Merge pull request #1 from IvanArkhipov1999/task-manager

Task manager

.github/workflows/rust.yml

@@ -5,6 +5,8 @@ on:
     branches: [ "main" ]
   pull_request:
     branches: [ "main" ]
+#on:
+#  - push
 
 env:
   CARGO_TERM_COLOR: always
@@ -13,9 +15,9 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
-    - name: Build
-      run: cargo build --verbose
+      - uses: actions/checkout@v3
+      - name: Build --lib
+        run: cargo build --verbose
 
   test:
     runs-on: ubuntu-latest
@@ -30,3 +32,39 @@ jobs:
       - uses: actions/checkout@v3
       - name: Fmt
         run: cargo fmt --all -- --check
+
+# TODO: change to cargo build --example
+  xtensa-esp32-rust-example:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        # TODO: to avoid setupping, ci should pass on prepared dockers on self-hosted runners
+      - name: Setup build environment
+        run: cargo install espup && espup install
+      - name: Build
+        run: cd ./examples/rust-examples/xtensa-esp32 && . $HOME/export-esp.sh && cargo build
+      - name: Fmt
+        run: cd ./examples/rust-examples/xtensa-esp32 && cargo fmt --all -- --check
+
+  xtensa-esp32-static-library:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        # TODO: to avoid setupping, ci should pass on prepared dockers on self-hosted runners
+      - name: Setup build environment
+        run: cargo install espup && espup install
+      - name: Build
+        run: cd ./c-library/xtensa-esp32 && . $HOME/export-esp.sh && cargo build
+      - name: Fmt
+        run: cd ./c-library/xtensa-esp32 && cargo fmt --all -- --check
+
+  xtensa-esp32-c-example:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        # TODO: to avoid setupping, ci should pass on prepared dockers on self-hosted runners
+      - name: Setup build environment
+        run: cargo install espup && espup install && sudo apt-get install -y git wget flex bison gperf python3 python3-pip python3-venv cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0 && mkdir -p ~/esp && cd ~/esp && git clone -b v5.2 --recursive https://github.com/espressif/esp-idf.git && cd ~/esp/esp-idf && ./install.sh esp32
+        # TODO: to avoid building static library, this job should use artifacts from xtensa-esp32-static-library job
+      - name: Build
+        run: cd ./c-library/xtensa-esp32 && . $HOME/export-esp.sh && cargo build && cd ../../examples/c-examples/xtensa-esp32 && . $HOME/esp/esp-idf/export.sh && idf.py build

.gitignore

@@ -11,4 +11,8 @@ Cargo.lock
 **/*.rs.bk
 
 # MSVC Windows builds of rustc generate these, which store debugging information
-*.pdb
+*.pdb
+
+# Espessif generated files and directories
+sdkconfig
+build/

Cargo.toml

@@ -3,5 +3,6 @@ name = "ma_rtos"
 version = "0.1.0"
 edition = "2021"
 
-[dependencies]
-lazy_static = "1.4"
+[features]
+default = []
+c-library = []

README.md

@@ -1 +1,23 @@
-# MA-RTOS
+# Martos
+
+Martos is a simple RTOS for developing multi-agent real-time systems. 
+Software for Martos can be written on both Rust (recommended) and C languages.
+
+In current version it has only primitive task manager and timer counter.
+
+## Programming on Rust
+For writing software on Rust you can use Martos as dependency:
+```
+[dependencies]
+ma_rtos = ...
+```
+
+Rust examples for different architecures you can see in examples/rust-examples.
+
+## Programming on C
+For writing software on C you can link your project with Martos static library. 
+You can get Martos static library from release artifacts. 
+If you want to build Martos static library yourself, see c-library directory.
+It contains static library targets for different architectures.
+
+C examples for different architecures you can see in examples/c-examples.

c-library/xtensa-esp32/.cargo/config.toml

@@ -0,0 +1,19 @@
+[target.xtensa-esp32-none-elf]
+runner = "espflash flash --monitor"
+
+
+[build]
+rustflags = [
+  "-C", "link-arg=-Tlinkall.x",
+
+  "-C", "link-arg=-nostartfiles",
+]
+
+target = "xtensa-esp32-none-elf"
+
+[unstable]
+build-std = ["core"]
+
+[target.'cfg(any(target_arch = "riscv32", target_arch = "xtensa"))']
+runner = "espflash flash --monitor"
+

c-library/xtensa-esp32/Cargo.toml

@@ -0,0 +1,21 @@
+[package]
+name = "xtensa_esp32_static_lib"
+version = "0.1.0"
+edition = "2021"
+
+[lib]
+name = "xtensa_esp32_static_lib"
+crate-type = ["staticlib"]
+
+[profile.release]
+debug = true
+
+[dependencies]
+# TODO: path should be from git, then from crates.io
+ma_rtos = { path = "../../", features = ["c-library"] }
+esp32-hal = "0.18.0"
+esp-backtrace = { version = "0.11.0", features = ["esp32", "panic-handler", "exception-handler", "println"] }
+esp-println = { version = "0.9.0", features = ["esp32"] }
+
+[features]
+default = ["esp32-hal/xtal-40mhz"]

c-library/xtensa-esp32/rust-toolchain.toml

@@ -0,0 +1,2 @@
+[toolchain]
+channel = "esp"

