arduino-esp32 2.0.x support

.github/workflows/ArduinoBuild.yml

@@ -16,8 +16,8 @@ on:
       - '**ArduinoBuild.yml'
   pull_request:
 jobs:
-  build:
-    name: Build ESP32 examples
+  build-stm32:
+    name: Build Arduino STM32 examples
     runs-on: ubuntu-latest
     steps:
     - name: Checkout
@@ -29,21 +29,55 @@ jobs:
         $GITHUB_WORKSPACE/arduino/libify.sh $HOME/Arduino/libraries/OpenMRNLite $GITHUB_WORKSPACE -f -l
         rm -f $GITHUB_WORKSPACE/arduino/examples/Stm*/build_opt.h
 
-    - name: Compile all STM32 examples
-      uses: ArminJo/arduino-test-compile@v3.0.0
+    - name: Compile STM32 examples
+      uses: ArminJo/arduino-test-compile@v3
       with:
         platform-url: https://raw.githubusercontent.com/stm32duino/BoardManagerFiles/master/STM32/package_stm_index.json
         arduino-board-fqbn: STM32:stm32:Nucleo_144:pnum=NUCLEO_F767ZI,upload_method=MassStorage,xserial=generic,usb=CDCgen,xusb=FS,opt=osstd,rtlib=nano
         sketch-names: Stm32*.ino
         build-properties: '{ "All": "-DHAL_CAN_MODULE_ENABLED" }'
         debug-compile: true
-
-    - name: Compile all ESP32 examples
-      uses: ArminJo/[email protected]
+
+  build-esp32:
+    name: Build Arduino ${{ matrix.target }} examples
+    runs-on: ubuntu-latest
+    strategy:
+      max-parallel: 2
+      matrix:
+        target: [esp32, esp32c3, esp32s2]
+    steps:
+    - name: Checkout
+      uses: actions/checkout@master
+
+    - name: Generate OpenMRNLite library
+      run: |
+        mkdir --parents $HOME/Arduino/libraries/OpenMRNLite
+        $GITHUB_WORKSPACE/arduino/libify.sh $HOME/Arduino/libraries/OpenMRNLite $GITHUB_WORKSPACE -f -l
+        rm -f $GITHUB_WORKSPACE/arduino/examples/Stm*/build_opt.h
+
+    - name: Compile ESP32 examples
+      uses: ArminJo/arduino-test-compile@v3
       with:
         platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
         arduino-board-fqbn: esp32:esp32:node32s
-        sketch-names: ESP*.ino
+        sketch-names: ESP32CanLoadTest.ino,ESP32IOBoard.ino,ESP32SerialBridge.ino,ESP32WifiCanBridge.ino
         debug-compile: true
+      if: ${{ matrix.target == 'esp32' }}
 
-
+    - name: Compile ESP32-C3 examples
+      uses: ArminJo/arduino-test-compile@v3
+      with:
+        platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
+        arduino-board-fqbn: esp32:esp32:esp32c3
+        sketch-names: ESP32C3CanLoadTest.ino,ESP32C3IOBoard.ino
+        debug-compile: true
+      if: ${{ matrix.target == 'esp32c3' }}
+
+    - name: Compile ESP32-S2 examples
+      uses: ArminJo/arduino-test-compile@v3
+      with:
+        platform-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
+        arduino-board-fqbn: esp32:esp32:esp32s2
+        sketch-names: ESP32S2CanLoadTest.ino,ESP32S2IOBoard.ino
+        debug-compile: true
+      if: ${{ matrix.target == 'esp32s2' }}

