Add Flipper platform (#351)

* Add Flipper platform

* Fix warnings and other platform builds

extra_script.py

@@ -28,6 +28,7 @@
                   "-<system/freertos_plus_tcp/>",
                   "-<system/mbed/>",
                   "-<system/unix/>",
+                  "-<system/flipper/>",
                   "-<system/windows/>"]
     CPPDEFINES = ["ZENOH_ZEPHYR"]
 
@@ -43,6 +44,7 @@
                       "-<system/freertos_plus_tcp/>",
                       "-<system/mbed/>",
                       "-<system/unix/>",
+                      "-<system/flipper/>",
                       "-<system/windows/>",
                       "-<system/zephyr/>"]
         CPPDEFINES = ["ZENOH_ARDUINO_ESP32", "ZENOH_C_STANDARD=99"]
@@ -58,6 +60,7 @@
                           "-<system/freertos_plus_tcp/>",
                           "-<system/mbed/>",
                           "-<system/unix/>",
+                          "-<system/flipper/>",
                           "-<system/windows/>",
                           "-<system/zephyr/>"]
             CPPDEFINES = ["ZENOH_ARDUINO_OPENCR", "ZENOH_C_STANDARD=99", "Z_FEATURE_MULTI_THREAD=0"]
@@ -71,6 +74,7 @@
                   "-<system/freertos_plus_tcp/>",
                   "-<system/mbed/>",
                   "-<system/unix/>",
+                  "-<system/flipper/>",
                   "-<system/windows/>",
                   "-<system/zephyr/>"]
     CPPDEFINES = ["ZENOH_ESPIDF"]
@@ -84,6 +88,7 @@
                   "-<system/espidf/>",
                   "-<system/freertos_plus_tcp/>",
                   "-<system/unix/>",
+                  "-<system/flipper/>",
                   "-<system/windows/>",
                   "-<system/zephyr/>"]
     CPPDEFINES = ["ZENOH_MBED", "ZENOH_C_STANDARD=99"]

include/zenoh-pico/collections/list.h

@@ -42,6 +42,7 @@ void *_z_list_head(const _z_list_t *xs);
 _z_list_t *_z_list_tail(const _z_list_t *xs);
 
 _z_list_t *_z_list_push(_z_list_t *xs, void *x);
+_z_list_t *_z_list_push_back(_z_list_t *xs, void *x);
 _z_list_t *_z_list_pop(_z_list_t *xs, z_element_free_f f_f, void **x);
 
 _z_list_t *_z_list_find(const _z_list_t *xs, z_element_eq_f f_f, void *e);

include/zenoh-pico/protocol/keyexpr.h

@@ -34,8 +34,6 @@ static inline _z_keyexpr_t _z_keyexpr_null(void) {
     _z_keyexpr_t keyexpr = {0, {0}, NULL};
     return keyexpr;
 }
-_z_timestamp_t _z_timestamp_duplicate(const _z_timestamp_t *tstamp);
-void _z_timestamp_clear(_z_timestamp_t *tstamp);
 void _z_keyexpr_clear(_z_keyexpr_t *rk);
 void _z_keyexpr_free(_z_keyexpr_t **rk);
 

include/zenoh-pico/system/platform.h

@@ -35,6 +35,8 @@
 #include "zenoh-pico/system/platform/arduino/opencr.h"
 #elif defined(ZENOH_EMSCRIPTEN)
 #include "zenoh-pico/system/platform/emscripten.h"
+#elif defined(ZENOH_FLIPPER)
+#include "zenoh-pico/system/platform/flipper.h"
 #elif defined(ZENOH_FREERTOS_PLUS_TCP)
 #include "zenoh-pico/system/platform/freertos_plus_tcp.h"
 #else

