Add TactilityFreeRtos to TactilitySDK (#441)

- TactlitySDK updates fro TactilityFreeRtos
- Enable auto-uploading of SDKs to the CDN when merging code

.github/actions/bundle-artifacts/action.yml

@@ -6,10 +6,10 @@ runs:
     - name: 'Download artifacts'
       uses: actions/download-artifact@v4
       with:
-        path: firmwares
+        path: artifacts
     - name: 'Upload Artifact'
       uses: actions/upload-artifact@v4
       with:
-        name: 'all-firmwares'
-        path: firmwares/
+        name: 'all-artifacts'
+        path: artifacts/
         retention-days: 3

.github/actions/publish-firmware/action.yml

@@ -8,17 +8,17 @@ inputs:
 runs:
   using: 'composite'
   steps:
-    - name: 'Download all-firmwares'
+    - name: 'Download all-artifacts'
       uses: actions/download-artifact@v4
       with:
-        name: 'all-firmwares'
-        path: firmwares
+        name: 'all-artifacts'
+        path: artifacts
     - name: 'Install boto3'
       shell: bash
       run: pip install boto3
     - name: 'Generate files'
       shell: bash
-      run: version=`cat version.txt` && python Buildscripts/CDN/generate-files.py firmwares firmwares-cdn $version
+      run: version=`cat version.txt` && python Buildscripts/CDN/generate-firmware-files.py artifacts artifacts-cdn $version
     - name: 'Upload files'
       shell: bash
-      run: python Buildscripts/CDN/upload-files.py firmwares-cdn ${{ inputs.cdn_version }} ${{ env.CDN_ID }} ${{ env.CDN_TOKEN_NAME }} ${{ env.CDN_TOKEN_VALUE }}
+      run: python Buildscripts/CDN/upload-firmware-files.py artifacts-cdn ${{ inputs.cdn_version }} ${{ env.CDN_ID }} ${{ env.CDN_TOKEN_NAME }} ${{ env.CDN_TOKEN_VALUE }}

.github/actions/publish-sdk/action.yml

@@ -0,0 +1,19 @@
+name: Publish SDK
+
+runs:
+  using: 'composite'
+  steps:
+    - name: 'Download all-artifacts'
+      uses: actions/download-artifact@v4
+      with:
+        name: 'all-artifacts'
+        path: artifacts
+    - name: 'Install boto3'
+      shell: bash
+      run: pip install boto3
+    - name: 'Generate files'
+      shell: bash
+      run: version=`cat version.txt` && python Buildscripts/CDN/generate-sdk-files.py artifacts artifacts-cdn $version
+    - name: 'Upload files'
+      shell: bash
+      run: version=`cat version.txt` && python Buildscripts/CDN/upload-sdk-files.py artifacts-cdn $version ${{ env.CDN_ID }} ${{ env.CDN_TOKEN_NAME }} ${{ env.CDN_TOKEN_VALUE }}

.github/workflows/build.yml

@@ -78,7 +78,7 @@ jobs:
         with:
           board_id: ${{ matrix.board.id }}
           arch: ${{ matrix.board.arch }}
-  BundleFirmware:
+  BundleArtifacts:
     runs-on: ubuntu-latest
     needs: [ BuildFirmware ]
     if: |
@@ -86,11 +86,11 @@ jobs:
       (github.event_name == 'push' && startsWith(github.ref, 'refs/tags/v'))
     steps:
       - uses: actions/checkout@v4
-      - name: "Bundle Firmware"
-        uses: ./.github/actions/bundle-firmware
+      - name: "Bundle Artifacts"
+        uses: ./.github/actions/bundle-artifacts
   PublishFirmwareSnapshot:
     runs-on: ubuntu-latest
-    needs: [ BundleFirmware ]
+    needs: [ BundleArtifacts ]
     if: (github.event_name == 'push' && github.ref == 'refs/heads/main')
     steps:
       - uses: actions/checkout@v4
@@ -104,7 +104,7 @@ jobs:
           cdn_version: snapshot
   PublishFirmwareStable:
     runs-on: ubuntu-latest
-    needs: [ BundleFirmware ]
+    needs: [ BundleArtifacts ]
     if: (github.event_name == 'push' && startsWith(github.ref, 'refs/tags/v'))
     steps:
       - uses: actions/checkout@v4
@@ -116,3 +116,15 @@ jobs:
         uses: ./.github/actions/publish-firmware
         with:
           cdn_version: stable
+  PublishSdk:
+    runs-on: ubuntu-latest
+    needs: [ BundleArtifacts ]
+    if: (github.event_name == 'push' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
+    steps:
+      - uses: actions/checkout@v4
+      - name: "Publish SDKs"
+        env:
+          CDN_ID: ${{ secrets.CDN_ID }}
+          CDN_TOKEN_NAME: ${{ secrets.CDN_TOKEN_NAME }}
+          CDN_TOKEN_VALUE: ${{ secrets.CDN_TOKEN_VALUE }}
+        uses: ./.github/actions/publish-sdk

