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BillYJT wants to merge 19 commits into main-msp from feat/osal

.devcontainer/Dockerfile

-Original file line number
+Diff line change
@@ Expand Up / @@ -7,6 +7,7 @@ ARG DEBIAN_FRONTEND=noninteractive @@
     # Python virtual environment.
     RUN apt-get update && apt-get install -y --no-install-recommends \
         openssh-server \
+        wget \
         curl \
         gnupg \
         git \
@@ Expand All @@
         python3 \
         python3-setuptools \
         python3-pip \
-        python3-venv \
-        gcc-arm-none-eabi \
-        && git config --global --add safe.directory /workspaces/fprime \
+        python3-venv
+    RUN wget https://developer.arm.com/-/media/Files/downloads/gnu/11.3.rel1/binrel/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi.tar.xz \
+        && mkdir -p /arm-none-eabi \
+        && tar -xf arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi.tar.xz -C /arm-none-eabi \
+        && rm arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi.tar.xz \
+        # symlink
+        && ln -s /arm-none-eabi/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/arm-none-eabi-gcc /usr/bin/arm-none-eabi-gcc \
+        && ln -s /arm-none-eabi/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/arm-none-eabi-g++ /usr/bin/arm-none-eabi-g++ \
+        && ln -s /arm-none-eabi/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/arm-none-eabi-gdb /usr/bin/arm-none-eabi-gdb \
+        && ln -s /arm-none-eabi/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/arm-none-eabi-size /usr/bin/arm-none-eabi-size \
+        && ln -s /arm-none-eabi/arm-gnu-toolchain-11.3.rel1-x86_64-arm-none-eabi/bin/arm-none-eabi-objcopy /usr/bin/arm-none-eabi-objcopy \
+        # install and link deps
+        && apt install -y --no-install-recommends libncurses-dev \
+        && ln -s /usr/lib/x86_64-linux-gnu/libncurses.so.6 /usr/lib/x86_64-linux-gnu/libncurses.so.5 \
+        && ln -s /usr/lib/x86_64-linux-gnu/libtinfo.so.6 /usr/lib/x86_64-linux-gnu/libtinfo.so.5
+    RUN git config --global --add safe.directory /workspaces/fprime \
         && rm -rf /var/lib/apt/lists/* \
         && python3 -m venv /tmp/fprime-venv \
         && . /tmp/fprime-venv/bin/activate \
@@ Expand Down @@

.devcontainer/devcontainer.json

-Original file line number
+Diff line change
@@ Expand Up / @@ -2,12 +2,7 @@ @@
     // https://github.com/microsoft/vscode-dev-containers/tree/v0.209.6/containers/ubuntu
     {
     	"name": "F'",
-    	"build": {
-    		"dockerfile": "Dockerfile",
-    		// Update 'VARIANT' to pick an Ubuntu version: hirsute, focal, bionic
-    		// Use hirsute or bionic on local arm64/Apple Silicon.
-    		"args": { "VARIANT": "22.04" }
-    	},
+    	"image": "danieldigby/fprime:v1.1",
     	// Provides runtime arguments to the container
     	"runArgs": [
@@ Expand Down @@

.gitignore

-Original file line number
+Diff line change
@@ Expand Up / @@ -47,6 +47,7 @@ coverity.out @@
     *-template
     logs
+    .log
     test_harness/.autotools
     core
@@ Expand Down @@

Fw/Types/FreeRTOS-stm/StandardTypes.hpp

-Original file line number
+Diff line change
@@ -0,0 +1,12 @@
+    #include <cstdint>
+    typedef int TaskIdRepr;
+    #define FPRIME_OVERRIDE_NATIVE_TYPES
+    typedef int32_t NATIVE_INT_TYPE;
+    typedef uint32_t NATIVE_UINT_TYPE;
+    #define M_PI (22.0/7.0)
+    #if 0
+    #define NAME_MAX 255
+    #endif

Fw/Types/VxWorks/StandardTypes.hpp

This file was deleted.

