FreeRTOS-Plus-TCP port

.github/workflows/freertos_plus_tcp.yaml

@@ -0,0 +1,42 @@
+#
+# Copyright (c) 2023 ZettaScale Technology
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+# which is available at https://www.apache.org/licenses/LICENSE-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+#
+# Contributors:
+#   Błażej Sowa, <blazej@fictionlab.pl>
+#
+name: freertos_plus_tcp
+
+on:
+  push:
+    branches: [ '**' ]
+  pull_request:
+    branches: [ '**' ]
+
+jobs:
+  build:
+    name: Build on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest]
+    steps:
+    - uses: actions/checkout@v2
+    - uses: jwlawson/actions-setup-cmake@v1.13
+    - name: Install requirements
+      run: |
+        sudo apt update
+        sudo apt install -y ninja-build libslirp-dev
+    - name: Build examples
+      run: |
+        cd examples/freertos_plus_tcp
+        cmake -Bbuild -G"Ninja Multi-Config"
+        cmake --build ./build --config Debug
+        cmake --build ./build --config Release

CMakeLists.txt

@@ -21,6 +21,7 @@ include(GNUInstallDirs)
 option(BUILD_SHARED_LIBS "Build shared libraries if ON, otherwise build static libraries" ON)
 option(ZENOH_DEBUG "Use this to set the ZENOH_DEBUG variable." 0)
 option(WITH_ZEPHYR "Build for Zephyr RTOS" OFF)
+option(WITH_FREERTOS_PLUS_TCP "Build for FreeRTOS RTOS and FreeRTOS-Plus-TCP network stack" OFF)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE INTERNAL "")
 if(CMAKE_EXPORT_COMPILE_COMMANDS)
   set(CMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES 
@@ -91,6 +92,8 @@ elseif(CMAKE_SYSTEM_NAME MATCHES "Windows")
 elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
   if(WITH_ZEPHYR)
     add_definition(ZENOH_ZEPHYR)
+  elseif(WITH_FREERTOS_PLUS_TCP)
+    add_definition(ZENOH_FREERTOS_PLUS_TCP)
   endif()
 else()
   message(FATAL_ERROR "zenoh-pico is not yet available on ${CMAKE_SYSTEM_NAME} platform")
@@ -104,6 +107,7 @@ message(STATUS "Building in ${CMAKE_BUILD_TYPE} mode")
 message(STATUS "Build shared library: ${BUILD_SHARED_LIBS}")
 message(STATUS "Zenoh Level Log: ${ZENOH_DEBUG}")
 message(STATUS "Build for Zephyr RTOS: ${WITH_ZEPHYR}")
+message(STATUS "Build for FreeRTOS-Plus-TCP: ${WITH_FREERTOS_PLUS_TCP}")
 message(STATUS "Configuring for ${CMAKE_SYSTEM_NAME}")
 
 if(SKBUILD)
@@ -163,6 +167,9 @@ file(GLOB_RECURSE Sources
 if(WITH_ZEPHYR)
   file (GLOB Sources_Zephyr "src/system/zephyr/*.c")
   list(APPEND Sources ${Sources_Zephyr})
+elseif(WITH_FREERTOS_PLUS_TCP)
+  file (GLOB Sources_Freertos_Plus_TCP "src/system/freertos_plus_tcp/*.c")
+  list(APPEND Sources ${Sources_Freertos_Plus_TCP})
 elseif(CMAKE_SYSTEM_NAME MATCHES "Linux" OR CMAKE_SYSTEM_NAME MATCHES "Darwin" OR CMAKE_SYSTEM_NAME MATCHES "BSD" OR POSIX_COMPATIBLE)
   file (GLOB Sources_Unix "src/system/unix/*.c")
   list(APPEND Sources ${Sources_Unix})

README.md

@@ -24,16 +24,17 @@ It is fully compatible with its main [Rust Zenoh implementation](https://github.
 