Buildscripts/CDN/generate-firmware-files.py

@@ -45,11 +45,6 @@ class DeviceIndex:
     gitCommit: str
     devices: list
 
-if sys.platform == "win32":
-    shell_color_red = ""
-    shell_color_orange = ""
-    shell_color_reset = ""
-else:
 shell_color_red = "\033[91m"
 shell_color_orange = "\033[93m"
 shell_color_reset = "\033[m"
@@ -61,7 +56,7 @@ def print_error(message):
     print(f"{shell_color_red}ERROR: {message}{shell_color_reset}")
 
 def print_help():
-    print("Usage: python generate-files.py [inPath] [outPath] [version]")
+    print("Usage: python generate-firmware-files.py [inPath] [outPath] [version]")
     print("     inPath   path with the extracted release files")
     print("     outPath  path where the CDN files will become available")
     print("     version  technical version name (e.g. 1.2.0)")
@@ -228,7 +223,7 @@ if __name__ == "__main__":
     # Argument validation
     if len(sys.argv) < 4:
         print_help()
-        sys.exit()
+        sys.exit(1)
     if "--verbose" in sys.argv:
         VERBOSE = True
         sys.argv.remove("--verbose")

Buildscripts/CDN/generate-sdk-files.py

@@ -0,0 +1,86 @@
+import subprocess
+from datetime import datetime, UTC
+import os
+import sys
+from dataclasses import dataclass, asdict
+import json
+import shutil
+
+VERBOSE = False
+
+@dataclass
+class SdkIndex:
+    version: str
+    created: str
+    gitCommit: str
+    platforms: dict
+
+shell_color_red = "\033[91m"
+shell_color_orange = "\033[93m"
+shell_color_reset = "\033[m"
+
+def print_warning(message):
+    print(f"{shell_color_orange}WARNING: {message}{shell_color_reset}")
+
+def print_error(message):
+    print(f"{shell_color_red}ERROR: {message}{shell_color_reset}")
+
+def exit_with_error(message):
+    print_error(message)
+    sys.exit(1)
+
+def print_help():
+    print("Usage: python generate-sdk-files.py [inPath] [outPath] [version]")
+    print("     inPath   path with the extracted release files")
+    print("     outPath  path where the CDN files will become available")
+    print("     version  technical version name (e.g. 1.2.0)")
+    print("Options:")
+    print("  --verbose                      Show extra console output")
+
+def get_git_commit_hash():
+    return subprocess.check_output(['git', 'rev-parse', 'HEAD']).decode('ascii').strip()
+
+def main(in_path: str, out_path: str, version: str):
+    if not os.path.exists(in_path):
+        exit_with_error(f"Input path not found: {in_path}")
+    if os.path.exists(out_path):
+        shutil.rmtree(out_path)
+    os.mkdir(out_path)
+    artifact_directories = os.listdir(in_path)
+    sdk_index = SdkIndex(
+        version=version,
+        created=datetime.now(UTC).strftime('%Y-%m-%dT%H:%M:%S'),
+        gitCommit=get_git_commit_hash(),
+        platforms={}
+    )
+    for artifact_directory in artifact_directories:
+        if VERBOSE:
+            print(f"Processing {in_path}/{artifact_directory}")
+        if not artifact_directory.startswith("TactilitySDK-"):
+            continue
+        sdk_platform = artifact_directory.removeprefix("TactilitySDK-")
+        if not sdk_platform:
+            exit_with_error(f"Cannot derive platform from directory name: {artifact_directory}")
+        sdk_index.platforms[sdk_platform] = f"{artifact_directory}.zip"
+        if VERBOSE:
+            print(f"Archiving {in_path}/{artifact_directory} to {out_path}/{artifact_directory}.zip")
+        shutil.make_archive(os.path.join(out_path, artifact_directory), 'zip', os.path.join(in_path, artifact_directory))
+    index_file_path = os.path.join(out_path, "index.json")
+    if VERBOSE:
+        print(f"Generating {index_file_path}")
+    with open(index_file_path, "w") as index_file:
+        json.dump(asdict(sdk_index), index_file, indent=2)
+
+if __name__ == "__main__":
+    print("Tactility CDN SDK File Generator")
+    if "--help" in sys.argv:
+        print_help()
+        sys.exit()
+    # Argument validation
+    if len(sys.argv) < 4:
+        print_help()
+        sys.exit(1)
+    if "--verbose" in sys.argv:
+        VERBOSE = True
+        sys.argv.remove("--verbose")
+    main(in_path=sys.argv[1], out_path=sys.argv[2], version=sys.argv[3])