Os/Baremetal/FileSystem.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -48,5 +48,11 @@ namespace Os { @@
     		Status getFileCount (const char* directory, U32& fileCount) {
     			return OTHER_ERROR;
     		} //end getFileCount
+    		Status getFreeSpace(const char* path, U64& totalBytes, U64& freeBytes) {
+    			return OTHER_ERROR;
+    		}
+    		Status appendFile(const char* originPath, const char* destPath, bool createMissingDest){
+    			return OTHER_ERROR;
+    		}
     	} // end FileSystem namespace
     } // end Os namespace

Os/CMakeLists.txt

-Original file line number
+Diff line change
@@ Expand Up / @@ -53,6 +53,39 @@ if (FPRIME_USE_POSIX) @@
             "${CMAKE_CURRENT_LIST_DIR}/Linux/Directory.cpp"
         )
     endif()
+    if(${CMAKE_SYSTEM_NAME} STREQUAL "FreeRTOS-stm")
+      message(STATUS "Detecting freeRTOS")
+      # add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/NucleoH7_freeRTOS/")
+      include_directories("${FPRIME_FRAMEWORK_PATH}/Ref/NucleoH7_freeRTOS/Middlewares/Third_Party/FreeRTOS/Source/include"
+    					"${FPRIME_FRAMEWORK_PATH}/Ref/NucleoH7_freeRTOS/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"
+    					"${FPRIME_FRAMEWORK_PATH}/Ref/NucleoH7_freeRTOS/Drivers/CMSIS/Device/ST/STM32H7xx/Include"
+    					"${FPRIME_FRAMEWORK_PATH}/Ref/NucleoH7_freeRTOS/Drivers/STM32H7xx_HAL_Driver/Inc"
+    					"${FPRIME_FRAMEWORK_PATH}/Ref/NucleoH7_freeRTOS/Drivers/CMSIS/Include/"
+    					"${FPRIME_FRAMEWORK_PATH}/Ref/NucleoH7_freeRTOS/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"
+    					"${FPRIME_FRAMEWORK_PATH}/Ref/NucleoH7_freeRTOS/Core/Inc"
+              "${FPRIME_FRAMEWORK_PATH}/Ref/NucleoH7_freeRTOS/Drivers/STM32H7xx_HAL_Driver/Inc/Legacy/"
+    					)
+      list(APPEND SOURCE_FILES
+            "${CMAKE_CURRENT_LIST_DIR}/LogPrintf.cpp"
+            "${CMAKE_CURRENT_LIST_DIR}/FreeRTOS-stm/InterruptLock.cpp"
+            "${CMAKE_CURRENT_LIST_DIR}/FreeRTOS-stm/IntervalTimer.cpp"
+            "${CMAKE_CURRENT_LIST_DIR}/FreeRTOS-stm/Mutex.cpp"
+            "${CMAKE_CURRENT_LIST_DIR}/FreeRTOS-stm/TaskId.cpp"
+            "${CMAKE_CURRENT_LIST_DIR}/FreeRTOS-stm/Queue.cpp"
+            "${CMAKE_CURRENT_LIST_DIR}/FreeRTOS-stm/Task.cpp"
+            # Non-VxWorks basic support
+            "${FPRIME_FRAMEWORK_PATH}/Os/Baremetal/SystemResources.cpp"
+            "${FPRIME_FRAMEWORK_PATH}/Os/Baremetal/File.cpp"
+            "${FPRIME_FRAMEWORK_PATH}/Os/Baremetal/FileSystem.cpp"
+          )
+      list(APPEND MOD_DEPS
+          Ref/NucleoH7_freeRTOS
+        )
+      # Communication Implementations
+    endif()
     # Darwin IPC queue implementation
     if(${CMAKE_SYSTEM_NAME} STREQUAL "Darwin")
       list(APPEND SOURCE_FILES
@@ Expand Down @@