include/zenoh-pico/system/platform/flipper.h

@@ -0,0 +1,46 @@
+//
+// Copyright (c) 2024 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:
+//   ZettaScale Zenoh Team, <[email protected]>
+//
+
+#ifndef ZENOH_PICO_SYSTEM_FLIPPER_TYPES_H
+#define ZENOH_PICO_SYSTEM_FLIPPER_TYPES_H
+
+#include <furi.h>
+#include <furi_hal.h>
+#include <sys/time.h>
+
+#include "zenoh-pico/config.h"
+
+#define FLIPPER_DEFAULT_THREAD_STACK_SIZE 2048
+#define FLIPPER_SERIAL_STREAM_BUFFER_SIZE 512
+#define FLIPPER_SERIAL_STREAM_TRIGGERED_LEVEL 10
+#define FLIPPER_SERIAL_TIMEOUT_MS 200
+
+#if Z_FEATURE_MULTI_THREAD == 1
+typedef FuriThread* zp_task_t;
+typedef uint32_t zp_task_attr_t;
+typedef FuriMutex* zp_mutex_t;
+typedef void* zp_condvar_t;
+#endif  // Z_FEATURE_MULTI_THREAD == 1
+
+typedef struct timespec zp_clock_t;
+typedef struct timeval zp_time_t;
+
+typedef struct {
+#if Z_FEATURE_LINK_SERIAL == 1
+    FuriStreamBuffer* _rx_stream;
+    FuriHalSerialHandle* _serial;
+#endif
+} _z_sys_net_socket_t;
+
+#endif /* ZENOH_PICO_SYSTEM_FLIPPER_TYPES_H */

include/zenoh-pico/utils/logging.h

@@ -47,7 +47,7 @@ static inline void __z_print_timestamp(void) {
         if (ZENOH_DEBUG >= _Z_LOG_LVL_DEBUG) { \
             _Z_LOG_PREFIX(DEBUG);              \
             printf(__VA_ARGS__);               \
-            printf("\n");                      \
+            printf("\r\n");                    \
         }                                      \
     } while (false)
 
@@ -56,7 +56,7 @@ static inline void __z_print_timestamp(void) {
         if (ZENOH_DEBUG >= _Z_LOG_LVL_INFO) { \
             _Z_LOG_PREFIX(INFO);              \
             printf(__VA_ARGS__);              \
-            printf("\n");                     \
+            printf("\r\n");                   \
         }                                     \
     } while (false)
 
@@ -65,7 +65,7 @@ static inline void __z_print_timestamp(void) {
         if (ZENOH_DEBUG >= _Z_LOG_LVL_ERROR) { \
             _Z_LOG_PREFIX(ERROR);              \
             printf(__VA_ARGS__);               \
-            printf("\n");                      \
+            printf("\r\n");                    \
         }                                      \
     } while (false)
 #endif  // ZENOH_DEBUG == 0 && !defined(Z_BUILD_DEBUG)

src/collections/list.c

@@ -32,6 +32,20 @@ _z_list_t *_z_list_push(_z_list_t *xs, void *x) {
     return lst;
 }
 
+_z_list_t *_z_list_push_back(_z_list_t *xs, void *x) {
+    _z_list_t *l = (_z_list_t *)xs;
+    while (l != NULL && l->_tail != NULL) {
+        l = l->_tail;
+    }
+    if (l == NULL) {
+        l = _z_list_of(x);
+        return l;
+    } else {
+        l->_tail = _z_list_of(x);
+        return xs;
+    }
+}
+
 void *_z_list_head(const _z_list_t *xs) { return xs->_val; }
 