Buildscripts/CDN/upload-firmware-files.py

@@ -2,11 +2,6 @@ import os
 import sys
 import boto3
 
-if sys.platform == "win32":
-    SHELL_COLOR_RED = ""
-    SHELL_COLOR_ORANGE = ""
-    SHELL_COLOR_RESET = ""
-else:
 SHELL_COLOR_RED = "\033[91m"
 SHELL_COLOR_ORANGE = "\033[93m"
 SHELL_COLOR_RESET = "\033[m"
@@ -18,7 +13,7 @@ def print_error(message):
     print(f"{SHELL_COLOR_RED}ERROR: {message}{SHELL_COLOR_RESET}")
 
 def print_help():
-    print("Usage: python upload-files.py [path] [version] [cloudflareAccountId] [cloudflareTokenName] [cloudflareTokenValue]")
+    print("Usage: python upload-firmware-files.py [path] [version] [cloudflareAccountId] [cloudflareTokenName] [cloudflareTokenValue]")
     print("")
     print("Options:")
     print("  --index-only                   Upload only index.json")
@@ -52,14 +47,14 @@ def main(path: str, version: str, cloudflare_account_id, cloudflare_token_name:
             counter += 1
 
 if __name__ == "__main__":
-    print("Tactility CDN Uploader")
+    print("Tactility CDN Firmware Uploader")
     if "--help" in sys.argv:
         print_help()
         sys.exit()
     # Argument validation
     if len(sys.argv) < 6:
         print_help()
-        sys.exit()
+        sys.exit(1)
     main(
         path=sys.argv[1],
         version=sys.argv[2],