 Currently, zenoh-pico provides support for the following (RT)OSs and protocols:
 
-|    **(RT)OS**   |        **Transport Layer**       |  **Network Layer**  |                 **Data Link Layer**                |
-|:---------------:|:--------------------------------:|:-------------------:|:--------------------------------------------------:|
-|     **Unix**    | UDP (unicast and multicast), TCP | IPv4, IPv6, 6LoWPAN |               WiFi, Ethernet, Thread               |
-|   **Windows**   | UDP (unicast and multicast), TCP |      IPv4, IPv6     |                   WiFi, Ethernet                   |
-|    **Zephyr**   | UDP (unicast and multicast), TCP | IPv4, IPv6, 6LoWPAN |           WiFi, Ethernet, Thread, Serial           |
-|   **Arduino**   | UDP (unicast and multicast), TCP |      IPv4, IPv6     | WiFi, Ethernet, Bluetooth (Serial profile), Serial |
-|   **ESP-IDF**   | UDP (unicast and multicast), TCP |      IPv4, IPv6     |               WiFi, Ethernet, Serial               |
-|    **MbedOS**   | UDP (unicast and multicast), TCP |      IPv4, IPv6     |               WiFi, Ethernet, Serial               |
-|    **OpenCR**   | UDP (unicast and multicast), TCP |         IPv4        |                        WiFi                        |
-|  **Emscripten** |             Websocket            |      IPv4, IPv6     |                   WiFi, Ethernet                   |
+|    **(RT)OS**         |        **Transport Layer**       |  **Network Layer**  |                 **Data Link Layer**                |
+|:---------------------:|:--------------------------------:|:-------------------:|:--------------------------------------------------:|
+|       **Unix**        | UDP (unicast and multicast), TCP | IPv4, IPv6, 6LoWPAN |               WiFi, Ethernet, Thread               |
+|     **Windows**       | UDP (unicast and multicast), TCP |      IPv4, IPv6     |                   WiFi, Ethernet                   |
+|      **Zephyr**       | UDP (unicast and multicast), TCP | IPv4, IPv6, 6LoWPAN |           WiFi, Ethernet, Thread, Serial           |
+|     **Arduino**       | UDP (unicast and multicast), TCP |      IPv4, IPv6     | WiFi, Ethernet, Bluetooth (Serial profile), Serial |
+|     **ESP-IDF**       | UDP (unicast and multicast), TCP |      IPv4, IPv6     |               WiFi, Ethernet, Serial               |
+|      **MbedOS**       | UDP (unicast and multicast), TCP |      IPv4, IPv6     |               WiFi, Ethernet, Serial               |
+|      **OpenCR**       | UDP (unicast and multicast), TCP |         IPv4        |                        WiFi                        |
+|    **Emscripten**     |             Websocket            |      IPv4, IPv6     |                   WiFi, Ethernet                   |
+| **FreeRTOS-Plus-TCP** |         UDP (unicast), TCP       |         IPv4        |                      Ethernet                      |
 
 Check the website [zenoh.io](http://zenoh.io) and the [roadmap](https://github.com/eclipse-zenoh/roadmap) for more detailed information.
 

