys_host_stdin_get_free() < size - 1) {
                return PBIO_PYBRICKS_ERROR_BUSY;
            }
            pbsys_host_stdin_write(&data[1], size - 1);
            #endif
            // If no consumers are configured, goes to "/dev/null" without error
            return PBIO_PYBRICKS_ERROR_OK;

        case PBIO_PYBRICKS_COMMAND_WRITE_APP_DATA: {
            if (!write_app_data_callback) {
                // No errors when no consumer is configured. This avoids errors
                // when data is sent after the program ends.
                return PBIO_PYBRICKS_ERROR_OK;
            }

            // Requires at least the message type and data offset.
            if (size <= 3) {
                return PBIO_PYBRICKS_ERROR_VALUE_NOT_ALLOWED;
            }

            uint16_t offset = pbio_get_uint16_le(&data[1]);
            uint16_t data_size = size - 3;
            const uint8_t *data_to_write = &data[3];
            return pbio_pybricks_error_from_pbio_error(write_app_data_callback(offset, data_size, data_to_write));
        }
        default:
            return PBIO_PYBRICKS_ERROR_INVALID_COMMAND;
    }
}

1	// SPDX-License-Identifier: MIT
2	// Copyright (c) 2022-2023 The Pybricks Authors
3
4	#include <assert.h>
5	#include <stdint.h>
6
7	#include <pbdrv/reset.h>
8	#include <pbio/protocol.h>
9	#include <pbsys/command.h>
10	#include <pbsys/config.h>
11	#include <pbsys/host.h>
12	#include <pbsys/storage.h>
13
14	#include "./hmi.h"
15	#include "./storage.h"
16	#include "./program_stop.h"
17
18	static pbsys_command_write_app_data_callback_t write_app_data_callback = NULL;
19
20	/**
21	* Sets callback for the write program data buffer command.
22	*
23	* @param [in] callback The callback to set or @c NULL to unset.
24	*/
25	void pbsys_command_set_write_app_data_callback(pbsys_command_write_app_data_callback_t callback) {	×
26	write_app_data_callback = callback;	×
27	}	×
28
29	/**
30	* Parses binary data for command and dispatches handler for command.
31	* @param [in] data The raw command data.
32	* @param [in] size The size of @p data in bytes.
33	*/
34	pbio_pybricks_error_t pbsys_command(const uint8_t *data, uint32_t size) {	1✔
35	assert(data);	1✔
36	assert(size);	1✔
37
38	pbio_pybricks_command_t cmd = data[0];	1✔
39
40	switch (cmd) {	1✔
41
42	case PBIO_PYBRICKS_COMMAND_STOP_USER_PROGRAM:
43	pbsys_program_stop(false);
44	return PBIO_PYBRICKS_ERROR_OK;
45
46	case PBIO_PYBRICKS_COMMAND_START_USER_PROGRAM: {	×
47	if (size > 2) {	×
48	return PBIO_PYBRICKS_ERROR_VALUE_NOT_ALLOWED;
49	}
50	// Use payload as program ID, otherwise use active user slot.
51	return pbio_pybricks_error_from_pbio_error(	×
UNCOV 52	pbsys_main_program_request_start((size == 2 ? data[1] : pbsys_hmi_get_selected_program_slot()), PBSYS_MAIN_PROGRAM_START_REQUEST_TYPE_REMOTE));	×
53	}
54	#if PBSYS_CONFIG_FEATURE_BUILTIN_USER_PROGRAM_REPL
55	case PBIO_PYBRICKS_COMMAND_START_REPL:
56	// Deprecated. For backwards compatibility with Pybricks
57	// Profile < v1.4.0, make it work anyway.
58	return pbio_pybricks_error_from_pbio_error(
59	pbsys_main_program_request_start(PBIO_PYBRICKS_USER_PROGRAM_ID_REPL, PBSYS_MAIN_PROGRAM_START_REQUEST_TYPE_REMOTE));
60	#endif // PBSYS_CONFIG_FEATURE_BUILTIN_USER_PROGRAM_REPL
61
62	case PBIO_PYBRICKS_COMMAND_WRITE_USER_PROGRAM_META:	×
63	return pbio_pybricks_error_from_pbio_error(pbsys_storage_set_program_size(	×
64	pbio_get_uint32_le(&data[1])));
65
66	case PBIO_PYBRICKS_COMMAND_WRITE_USER_RAM:	×
67	return pbio_pybricks_error_from_pbio_error(pbsys_storage_set_program_data(	×
68	pbio_get_uint32_le(&data[1]), &data[5], size - 5));
69
70	case PBIO_PYBRICKS_COMMAND_REBOOT_TO_UPDATE_MODE:
71	pbdrv_reset(PBDRV_RESET_ACTION_RESET_IN_UPDATE_MODE);
72	return PBIO_PYBRICKS_ERROR_OK;
73
74	case PBIO_PYBRICKS_COMMAND_WRITE_STDIN:	1✔
75	#if PBSYS_CONFIG_HOST
76	if (pbsys_host_stdin_get_free() < size - 1) {	1✔
77	return PBIO_PYBRICKS_ERROR_BUSY;
78	}
79	pbsys_host_stdin_write(&data[1], size - 1);	1✔
80	#endif
81	// If no consumers are configured, goes to "/dev/null" without error
82	return PBIO_PYBRICKS_ERROR_OK;	1✔
83
84	case PBIO_PYBRICKS_COMMAND_WRITE_APP_DATA: {	×
85	if (!write_app_data_callback) {	×
86	// No errors when no consumer is configured. This avoids errors
87	// when data is sent after the program ends.
88	return PBIO_PYBRICKS_ERROR_OK;
89	}
90
91	// Requires at least the message type and data offset.
92	if (size <= 3) {	×
93	return PBIO_PYBRICKS_ERROR_VALUE_NOT_ALLOWED;
94	}
95
96	uint16_t offset = pbio_get_uint16_le(&data[1]);	×
97	uint16_t data_size = size - 3;	×
98	const uint8_t *data_to_write = &data[3];	×
99	return pbio_pybricks_error_from_pbio_error(write_app_data_callback(offset, data_size, data_to_write));	×
100	}
101	default:
102	return PBIO_PYBRICKS_ERROR_INVALID_COMMAND;
103	}
104	}

pybricks / pybricks-micropython / 16455128955

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