Buildscripts/CDN/upload-sdk-files.py

@@ -0,0 +1,65 @@
+import os
+import sys
+import boto3
+
+SHELL_COLOR_RED = "\033[91m"
+SHELL_COLOR_ORANGE = "\033[93m"
+SHELL_COLOR_RESET = "\033[m"
+
+def print_warning(message):
+    print(f"{SHELL_COLOR_ORANGE}WARNING: {message}{SHELL_COLOR_RESET}")
+
+def print_error(message):
+    print(f"{SHELL_COLOR_RED}ERROR: {message}{SHELL_COLOR_RESET}")
+
+def print_help():
+    print("Usage: python upload-sdk-files.py [path] [version] [cloudflareAccountId] [cloudflareTokenName] [cloudflareTokenValue]")
+    print("")
+    print("Options:")
+    print("  --index-only                   Upload only index.json")
+
+def exit_with_error(message):
+    print_error(message)
+    sys.exit(1)
+
+def main(path: str, version: str, cloudflare_account_id, cloudflare_token_name: str, cloudflare_token_value: str, index_only: bool):
+    if not os.path.exists(path):
+        exit_with_error(f"Path not found: {path}")
+    s3 = boto3.client(
+        service_name="s3",
+        endpoint_url=f"https://{cloudflare_account_id}.r2.cloudflarestorage.com",
+        aws_access_key_id=cloudflare_token_name,
+        aws_secret_access_key=cloudflare_token_value,
+        region_name="auto"
+    )
+    files_to_upload = os.listdir(path)
+    counter = 1
+    total = len(files_to_upload)
+    for file_name in files_to_upload:
+        if not index_only or file_name == 'index.json':
+            object_path = f"sdk/{version}/{file_name}"
+            print(f"[{counter}/{total}] Uploading {file_name} to {object_path}")
+            file_path = os.path.join(path, file_name)
+            try:
+                s3.upload_file(file_path, "tactility", object_path)
+            except Exception as e:
+                exit_with_error(f"Failed to upload {file_name}: {str(e)}")
+            counter += 1
+
+if __name__ == "__main__":
+    print("Tactility CDN SDK Uploader")
+    if "--help" in sys.argv:
+        print_help()
+        sys.exit()
+    # Argument validation
+    if len(sys.argv) < 6:
+        print_help()
+        sys.exit(1)
+    main(
+        path=sys.argv[1],
+        version=sys.argv[2],
+        cloudflare_account_id=sys.argv[3],
+        cloudflare_token_name=sys.argv[4],
+        cloudflare_token_value=sys.argv[5],
+        index_only="--index-only" in sys.argv
+    )

Buildscripts/CMake/CMakeLists.txt

@@ -1,5 +1,6 @@
 idf_component_register(
-    INCLUDE_DIRS "Libraries/TactilityC/Include" "Libraries/lvgl/Include"
+    INCLUDE_DIRS "Libraries/TactilityC/Include" "Libraries/lvgl/Include" "Libraries/TactilityFreeRtos/Include"
+    REQUIRES esp_timer
 )
 
 add_prebuilt_library(TactilityC Libraries/TactilityC/Binary/libTactilityC.a)

Buildscripts/logo.cmake

@@ -8,20 +8,12 @@ else ()
     set(TACTILITY_TARGET "  @ Simulator")
 endif ()
 
-if (NOT WIN32)
 string(ASCII 27 Esc)
 set(ColorReset "${Esc}[m")
 set(Cyan "${Esc}[36m")
 set(Grey "${Esc}[37m")
 set(LightPurple "${Esc}[1;35m")
 set(White "${Esc}[1;37m")
-else ()
-    set(ColorReset "")
-    set(Cyan "")
-    set(Grey "")
-    set(LightPurple "")
-    set(White "")
-endif ()
 
 # Some terminals (e.g. GitHub Actions) reset colour for every in a multiline message(),
 # so we add the colour to each line instead of assuming it would automatically be re-used.

Buildscripts/release-sdk.sh

@@ -24,6 +24,13 @@ find_target_dir=$build_dir/$tactility_library_path/Include/
 cp TactilityC/Include/* $find_target_dir
 cp Documentation/license-tactilitysdk.md $build_dir/$tactility_library_path/LICENSE.md
 
+# TactilityFreeRtos
+tactilityfreertos_library_path=$library_path/TactilityFreeRtos
+mkdir -p $tactilityfreertos_library_path/Include
+find_target_dir=$build_dir/$tactilityfreertos_library_path/Include/
+cp -r TactilityFreeRtos/Include/* $find_target_dir
+cp Documentation/license-tactilitysdk.md $build_dir/$tactilityfreertos_library_path/LICENSE.md
+
 # lvgl
 lvgl_library_path=$library_path/lvgl
 mkdir -p $lvgl_library_path/Binary

CMakeLists.txt

@@ -1,21 +1,14 @@
 cmake_minimum_required(VERSION 3.20)
 
-add_definitions(-DTT_DEBUG)
-
 set(CMAKE_CXX_STANDARD 23)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_ASM_COMPILE_OBJECT "${CMAKE_CXX_COMPILER_TARGET}")
 
 include("Buildscripts/logo.cmake")
 