examples/freertos_plus_tcp/CMakeLists.txt

@@ -0,0 +1,98 @@
+#
+# Copyright (c) 2023 Fictionlab sp. z o.o.
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+# which is available at https://www.apache.org/licenses/LICENSE-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+#
+# Contributors:
+#   Błażej Sowa, <blazej@fictionlab.pl>
+
+cmake_minimum_required(VERSION 3.20)
+project(zenohpico_freertos_plus_tcp_examples)
+
+set(CMAKE_SYSTEM_NAME "Generic")
+set(CMAKE_C_STANDARD 11)
+
+include(../../cmake/helpers.cmake)
+set_default_build_type(Release)
+
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(SLIRP REQUIRED slirp)
+
+add_library(slirp INTERFACE)
+target_link_libraries(slirp INTERFACE ${SLIRP_LINK_LIBRARIES})
+target_include_directories(slirp INTERFACE ${SLIRP_INCLUDE_DIRS})
+target_compile_options(slirp INTERFACE -Wno-error)
+
+include(FetchContent)
+
+FetchContent_Declare(freertos_kernel
+  GIT_REPOSITORY "https://github.com/FreeRTOS/FreeRTOS-Kernel.git"
+  GIT_TAG "V10.6.1"
+)
+
+FetchContent_Declare(freertos_plus_tcp
+  GIT_REPOSITORY "https://github.com/FreeRTOS/FreeRTOS-Plus-TCP.git"
+  GIT_TAG "34148c3"
+  GIT_SUBMODULES ""
+)
+
+add_library(freertos_config INTERFACE)
+target_include_directories(freertos_config SYSTEM INTERFACE include)
+target_compile_options(freertos_config INTERFACE -Wno-error)
+
+set(FREERTOS_HEAP "3" CACHE STRING "" FORCE)
+set(FREERTOS_PORT "GCC_POSIX" CACHE STRING "" FORCE)
+set(FREERTOS_PLUS_TCP_NETWORK_IF "LIBSLIRP" CACHE STRING "" FORCE)
+set(FREERTOS_PLUS_TCP_BUFFER_ALLOCATION "2" CACHE STRING "" FORCE)
+
+FetchContent_MakeAvailable(freertos_kernel freertos_plus_tcp)
+
+set(BUILD_SHARED_LIBS OFF)
+set(WITH_FREERTOS_PLUS_TCP ON)
+set(ZENOH_DEBUG 3)
+configure_include_project(ZENOHPICO zenohpico zenohpico "../.." zenohpico "https://github.com/eclipse-zenoh/zenoh-pico" "")
+
+target_link_libraries(zenohpico
+  freertos_kernel
+  freertos_plus_tcp
+)
+target_compile_definitions(zenohpico
+  PUBLIC
+    Z_FEATURE_MULTI_THREAD=1
+    Z_FEATURE_LINK_TCP=1
+    Z_FEATURE_SCOUTING_UDP=1
+    Z_FEATURE_LINK_UDP_UNICAST=1
+    Z_FEATURE_LINK_UDP_MULTICAST=0
+    Z_CONFIG_SOCKET_TIMEOUT=1000
+)
+
+add_library(main OBJECT main.c)
+target_link_libraries(main
+  freertos_kernel
+  freertos_plus_tcp
+)
+
+function(add_example name)
+  add_executable(${name} ${name}.c)
+  target_link_libraries(${name}
+    main
+    freertos_kernel
+    freertos_plus_tcp
+    zenohpico
+  )
+endfunction()
+
+add_example(z_get)
+add_example(z_pub_st)
+add_example(z_pub)
+add_example(z_pull)
+add_example(z_put)
+add_example(z_queryable)
+add_example(z_scout)
+add_example(z_sub_st)
+add_example(z_sub)

