Add tinyfsm, start converting core functions to an FSM-based event loop

1 files changed, 88 insertions, 0 deletions

diff --git a/src/system_fsm/booting.cpp b/src/system_fsm/booting.cpp
new file mode 100644
index 00000000..a2a920c8
--- /dev/null
+++ b/src/system_fsm/booting.cpp
@@ -0,0 +1,88 @@
+#include "assert.h"
+#include "audio_fsm.hpp"
+#include "core/lv_obj.h"
+#include "display_init.hpp"
+#include "esp_err.h"
+#include "esp_log.h"
+#include "event_queue.hpp"
+#include "gpio_expander.hpp"
+#include "lvgl/lvgl.h"
+#include "spi.hpp"
+#include "system_events.hpp"
+#include "system_fsm.hpp"
+#include "ui_fsm.hpp"
+
+#include "i2c.hpp"
+#include "touchwheel.hpp"
+
+namespace system_fsm {
+namespace states {
+
+static const char kTag[] = "BOOT";
+
+auto Booting::entry() -> void {
+  ESP_LOGI(kTag, "beginning tangara boot");
+  ESP_LOGI(kTag, "installing bare minimum drivers");
+
+  // I2C and SPI are both always needed. We can't even power down or show an
+  // error without these.
+  ESP_ERROR_CHECK(drivers::init_i2c());
+  ESP_ERROR_CHECK(drivers::init_spi());
+
+  // These drivers are the bare minimum to even show an error. If these fail,
+  // then the system is completely hosed.
+  sGpioExpander.reset(drivers::GpioExpander::Create());
+  assert(sGpioExpander != nullptr);
+
+  // Start bringing up LVGL now, since we have all of its prerequisites.
+  ESP_LOGI(kTag, "starting ui");
+  lv_init();
+  sDisplay.reset(drivers::Display::Create(sGpioExpander.get(),
+                                          drivers::displays::kST7735R));
+  assert(sDisplay != nullptr);
+
+  // The UI FSM now has everything it needs to start setting up. Do this now,
+  // so that we can properly show the user any errors that appear later.
+  ui::UiState::Init(sGpioExpander.get(), sTouch, sDisplay, sDatabase);
+  events::Dispatch<DisplayReady, ui::UiState>(DisplayReady());
+
+  // These drivers are required for normal operation, but aren't critical for
+  // booting. We will transition to the error state if these aren't present.
+  ESP_LOGI(kTag, "installing required drivers");
+  sSamd.reset(drivers::Samd::Create());
+  sTouch.reset(drivers::TouchWheel::Create());
+
+  auto dac_res = drivers::AudioDac::create(sGpioExpander.get());
+  if (dac_res.has_error() || !sSamd || !sTouch) {
+    events::Dispatch<FatalError, SystemState, ui::UiState, audio::AudioState>(
+        FatalError());
+    return;
+  }
+  sDac.reset(dac_res.value());
+
+  // These drivers are initialised on boot, but are recoverable (if weird) if
+  // they fail.
+  ESP_LOGI(kTag, "installing extra drivers");
+  sBattery.reset(drivers::Battery::Create());
+
+  // All drivers are now loaded, so we can finish initing the other state
+  // machines.
+  audio::AudioState::Init(sGpioExpander.get(), sDac, sDatabase);
+
+  events::Dispatch<BootComplete, SystemState, ui::UiState, audio::AudioState>(
+      BootComplete());
+}
+
+auto Booting::react(const BootComplete& ev) -> void {
+  ESP_LOGE(kTag, "bootup completely successfully");
+  // It's possible that the SAMD is currently exposing the SD card as a USB
+  // device. Make sure we don't immediately try to claim it.
+  if (sSamd && sSamd->ReadUsbMscStatus() ==
+                   drivers::Samd::UsbMscStatus::kAttachedMounted) {
+    transit<Unmounted>();
+  }
+  transit<Running>();
+}
+
+}  // namespace states
+}  // namespace system_fsm