-if (NOT WIN32)
 string(ASCII 27 Esc)
 set(ColorReset "${Esc}[m")
 set(Cyan "${Esc}[36m")
-else ()
-    set(ColorReset "")
-    set(Cyan "")
-endif ()
 
 file(READ version.txt TACTILITY_VERSION)
 add_compile_definitions(TT_VERSION="${TACTILITY_VERSION}")
@@ -77,19 +70,16 @@ if (NOT DEFINED ENV{ESP_IDF_VERSION})
     add_subdirectory(TactilityCore)
     add_subdirectory(TactilityFreeRtos)
     add_subdirectory(Devices/simulator)
-endif ()
-
-if (NOT DEFINED ENV{ESP_IDF_VERSION})
-    # FreeRTOS
-    set(FREERTOS_CONFIG_FILE_DIRECTORY ${PROJECT_SOURCE_DIR}/Devices/simulator/Source CACHE STRING "")
-    set(FREERTOS_PORT GCC_POSIX CACHE STRING "")
-
     add_subdirectory(Libraries/cJSON)
-    add_subdirectory(Libraries/FreeRTOS-Kernel)
     add_subdirectory(Libraries/lv_screenshot)
     add_subdirectory(Libraries/QRCode)
     add_subdirectory(Libraries/minitar)
     add_subdirectory(Libraries/minmea)
+
+    # FreeRTOS
+    set(FREERTOS_CONFIG_FILE_DIRECTORY ${PROJECT_SOURCE_DIR}/Devices/simulator/Source CACHE STRING "")
+    set(FREERTOS_PORT GCC_POSIX CACHE STRING "")
+    add_subdirectory(Libraries/FreeRTOS-Kernel)
     target_compile_definitions(freertos_kernel PUBLIC "projCOVERAGE_TEST=0")
     target_include_directories(freertos_kernel
         PUBLIC Devices/Simulator/Source # for FreeRTOSConfig.h

TactilityC/Source/symbols/freertos.cpp

@@ -3,12 +3,20 @@
 
 #include <symbols/freertos.h>
 
-#include <Tactility/freertoscompat/RTOS.h>
-#include <freertos/task.h>
+#include <freertos/FreeRTOS.h>
 #include <freertos/event_groups.h>
+#include <freertos/queue.h>
+#include <freertos/semphr.h>
+#include <freertos/task.h>
+#include <freertos/timers.h>
 