arduino/CDIXMLGenerator.hxx

@@ -0,0 +1,126 @@
+/** \copyright
+ * Copyright (c) 2018, Balazs Racz
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are  permitted provided that the following conditions are met:
+ *
+ *  - Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ *
+ *  - Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \file CDIXMLGenerator.hxx
+ *
+ * Standalone CDI XML generation class.
+ *
+ * @author Balazs Racz, Mike Dunston
+ * @date 24 July 2018
+ */
+
+#ifndef _CDIXMLGENERATOR_HXX_
+#define _CDIXMLGENERATOR_HXX_
+
+#include "openlcb/SimpleStack.hxx"
+#include "utils/FileUtils.hxx"
+
+/// Standalone utility class for generating the XML representation of the node
+/// configuration structure. This is primarily used in Arduino environments.
+class CDIXMLGenerator
+{
+public:
+    /// Creates the XML representation of the configuration structure and saves
+    /// it to a file on the filesystem. Must be called after SPIFFS.begin() but
+    /// before calling the {\link create_config_file_if_needed} method. The
+    /// config file will be re-written whenever there was a change in the
+    /// contents. It is also necessary to declare the static compiled-in CDI to
+    /// be empty:
+    /// ```
+    ///    namespace openlcb {
+    ///    // This will stop openlcb from exporting the CDI memory space
+    ///    // upon start.
+    ///    extern const char CDI_DATA[] = "";
+    ///    }  // namespace openlcb
+    /// ```
+    /// @param cfg is the global configuration instance (usually called cfg).
+    /// @param filename is where the xml file can be stored on the
+    /// filesystem. For example "/spiffs/cdi.xml".
+    /// @return true if the configuration xml file was modified by this method,
+    /// false if the file was already up-to-date.
+    template <class ConfigDef>
+    static bool create_config_descriptor_xml(
+        const ConfigDef &config, const char *filename,
+        openlcb::SimpleStackBase *stack = nullptr)
+    {
+        string cdi_string;
+        ConfigDef cfg(config.offset());
+        cfg.config_renderer().render_cdi(&cdi_string);
+
+        cdi_string += '\0';
+
+        bool need_write = false;
+        LOG(INFO, "[CDI] Checking %s...", filename);
+        FILE *ff = fopen(filename, "rb");
+        if (!ff)
+        {
+            LOG(INFO, "[CDI] File %s does not exist", filename);
+            need_write = true;
+        }
+        else
+        {
+            fclose(ff);
+            string current_str = read_file_to_string(filename);
+            if (current_str != cdi_string)
+            {
+                LOG(INFO, "[CDI] File %s is not up-to-date", filename);
+                need_write = true;
+            }
+            else
+            {
+                LOG(INFO, "[CDI] File %s appears up-to-date (len %u vs %u)",
+                    filename, current_str.size(), cdi_string.size());
+            }
+        }
+        if (need_write)
+        {
+            LOG(INFO, "[CDI] Updating %s (len %u)", filename,
+                cdi_string.size());
+            write_string_to_file(filename, cdi_string);
+        }
+
+        if (stack)
+        {
+            LOG(INFO, "[CDI] Registering CDI with stack...");
+            // Creates list of event IDs for factory reset.
+            auto *v = new vector<uint16_t>();
+            cfg.handle_events([v](unsigned o) { v->push_back(o); });
+            v->push_back(0);
+            stack->set_event_offsets(v);
+            // We leak v because it has to stay alive for the entire lifetime
+            // of the stack.
+
+            // Add the file memory space to the stack.
+            openlcb::MemorySpace *space =
+                new openlcb::ROFileMemorySpace(filename);
+            stack->memory_config_handler()->registry()->insert(
+                stack->node(), openlcb::MemoryConfigDefs::SPACE_CDI, space);
+        }
+        return need_write;
+    }
+};
+
+#endif // _CDIXMLGENERATOR_HXX_

arduino/OpenMRNLite.h

@@ -38,7 +38,7 @@
 
 #include <Arduino.h>
 
-#include "freertos_drivers/arduino/ArduinoGpio.hxx"
+#include "CDIXMLGenerator.hxx"
 #include "freertos_drivers/arduino/Can.hxx"
 #include "freertos_drivers/arduino/WifiDefs.hxx"
 #include "openlcb/SimpleStack.hxx"
@@ -49,25 +49,57 @@
 
