StackChan/firmware/main/hal/hal.cpp

/*
 * SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
 *
 * SPDX-License-Identifier: MIT
 */
#include "hal.h"
#include <memory>
#include <mooncake_log.h>
#include <nvs_flash.h>

static std::unique_ptr<Hal> _hal_instance;
static const std::string_view _tag = "HAL";

Hal& GetHAL()
{
    if (!_hal_instance) {
        mclog::tagInfo(_tag, "creating hal instance");
        _hal_instance = std::make_unique<Hal>();
    }
    return *_hal_instance.get();
}

void Hal::init()
{
    mclog::tagInfo(_tag, "init");

    // Initialize NVS
    esp_err_t ret = nvs_flash_init();
    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
        ESP_ERROR_CHECK(nvs_flash_erase());
        ret = nvs_flash_init();
    }
    ESP_ERROR_CHECK(ret);

    xiaozhi_board_init();
    xiaozhi_mcp_init();
    head_touch_init();
    io_expander_init();
    rtc_init();
    imu_init();
    servo_init();
    lvgl_init();
}

/* -------------------------------------------------------------------------- */
/*                                   System                                   */
/* -------------------------------------------------------------------------- */
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <system_info.h>
#include <esp_system.h>
#include <esp_timer.h>
#include <esp_mac.h>

void Hal::delay(std::uint32_t ms)
{
    vTaskDelay(pdMS_TO_TICKS(ms));
}

std::uint32_t Hal::millis()
{
    return esp_timer_get_time() / 1000;
}

void Hal::feedTheDog()
{
    vTaskDelay(1);
}

std::array<uint8_t, 6> Hal::getFactoryMac()
{
    std::array<uint8_t, 6> mac;
    esp_efuse_mac_get_default(mac.data());
    return mac;
}

std::string Hal::getFactoryMacString(std::string divider)
{
    auto mac = getFactoryMac();
    return fmt::format("{:02X}{}{:02X}{}{:02X}{}{:02X}{}{:02X}{}{:02X}", mac[0], divider, mac[1], divider, mac[2],
                       divider, mac[3], divider, mac[4], divider, mac[5]);
}

void Hal::reboot()
{
    esp_restart();
}

void Hal::updateHeapStatusLog()
{
    static uint32_t last_log_tick = 0;
    if (millis() - last_log_tick < 10000) {
        return;
    }
    last_log_tick = millis();
    SystemInfo::PrintHeapStats();
}

/* -------------------------------------------------------------------------- */
/*                                   Xiaozhi                                  */
/* -------------------------------------------------------------------------- */
#include "board/hal_bridge.h"
#include <stackchan/stackchan.h>
#include <apps/common/common.h>
#include <assets/assets.h>

void Hal::xiaozhi_board_init()
{
    mclog::tagInfo(_tag, "xiaozhi board init");

    hal_bridge::xiaozhi_board_init();
}

static void _stackchan_update_task(void* param)
{
    bool is_xiaozhi_ready = false;
    bool is_setup_done    = false;

    while (1) {
        vTaskDelay(pdMS_TO_TICKS(10));

        tools::update_reminders();

        LvglLockGuard lock;

        GetStackChan().update();

        if (!is_xiaozhi_ready) {
            is_xiaozhi_ready = hal_bridge::is_xiaozhi_ready();
            continue;
        }

        if (!is_setup_done) {
            // Setup when xiaozhi ready
            GetHAL().startSntp();
            view::create_home_indicator([]() { GetHAL().requestWarmReboot(0); }, 0x81DBBD, 0x134233);
            view::create_status_bar(0x81DBBD, 0x134233);
            is_setup_done = true;
        }

        view::update_home_indicator();
        view::update_status_bar();
    }
}

void Hal::startXiaozhi()
{
    mclog::tagInfo(_tag, "start xiaozhi");

    auto& motion = GetStackChan().motion();
    motion.setAutoAngleSyncEnabled(true);
    motion.setAutoTorqueReleaseEnabled(true);

    // Setup reminder handler
    tools::on_reminder_triggered().clear();
    tools::on_reminder_triggered().connect([](int id, std::string_view msg) {
        mclog::tagInfo(_tag, "reminder triggered: id: {}, msg: {}", id, msg);
        {
            LvglLockGuard lock;
            auto& avatar = GetStackChan().avatar();
            avatar.addDecorator(std::make_unique<view::ReminderView>(lv_screen_active(), msg));
        }
        hal_bridge::app_play_sound(OGG_NEW_NOTIFICATION);
    });