examples/freertos_plus_tcp/include/FreeRTOSConfig.h

@@ -0,0 +1,64 @@
+//
+// Copyright (c) 2023 Fictionlab sp. z o.o.
+//
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+// which is available at https://www.apache.org/licenses/LICENSE-2.0.
+//
+// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+//
+// Contributors:
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+#include "bits/pthread_stack_min.h"
+
+/* Core options */
+#define configUSE_PREEMPTION 1
+#define configTICK_RATE_HZ ((TickType_t)1000)
+#define configMAX_PRIORITIES (56)
+#define configMINIMAL_STACK_SIZE ((uint16_t) PTHREAD_STACK_MIN)
+#define configMAX_TASK_NAME_LEN (16)
+#define configUSE_16_BIT_TICKS 0
+#define configQUEUE_REGISTRY_SIZE 0
+#define configTASK_NOTIFICATION_ARRAY_ENTRIES 1
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0
+
+/* Hook function related definitions. */
+#define configUSE_IDLE_HOOK 0
+#define configUSE_TICK_HOOK 0
+#define configUSE_MALLOC_FAILED_HOOK 0
+#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
+#define configUSE_SB_COMPLETED_CALLBACK 0
+
+/* Enable/Disable features */
+#define configSUPPORT_STATIC_ALLOCATION 1
+#define configSUPPORT_DYNAMIC_ALLOCATION 1
+#define configUSE_MUTEXES 1
+#define configUSE_RECURSIVE_MUTEXES 1
+#define configUSE_COUNTING_SEMAPHORES 1
+#define configUSE_CO_ROUTINES 0
+#define configUSE_TIMERS 0
+#define configUSE_TRACE_FACILITY 0
+#define configUSE_QUEUE_SETS 0
+#define configUSE_NEWLIB_REENTRANT 0
+
+/* Set the API functions which should be included */
+#define INCLUDE_vTaskPrioritySet 1
+#define INCLUDE_uxTaskPriorityGet 1
+#define INCLUDE_vTaskDelete 1
+#define INCLUDE_vTaskCleanUpResources 0
+#define INCLUDE_vTaskSuspend 1
+#define INCLUDE_vTaskDelayUntil 1
+#define INCLUDE_vTaskDelay 1
+#define INCLUDE_xTaskGetSchedulerState 1
+#define INCLUDE_xTimerPendFunctionCall 1
+#define INCLUDE_xQueueGetMutexHolder 1
+#define INCLUDE_uxTaskGetStackHighWaterMark 1
+#define INCLUDE_eTaskGetState 1
+#define INCLUDE_xTimerPendFunctionCall 0
+
+#endif /* FREERTOS_CONFIG_H */

examples/freertos_plus_tcp/include/FreeRTOSIPConfig.h

@@ -0,0 +1,54 @@
+//
+// Copyright (c) 2023 Fictionlab sp. z o.o.
+//
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+// which is available at https://www.apache.org/licenses/LICENSE-2.0.
+//
+// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+//
+// Contributors:
+//   Błażej Sowa, <blazej@fictionlab.pl>
+
+#ifndef FREERTOS_IP_CONFIG_H
+#define FREERTOS_IP_CONFIG_H
+
+// Driver specific
+#define ipconfigBYTE_ORDER pdFREERTOS_LITTLE_ENDIAN
+#define ipconfigETHERNET_DRIVER_FILTERS_FRAME_TYPES 1
+#define ipconfigDRIVER_INCLUDED_TX_IP_CHECKSUM 0
+#define ipconfigDRIVER_INCLUDED_RX_IP_CHECKSUM 1
+#define ipconfigZERO_COPY_RX_DRIVER 1
+#define ipconfigZERO_COPY_TX_DRIVER 1
+#define ipconfigUSE_LINKED_RX_MESSAGES 1
+#define ipconfigNUM_NETWORK_BUFFER_DESCRIPTORS 60
+
+// Enable/Disable features
+#define ipconfigUSE_IPv4 1
+#define ipconfigUSE_IPv6 1
+#define ipconfigUSE_DHCP 1
+#define ipconfigUSE_DHCPv6 0
+#define ipconfigUSE_RA 0
+#define ipconfigUSE_DNS 1
+#define ipconfigUSE_TCP 1
+#define ipconfigUSE_ARP_REMOVE_ENTRY 0
+#define ipconfigUSE_ARP_REVERSED_LOOKUP 0
+#define ipconfigSUPPORT_SELECT_FUNCTION 0
+#define ipconfigSUPPORT_OUTGOING_PINGS 0
+#define ipconfigUSE_NETWORK_EVENT_HOOK 1
+#define ipconfigUSE_DHCP_HOOK 0
+
+// DHCP
+#define ipconfigMAXIMUM_DISCOVER_TX_PERIOD (pdMS_TO_TICKS(1000U))
+#define ipconfigDHCP_REGISTER_HOSTNAME 1
+
+#define ipconfigIP_TASK_PRIORITY (configMAX_PRIORITIES - 2)
+#define ipconfigIP_TASK_STACK_SIZE_WORDS (configMINIMAL_STACK_SIZE * 5)
+
+// Set ipconfigBUFFER_PADDING on 64-bit platforms
+#if INTPTR_MAX == INT64_MAX
+    #define ipconfigBUFFER_PADDING 14U
+#endif
+
+#endif /* FREERTOS_IP_CONFIG_H */