 #if defined(ESP32)
 
+#include <esp_idf_version.h>
 #include <esp_task.h>
 #include <esp_task_wdt.h>
 
-namespace openmrn_arduino {
+namespace openmrn_arduino
+{
 
 /// Default stack size to use for all OpenMRN tasks on the ESP32 platform.
 constexpr uint32_t OPENMRN_STACK_SIZE = 4096L;
 
 /// Default thread priority for any OpenMRN owned tasks on the ESP32 platform.
-/// ESP32 hardware CAN RX and TX tasks run at lower priority (-1 and -2 
-/// respectively) of this default priority to ensure timely consumption of CAN
-/// frames from the hardware driver.
 /// Note: This is set to one priority level lower than the TCP/IP task uses on
 /// the ESP32.
 constexpr UBaseType_t OPENMRN_TASK_PRIORITY = ESP_TASK_TCPIP_PRIO - 1;
 
 } // namespace openmrn_arduino
 
+#include "freertos_drivers/esp32/Esp32Gpio.hxx"
+#include "freertos_drivers/esp32/Esp32SocInfo.hxx"
+
+#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4,3,0)
+
+// If we are using ESP-IDF v4.3 (or later) enable the Esp32Ledc API.
+#include "freertos_drivers/esp32/Esp32Ledc.hxx"
+
+// ESP32-H2 and ESP32-C2 do not have a built-in TWAI controller.
+#if !defined(CONFIG_IDF_TARGET_ESP32H2) && !defined(CONFIG_IDF_TARGET_ESP32C2)
+
+// If we are using ESP-IDF v4.3 (or later) enable the usage of the TWAI device
+// which allows usage of the filesystem based CAN interface methods.
+#include "freertos_drivers/esp32/Esp32HardwareTwai.hxx"
+#define HAVE_CAN_FS_DEVICE
+
+// The ESP-IDF VFS layer has an optional wrapper around the select() interface
+// when disabled we can not use select() for the CAN/TWAI driver. Normally this
+// is enabled for arduino-esp32.
+#if CONFIG_VFS_SUPPORT_SELECT
+#define HAVE_CAN_FS_SELECT
+#endif
+
+#endif // NOT ESP32-H2 and NOT ESP32-C2
+
+#endif // IDF v4.3+
+
+#if defined(CONFIG_IDF_TARGET_ESP32)
+// Note: This code is deprecated in favor of the TWAI interface which exposes
+// both select() and fnctl() interfaces. Support for this may be removed in the
+// future.
 #include "freertos_drivers/esp32/Esp32HardwareCanAdapter.hxx"
+#endif // ESP32 only
+
 #include "freertos_drivers/esp32/Esp32HardwareSerialAdapter.hxx"
 #include "freertos_drivers/esp32/Esp32WiFiManager.hxx"
 
@@ -79,11 +111,13 @@ constexpr UBaseType_t OPENMRN_TASK_PRIORITY = ESP_TASK_TCPIP_PRIO - 1;
 
 #ifdef ARDUINO_ARCH_STM32
 
+#include "freertos_drivers/arduino/ArduinoGpio.hxx"
 #include "freertos_drivers/stm32/Stm32Can.hxx"
 
 #endif
 
-namespace openmrn_arduino {
+namespace openmrn_arduino
+{
 
 /// Bridge class that connects an Arduino API style serial port (sending CAN
 /// frames via gridconnect format) to the OpenMRN core stack. This can be
@@ -409,9 +443,9 @@ class OpenMRN : private Executable
                               , OPENMRN_TASK_PRIORITY // priority
                               , nullptr               // task handle
                               , PRO_CPU_NUM);         // cpu core
-#else
+#else // NOT ESP32
         stack_->executor()->start_thread(
-            "OpenMRN", OPENMRN_TASK_PRIORITY, OPENMRN_STACK_SIZE);
+            "OpenMRN", 0 /* default priority */, 0 /* default stack size */);
 #endif // ESP32
     }
 #endif // OPENMRN_FEATURE_SINGLE_THREADED
@@ -444,6 +478,40 @@ class OpenMRN : private Executable
         loopMembers_.push_back(new CanBridge(port, stack()->can_hub()));
     }
 