    // Start stackchan update task
    xTaskCreate(_stackchan_update_task, "stackchan", 4096, NULL, 5, NULL);

    hal_bridge::start_xiaozhi_app();
}

uint8_t Hal::getBatteryLevel()
{
    return hal_bridge::board_get_battery_level();
}

bool Hal::isBatteryCharging()
{
    return hal_bridge::board_is_battery_charging();
}

void Hal::factoryReset()
{
    mclog::tagInfo(_tag, "start factory reset");
    ESP_ERROR_CHECK(nvs_flash_erase());
    reboot();
}

/* -------------------------------------------------------------------------- */
/*                                   Display                                  */
/* -------------------------------------------------------------------------- */
#include "board/hal_bridge.h"

void Hal::lvglLock()
{
    hal_bridge::disply_lvgl_lock();
}

void Hal::lvglUnlock()
{
    hal_bridge::disply_lvgl_unlock();
}

void Hal::setBackLightBrightness(uint8_t brightness, bool permanent)
{
    hal_bridge::board_set_backlight_brightness(brightness, permanent);
}

uint8_t Hal::getBackLightBrightness()
{
    return hal_bridge::board_get_backlight_brightness();
}

/* -------------------------------------------------------------------------- */
/*                                    Lvgl                                    */
/* -------------------------------------------------------------------------- */
#include "board/hal_bridge.h"
#include <stackchan/stackchan.h>

static void lvgl_read_cb(lv_indev_t* indev, lv_indev_data_t* data)
{
    hal_bridge::lock();
    auto& bridge_data = hal_bridge::get_data();

    // mclog::tagInfo(_tag, "touchpoint: {}, x: {}, y: {}", bridge_data.touchPoint.num, bridge_data.touchPoint.x,
    //                bridge_data.touchPoint.y);

    if (bridge_data.touchPoint.num == 0) {
        data->state = LV_INDEV_STATE_RELEASED;
    } else {
        data->state   = LV_INDEV_STATE_PRESSED;
        data->point.x = bridge_data.touchPoint.x;
        data->point.y = bridge_data.touchPoint.y;
    }

    hal_bridge::unlock();
}

void Hal::lvgl_init()
{
    mclog::tagInfo(_tag, "lvgl init");

    hal_bridge::disply_lvgl_lock();

    mclog::tagInfo(_tag, "create lvgl touchpad indev");
    lvTouchpad = lv_indev_create();
    lv_indev_set_type(lvTouchpad, LV_INDEV_TYPE_POINTER);
    lv_indev_set_read_cb(lvTouchpad, lvgl_read_cb);
    lv_indev_set_group(lvTouchpad, lv_group_get_default());
    lv_indev_set_display(lvTouchpad, hal_bridge::display_get_lvgl_display());

    hal_bridge::disply_lvgl_unlock();
}

lv_timer_t* _timer_stackchan_update = NULL;

void Hal::startStackChanAutoUpdate(int fps)
{
    mclog::tagInfo(_tag, "start stack chan auto update with fps: {}", fps);

    if (_timer_stackchan_update) {
        mclog::tagWarn(_tag, "stack chan auto update already started");
        return;
    }

    _timer_stackchan_update = lv_timer_create([](lv_timer_t* timer) { GetStackChan().update(); }, 1000 / fps, NULL);
}

void Hal::stopStackChanAutoUpdate()
{
    mclog::tagInfo(_tag, "stop stack chan auto update");

    if (!_timer_stackchan_update) {
        mclog::tagWarn(_tag, "stack chan auto update already stopped");
        return;
    }

    lv_timer_delete(_timer_stackchan_update);
    _timer_stackchan_update = NULL;
}

/* -------------------------------------------------------------------------- */
/*                                 Warm Reboot                                */
/* -------------------------------------------------------------------------- */
#include <settings.h>
#include <string_view>

static std::string_view _warm_boot_nvs_ns  = "warm_boot";
static std::string_view _warm_boot_nvs_key = "app_index";

void Hal::requestWarmReboot(int appIndex)
{
    mclog::tagInfo(_tag, "warm reboot request to app index: {}", appIndex);

    {
        Settings settings(_warm_boot_nvs_ns.data(), true);
        settings.SetInt(_warm_boot_nvs_key.data(), appIndex);
    }

    delay(100);
    esp_restart();
}

int Hal::getWarmRebootTarget()
{
    Settings settings(_warm_boot_nvs_ns.data(), false);
    return settings.GetInt(_warm_boot_nvs_key.data(), -1);
}

void Hal::clearWarmRebootRequest()
{
    mclog::tagInfo(_tag, "clear warm reboot request");

    Settings settings(_warm_boot_nvs_ns.data(), true);
    settings.SetInt(_warm_boot_nvs_key.data(), -1);
}