c-library/xtensa-esp32/src/lib.rs

@@ -0,0 +1,36 @@
+// TODO: maybe all this should be in martos, not in c-library folder
+
+#![no_std]
+
+use ma_rtos::task_manager::TaskExecutor;
+use ma_rtos::timer::{TickType, Timer};
+
+#[panic_handler]
+fn panic(_info: &core::panic::PanicInfo) -> ! {
+    loop {}
+}
+
+#[no_mangle]
+pub extern "C" fn setup_timer() {
+    Timer::setup_timer()
+}
+
+#[no_mangle]
+pub extern "C" fn loop_timer() {
+    Timer::loop_timer()
+}
+
+#[no_mangle]
+pub extern "C" fn stop_condition_timer() -> bool {
+    Timer::stop_condition_timer()
+}
+
+#[no_mangle]
+pub extern "C" fn get_tick_counter() -> TickType {
+    Timer::get_tick_counter()
+}
+
+#[no_mangle]
+pub extern "C" fn new_task_executor() -> TaskExecutor {
+    TaskExecutor::new()
+}

examples/c-examples/xtensa-esp32/CMakeLists.txt

@@ -0,0 +1,6 @@
+# The following lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(hello_world)

examples/c-examples/xtensa-esp32/README.md

@@ -0,0 +1 @@
+

examples/c-examples/xtensa-esp32/main/CMakeLists.txt

@@ -0,0 +1,7 @@
+idf_component_register(SRCS "hello_world_main.c"
+                    INCLUDE_DIRS "")
+
+# Linking with martos static library. Set here path to it in your project.
+# Here path is so for ci.
+# TODO: should be more beautiful linking
+target_link_libraries(${COMPONENT_LIB} ${CMAKE_CURRENT_LIST_DIR}/../../../../c-library/xtensa-esp32/target/xtensa-esp32-none-elf/debug/libxtensa_esp32_static_lib.a -Wl,--allow-multiple-definition)

examples/c-examples/xtensa-esp32/main/hello_world_main.c

@@ -0,0 +1,11 @@
+#include <stdio.h>
+
+extern long get_tick_counter();
+
+void app_main(void)
+{
+    long tick = get_tick_counter();
+    printf("tick in c = %ld\n", tick);
+
+    for (;;) {}
+}

examples/rust-examples/xtensa-esp32/.cargo/config.toml

@@ -0,0 +1,19 @@
+[target.xtensa-esp32-none-elf]
+runner = "espflash flash --monitor"
+
+
+[build]
+rustflags = [
+  "-C", "link-arg=-Tlinkall.x",
+
+  "-C", "link-arg=-nostartfiles",
+]
+
+target = "xtensa-esp32-none-elf"
+
+[unstable]
+build-std = ["core"]
+
+[target.'cfg(any(target_arch = "riscv32", target_arch = "xtensa"))']
+runner = "espflash flash --monitor"
+

examples/rust-examples/xtensa-esp32/Cargo.toml

@@ -0,0 +1,17 @@
+[package]
+name = "example_xtensa_esp32"
+version = "0.1.0"
+edition = "2021"
+
+[profile.release]
+debug = true
+
+[dependencies]
+# TODO: path should be from git, then from crates.io
+ma_rtos = { path = "../../../" }
+esp32-hal = "0.18.0"
+esp-backtrace = { version = "0.11.0", features = ["esp32", "panic-handler", "exception-handler", "println"] }
+esp-println = { version = "0.9.0", features = ["esp32"] }
+
+[features]
+default = ["esp32-hal/xtal-40mhz"]

examples/rust-examples/xtensa-esp32/rust-toolchain.toml

@@ -0,0 +1,2 @@
+[toolchain]
+channel = "esp"

examples/rust-examples/xtensa-esp32/src/main.rs

@@ -0,0 +1,42 @@
+#![no_std]
+#![no_main]
+
+use core::sync::atomic::{AtomicU32, Ordering};
+use esp32_hal::entry;
+use esp_backtrace as _;
+use esp_println::println;
+use ma_rtos::task_manager;
+
+/// Counter to work with in loop.
+static COUNTER: AtomicU32 = AtomicU32::new(1);
+
+/// Setup function for task to execute.
+fn setup_fn() {
+    println!("Setup hello world!")
+}
+
+/// Loop function for task to execute.
+fn loop_fn() {
+    COUNTER.fetch_add(1, Ordering::Relaxed);
+    println!("Loop hello world!");
+    println!("Counter = {}", unsafe { COUNTER.as_ptr().read() });
+}
+
+/// Stop condition function for task to execute.
+fn stop_condition_fn() -> bool {
+    let value = unsafe { COUNTER.as_ptr().read() };
+    if value % 50 == 0 {
+        return true;
+    }
+    return false;
+}
+
+#[entry]
+fn main() -> ! {
+    // Creating task executer.
+    let mut task_executor = task_manager::TaskExecutor::new();
+    // Add task to execute.
+    task_executor.add_task(setup_fn, loop_fn, stop_condition_fn);
+    // Start task manager.
+    task_executor.start_task_manager();
+}

src/lib.rs

@@ -1,28 +1,4 @@
-use crate::timer::{TickType, Timer};
-use lazy_static::lazy_static;
-use std::thread;
-use std::time::Duration;
+#![no_std]
 
-pub mod connection;
+pub mod task_manager;
 pub mod timer;
-
-lazy_static! {
-    static ref TIMER: Timer = Timer::new(0, 5, 0.1);
-}
-
-#[no_mangle]
-pub extern "C" fn init_timer() {
-    TIMER.start();
-    thread::sleep(Duration::from_millis(5));
-}
-
-#[no_mangle]
-pub extern "C" fn stop_timer() {
-    thread::sleep(Duration::from_millis(5));
-    TIMER.stop();
-}
-
-#[no_mangle]
-pub extern "C" fn get_tick_counter() -> TickType {
-    TIMER.get_tick_counter()
-}