+#if defined(HAVE_CAN_FS_DEVICE)
+    /// Adds a CAN bus port with synchronous driver API.
+    void add_can_port_blocking(const char *device)
+    {
+        stack_->add_can_port_blocking(device);
+    }
+
+    /// Adds a CAN bus port with asynchronous driver API.
+    void add_can_port_async(const char *device)
+    {
+        stack_->add_can_port_async(device);
+    }
+
+#if defined(HAVE_CAN_FS_SELECT)
+    /// Adds a CAN bus port with select-based asynchronous driver API.
+    ///
+    /// NOTE: Be sure to call @ref start_executor_thread in the setup() method.
+    void add_can_port_select(const char *device)
+    {
+        stack_->add_can_port_select(device);
+    }
+
+    /// Adds a CAN bus port with select-based asynchronous driver API.
+    /// @param fd file descriptor to add to can hub
+    /// @param on_error Notifiable to wakeup on error
+    ///
+    /// NOTE: Be sure to call @ref start_executor_thread in the setup() method.
+    void add_can_port_select(int fd, Notifiable *on_error = nullptr)
+    {
+        stack_->add_can_port_select(fd, on_error);
+    }
+#endif // HAVE_CAN_FS_SELECT
+#endif // HAVE_CAN_FS_DEVICE
+
 #if defined(HAVE_FILESYSTEM)
     /// Creates the XML representation of the configuration structure and saves
     /// it to a file on the filesystem. Must be called after SPIFFS.begin() but
@@ -461,50 +529,13 @@ class OpenMRN : private Executable
     /// @param cfg is the global configuration instance (usually called cfg).
     /// @param filename is where the xml file can be stored on the
     /// filesystem. For example "/spiffs/cdi.xml".
+    /// @returns true if the cdi.xml was updated, false otherwise.
     template <class ConfigDef>
-    void create_config_descriptor_xml(
+    bool create_config_descriptor_xml(
         const ConfigDef &config, const char *filename)
     {
-        string cdi_string;
-        ConfigDef cfg(config.offset());
-        cfg.config_renderer().render_cdi(&cdi_string);
-
-        cdi_string += '\0';
-
-        bool need_write = false;
-        FILE *ff = fopen(filename, "rb");
-        if (!ff)
-        {
-            need_write = true;
-        }
-        else
-        {
-            fclose(ff);
-            string current_str = read_file_to_string(filename);
-            if (current_str != cdi_string)
-            {
-                need_write = true;
-            }
-        }
-        if (need_write)
-        {
-            LOG(INFO, "Updating CDI file %s (len %u)", filename,
-                cdi_string.size());
-            write_string_to_file(filename, cdi_string);
-        }
-
-        // Creates list of event IDs for factory reset.
-        auto *v = new vector<uint16_t>();
-        cfg.handle_events([v](unsigned o) { v->push_back(o); });
-        v->push_back(0);
-        stack()->set_event_offsets(v);
-        // We leak v because it has to stay alive for the entire lifetime of
-        // the stack.
-
-        // Exports the file memory space.
-        openlcb::MemorySpace *space = new openlcb::ROFileMemorySpace(filename);
-        stack()->memory_config_handler()->registry()->insert(
-            stack()->node(), openlcb::MemoryConfigDefs::SPACE_CDI, space);
+        return CDIXMLGenerator::create_config_descriptor_xml(
+            config, filename, stack());
     }
 #endif // HAVE_FILESYSTEM
 

arduino/examples/ESP32C3CanLoadTest/.gitignore

@@ -0,0 +1 @@
+wifi_params.cpp