Os/FreeRTOS-stm/InterruptLock.cpp

-Original file line number
+Diff line change
@@ -0,0 +1,20 @@
+    #include <Os/InterruptLock.hpp>
+    #include <Os/Mutex.hpp>
+    #include <Ref/NucleoH7_freeRTOS/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h>
+    STATIC Os::Mutex intLockEmulator;
+    namespace Os {
+        InterruptLock::InterruptLock() : m_key(0) {}
+        InterruptLock::~InterruptLock() {}
+        void InterruptLock::lock(void) {
+            intLockEmulator.lock();
+        }
+        void InterruptLock::unLock(void) {
+            intLockEmulator.unLock();
+        }
+    }

Os/FreeRTOS-stm/IntervalTimer.cpp

-Original file line number
+Diff line change
@@ -0,0 +1,40 @@
+    //Did not use rawinza's implementation
+    // xTaskGetTickCount() returns 16-bit or 32-bit tick values, and it may overflow.
+    // see: https://www.freertos.org/FreeRTOS_Support_Forum_Archive/February_2012/freertos_Tick_count_overflow_5005076.html
+    #include <Os/IntervalTimer.hpp>
+    #include <Fw/Types/Assert.hpp>
+    #include <Ref/NucleoH7_freeRTOS/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h>
+    namespace Os {
+    void
+    IntervalTimer::getRawTime(RawTime& time)
+    {
+        TickType_t t = xTaskGetTickCount();
+        // TOOD(Daniel/Bill): Consider overflow
+        // This lower rawTime value is representative of miliseconds in freeRTOS
+        time.lower = t;
+        //https://www.freertos.org/FreeRTOS-Coding-Standard-and-Style-Guide.html#:~:text=port.%20These%20are%3A-,TickType_t,-If%20configUSE_16_BIT_TICKS%20is
+    }
+    U32
+    IntervalTimer::getDiffUsec(const RawTime& stopTime, const RawTime& startTime)
+    {
+        //arithmic involving roll-over is well-defined in c++
+        //https://stackoverflow.com/questions/28779803/is-subtracting-larger-unsigned-value-from-smaller-in-c-undefined-behaviour
+        #ifdef configUSE_16_BIT_TICKS
+        FW_ASSERT (configUSE_16_BIT_TICKS == 0);
+        #endif
+        #ifdef configTICK_RATE_HZ
+        FW_ASSERT (configTICK_RATE_HZ == (TickType_t)1000);
+        #endif
+        return 1000*(stopTime.lower - startTime.lower);
+    }
+    }

Os/FreeRTOS-stm/Mutex.cpp

-Original file line number
+Diff line change
@@ -0,0 +1,34 @@
+    #include <Os/Mutex.hpp>
+    #include <Fw/Types/Assert.hpp>
+    #include <Ref/NucleoH7_freeRTOS/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h>
+    #include <Ref/NucleoH7_freeRTOS/Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h>
+    namespace Os {
+    Mutex::Mutex(void)
+    {
+        SemaphoreHandle_t handle;
+        handle = xSemaphoreCreateMutex();
+        this->m_handle = (POINTER_CAST) handle;
+    }
+    Mutex::~Mutex(void)
+    {
+        vSemaphoreDelete(this->m_handle);
+    }
+    void Mutex::lock(void)
+    {
+        NATIVE_INT_TYPE stat = xSemaphoreTake( (SemaphoreHandle_t)this->m_handle, ( TickType_t ) 10 );
+        FW_ASSERT(stat == pdTRUE,stat);
+    }
+    void Mutex::unLock(void)
+    {
+        NATIVE_INT_TYPE stat = xSemaphoreGive( this->m_handle);
+        FW_ASSERT(stat == pdTRUE,stat);
+    }
+    }