 const esp_elfsym freertos_symbols[] = {
     // Task
+    ESP_ELFSYM_EXPORT(uxTaskGetStackHighWaterMark),
+    ESP_ELFSYM_EXPORT(uxTaskGetNumberOfTasks),
+    ESP_ELFSYM_EXPORT(uxTaskGetTaskNumber),
+    ESP_ELFSYM_EXPORT(uxTaskPriorityGet),
+    ESP_ELFSYM_EXPORT(uxTaskPriorityGetFromISR),
     ESP_ELFSYM_EXPORT(vTaskDelay),
     ESP_ELFSYM_EXPORT(vTaskDelete),
     ESP_ELFSYM_EXPORT(vTaskDeleteWithCaps),
@@ -28,13 +36,10 @@ const esp_elfsym freertos_symbols[] = {
     ESP_ELFSYM_EXPORT(xTaskDelayUntil),
     ESP_ELFSYM_EXPORT(xTaskGenericNotify),
     ESP_ELFSYM_EXPORT(xTaskGenericNotifyFromISR),
+    ESP_ELFSYM_EXPORT(xTaskGetTickCount),
+    ESP_ELFSYM_EXPORT(xTaskGetTickCountFromISR),
     ESP_ELFSYM_EXPORT(pvTaskGetThreadLocalStoragePointer),
     ESP_ELFSYM_EXPORT(pvTaskIncrementMutexHeldCount),
-    ESP_ELFSYM_EXPORT(uxTaskGetStackHighWaterMark),
-    ESP_ELFSYM_EXPORT(uxTaskGetNumberOfTasks),
-    ESP_ELFSYM_EXPORT(uxTaskGetTaskNumber),
-    ESP_ELFSYM_EXPORT(uxTaskPriorityGet),
-    ESP_ELFSYM_EXPORT(uxTaskPriorityGetFromISR),
     // EventGroup
     ESP_ELFSYM_EXPORT(xEventGroupCreate),
     ESP_ELFSYM_EXPORT(xEventGroupCreateWithCaps),
@@ -49,11 +54,6 @@ const esp_elfsym freertos_symbols[] = {
     ESP_ELFSYM_EXPORT(xEventGroupSync),
     ESP_ELFSYM_EXPORT(xEventGroupWaitBits),
     // Queue
-    ESP_ELFSYM_EXPORT(xQueueGenericCreate),
-    ESP_ELFSYM_EXPORT(xQueueGenericCreateStatic),
-    ESP_ELFSYM_EXPORT(xQueueGenericReset),
-    ESP_ELFSYM_EXPORT(xQueueGenericSend),
-    ESP_ELFSYM_EXPORT(xQueueGenericSendFromISR),
     ESP_ELFSYM_EXPORT(vQueueDelete),
     ESP_ELFSYM_EXPORT(vQueueDeleteWithCaps),
     ESP_ELFSYM_EXPORT(vQueueSetQueueNumber),
@@ -62,6 +62,21 @@ const esp_elfsym freertos_symbols[] = {
     ESP_ELFSYM_EXPORT(uxQueueMessagesWaiting),
     ESP_ELFSYM_EXPORT(uxQueueMessagesWaitingFromISR),
     ESP_ELFSYM_EXPORT(uxQueueSpacesAvailable),
+    ESP_ELFSYM_EXPORT(xQueueCreateCountingSemaphore),
+    ESP_ELFSYM_EXPORT(xQueueCreateCountingSemaphoreStatic),
+    ESP_ELFSYM_EXPORT(xQueueCreateMutex),
+    ESP_ELFSYM_EXPORT(xQueueCreateMutexStatic),
+    ESP_ELFSYM_EXPORT(xQueueCreateSet),
+    ESP_ELFSYM_EXPORT(xQueueGetMutexHolder),
+    ESP_ELFSYM_EXPORT(xQueueGetMutexHolderFromISR),
+    ESP_ELFSYM_EXPORT(xQueueGiveMutexRecursive),
+    ESP_ELFSYM_EXPORT(xQueueTakeMutexRecursive),
+    ESP_ELFSYM_EXPORT(xQueueGenericCreate),
+    ESP_ELFSYM_EXPORT(xQueueGenericCreateStatic),
+    ESP_ELFSYM_EXPORT(xQueueGenericReset),
+    ESP_ELFSYM_EXPORT(xQueueGenericSend),
+    ESP_ELFSYM_EXPORT(xQueueGenericSendFromISR),
+    ESP_ELFSYM_EXPORT(xQueueSemaphoreTake),
     // Timer
     ESP_ELFSYM_EXPORT(xTimerCreate),
     ESP_ELFSYM_EXPORT(xTimerCreateStatic),
@@ -72,6 +87,9 @@ const esp_elfsym freertos_symbols[] = {
     ESP_ELFSYM_EXPORT(xTimerPendFunctionCallFromISR),
     ESP_ELFSYM_EXPORT(xTimerGetPeriod),
     // portmacro.h
+    ESP_ELFSYM_EXPORT(vPortYield),
+    ESP_ELFSYM_EXPORT(vPortEnterCritical),
+    ESP_ELFSYM_EXPORT(vPortExitCritical),
     ESP_ELFSYM_EXPORT(xPortInIsrContext),
     ESP_ELFSYM_EXPORT(xPortCanYield),
     ESP_ELFSYM_EXPORT(xPortGetCoreID),

TactilityC/Source/symbols/stl.cpp

@@ -11,6 +11,7 @@ const esp_elfsym stl_symbols[] = {
     { "_ZSt28__throw_bad_array_new_lengthv", (void*)&(std::__throw_bad_array_new_length) },
     { "_ZSt25__throw_bad_function_callv", (void*)&(std::__throw_bad_function_call) },
     { "_ZSt20__throw_length_errorPKc", (void*)&(std::__throw_length_error) },
+    { "_ZSt19__throw_logic_errorPKc", (void*)&std::__throw_logic_error },
     // { "", (void*)&(std::) },
     // delimiter
     ESP_ELFSYM_END