Os/FreeRTOS-stm/Queue.cpp

-Original file line number
+Diff line change
@@ -0,0 +1,154 @@
+    #include <Fw/Types/Assert.hpp>
+    #include <Os/Queue.hpp>
+    #include <Ref/NucleoH7_freeRTOS/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h>
+    #include <Ref/NucleoH7_freeRTOS/Middlewares/Third_Party/FreeRTOS/Source/include/queue.h>
+    namespace Os
+    {
+    Queue::Queue() :
+            m_handle(NULL)
+    {}
+    Queue::~Queue()
+    {
+        vQueueDelete((QueueHandle_t)this->m_handle);
+    }
+    Queue::QueueStatus
+    Queue::createInternal(const Fw::StringBase &name, NATIVE_INT_TYPE depth, NATIVE_INT_TYPE msgSize)
+    {
+        this->m_name = "/QP_";
+        this->m_name += name;
+        QueueHandle_t xQueue;
+        UBaseType_t uxQueueLength = depth;
+        UBaseType_t uxItemSize = msgSize;
+        xQueue = xQueueCreate(uxQueueLength,uxItemSize);
+        if (NULL == xQueue)
+        {
+            return QUEUE_UNINITIALIZED;
+        }
+        this->m_handle = (POINTER_CAST)xQueue;
+        Queue::s_numQueues++;
+        return QUEUE_OK;
+    }
+    Queue::QueueStatus
+    Queue::send(const U8* buffer, NATIVE_INT_TYPE size, NATIVE_INT_TYPE priority, QueueBlocking block)
+    {
+        QueueHandle_t queueHandle = (QueueHandle_t) this->m_handle;
+        if (NULL == queueHandle)
+        {
+            return QUEUE_UNINITIALIZED;
+        }
+        if (NULL == buffer)
+        {
+            return QUEUE_EMPTY_BUFFER;
+        }
+        bool keepTrying = true;
+        while (keepTrying)
+        {
+            BaseType_t stat = xQueueSend(queueHandle, buffer, 5);
+            if (stat == errQUEUE_FULL)
+            {
+                return QUEUE_FULL;
+            }
+            else if (stat == pdTRUE)
+            {
+                keepTrying = false;
+            }
+        }
+        return QUEUE_OK;
+    }
+    Queue::QueueStatus
+    Queue::receive(U8* buffer, NATIVE_INT_TYPE capacity, NATIVE_INT_TYPE &actualSize, NATIVE_INT_TYPE &priority, QueueBlocking block)
+    {
+        QueueHandle_t queueHandle = (QueueHandle_t) this->m_handle;
+        if (NULL == queueHandle)
+        {
+            return QUEUE_UNINITIALIZED;
+        }
+        bool notFinished = true;
+        while (notFinished)
+        {
+            BaseType_t stat = xQueueReceive(queueHandle, buffer, 5);
+            if (stat == pdFALSE)
+            {
+                return QUEUE_RECEIVE_ERROR; //rawinza used QUEUE_UNKNOWN_ERROR
+            }
+            else
+            {
+                notFinished = false;
+            }
+        }
+        actualSize = (NATIVE_INT_TYPE) capacity; //TODO Need a way to find actual size??
+        return QUEUE_OK;
+    }
+    NATIVE_INT_TYPE
+    Queue::getNumMsgs(void) const
+    {
+        QueueHandle_t queueHandle = (QueueHandle_t) this->m_handle;
+        if (NULL == queueHandle)
+        {
+            return QUEUE_UNINITIALIZED;
+        }
+        UBaseType_t numMsg;
+        numMsg = uxQueueMessagesWaiting(queueHandle);
+        return (U32) numMsg;
+    }
+    /**
+    *   The max number of items that has been in the queue, the "high water mark". This is not available in FreeRTOS
+    */
+    NATIVE_INT_TYPE
+    Queue::getMaxMsgs(void) const
+    {
+        //FW_ASSERT(0);
+        return 0;
+    }
+    NATIVE_INT_TYPE
+    Queue::getQueueSize(void) const
+    {
+        QueueHandle_t queueHandle = (QueueHandle_t) this->m_handle;
+        if (NULL == queueHandle)
+        {
+            return QUEUE_UNINITIALIZED;
+        }
+        return (U32)(uxQueueMessagesWaiting(queueHandle)+uxQueueSpacesAvailable(queueHandle));
+    }
+    NATIVE_INT_TYPE Queue::getMsgSize(void) const
+    {
+        QueueHandle_t queueHandle = (QueueHandle_t) this->m_handle;
+        if (NULL == queueHandle)
+        {
+            return QUEUE_UNINITIALIZED;
+        }
+        //TODO to get actual msg size, or FreeRTOS doesn't support?
+        return 0;
+    }
+    } // namespace Os

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