 _z_list_t *_z_list_tail(const _z_list_t *xs) { return xs->_tail; }

src/system/flipper/network.c

@@ -0,0 +1,225 @@
+//
+// Copyright (c) 2024 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:
+//   ZettaScale Zenoh Team, <[email protected]>
+//
+
+#include "zenoh-pico/config.h"
+#include "zenoh-pico/system/link/serial.h"
+#include "zenoh-pico/system/platform.h"
+#include "zenoh-pico/utils/logging.h"
+
+#if Z_FEATURE_LINK_TCP == 1
+#error "TCP is not supported on Flipper port of Zenoh-Pico"
+#endif
+
+#if Z_FEATURE_LINK_UDP_UNICAST == 1 || Z_FEATURE_LINK_UDP_MULTICAST == 1
+#error "UDP is not supported on Flipper port of Zenoh-Pico"
+#endif
+
+#if Z_FEATURE_LINK_SERIAL == 1
+
+/*------------------ Serial sockets ------------------*/
+
+static void _z_serial_received_byte_callback(FuriHalSerialHandle* handle, FuriHalSerialRxEvent event, void* context) {
+    if (!context) {
+        return;
+    }
+    FuriStreamBuffer* buf = context;
+
+    if (event == FuriHalSerialRxEventData) {
+        uint8_t data = furi_hal_serial_async_rx(handle);
+        furi_stream_buffer_send(buf, (void*)&data, 1, FLIPPER_SERIAL_STREAM_TRIGGERED_LEVEL);
+    }
+}
+
+int8_t _z_open_serial_from_pins(_z_sys_net_socket_t* sock, uint32_t txpin, uint32_t rxpin, uint32_t baudrate) {
+    return _Z_ERR_GENERIC;
+}
+
+int8_t _z_open_serial_from_dev(_z_sys_net_socket_t* sock, char* dev, uint32_t baudrate) {
+    if (furi_hal_serial_control_is_busy(FuriHalSerialIdUsart)) {
+        _Z_ERROR("Serial port is busy");
+        return _Z_ERR_TRANSPORT_OPEN_FAILED;
+    }
+
+    FuriHalSerialId sid;
+    if (!strcmp(dev, "usart")) {
+        sid = FuriHalSerialIdUsart;
+    } else if (!strcmp(dev, "lpuart")) {
+        sid = FuriHalSerialIdLpuart;
+    } else {
+        _Z_ERROR("Unknown serial port device: %s", dev);
+        return _Z_ERR_TRANSPORT_OPEN_FAILED;
+    }
+
+    sock->_serial = furi_hal_serial_control_acquire(sid);
+    if (!sock->_serial) {
+        _Z_ERROR("Serial port control acquire failed");
+        return _Z_ERR_TRANSPORT_OPEN_FAILED;
+    };
+    furi_hal_serial_init(sock->_serial, baudrate);
+
+    sock->_rx_stream =
+        furi_stream_buffer_alloc(FLIPPER_SERIAL_STREAM_BUFFER_SIZE, FLIPPER_SERIAL_STREAM_TRIGGERED_LEVEL);
+    if (!sock->_rx_stream) {
+        _Z_ERROR("Serial stream buffer allocation failed");
+        return _Z_ERR_TRANSPORT_NO_SPACE;
+    };
+    furi_hal_serial_async_rx_start(sock->_serial, _z_serial_received_byte_callback, sock->_rx_stream, false);
+
+    _Z_DEBUG("Serial port opened: %s (%li)", dev, baudrate);
+    return _Z_RES_OK;
+}
+
+int8_t _z_listen_serial_from_pins(_z_sys_net_socket_t* sock, uint32_t txpin, uint32_t rxpin, uint32_t baudrate) {
+    (void)(sock);
+    (void)(txpin);
+    (void)(rxpin);
+    (void)(baudrate);
+
+    return _Z_ERR_GENERIC;
+}
+
+int8_t _z_listen_serial_from_dev(_z_sys_net_socket_t* sock, char* dev, uint32_t baudrate) {
+    (void)(sock);
+    (void)(dev);
+    (void)(baudrate);
+
+    // @TODO: To be implemented
+
+    return _Z_ERR_GENERIC;
+}
+
+void _z_close_serial(_z_sys_net_socket_t* sock) {
+    if (sock->_serial) {
+        furi_hal_serial_async_rx_stop(sock->_serial);
+        furi_hal_serial_deinit(sock->_serial);
+        furi_hal_serial_control_release(sock->_serial);
+
+        // Wait until the serial read timeout ends
+        zp_sleep_ms(FLIPPER_SERIAL_TIMEOUT_MS * 2);
+
+        furi_stream_buffer_free(sock->_rx_stream);
+
+        sock->_serial = 0;
+        sock->_rx_stream = 0;
+    }
+    _Z_DEBUG("Serial port closed");
+}
+
+size_t _z_read_serial(const _z_sys_net_socket_t sock, uint8_t* ptr, size_t len) {
+    int8_t ret = _Z_RES_OK;
+
+    uint8_t* before_cobs = (uint8_t*)zp_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE);
+    size_t rb = 0;
+    for (size_t i = 0; i < _Z_SERIAL_MAX_COBS_BUF_SIZE; i++) {
+        size_t len = 0;
+        len = furi_stream_buffer_receive(sock._rx_stream, &before_cobs[i], 1, FLIPPER_SERIAL_TIMEOUT_MS);
+        if (!len) {
+            zp_free(before_cobs);
+            return SIZE_MAX;
+        }
+        rb += 1;
+
+        if (before_cobs[i] == (uint8_t)0x00) {
+            break;
+        }
+    }
+
+    uint8_t* after_cobs = (uint8_t*)zp_malloc(_Z_SERIAL_MFS_SIZE);
+    size_t trb = _z_cobs_decode(before_cobs, rb, after_cobs);
+
+    size_t i = 0;
+    uint16_t payload_len = 0;
+    for (i = 0; i < sizeof(payload_len); i++) {
+        payload_len |= (after_cobs[i] << ((uint8_t)i * (uint8_t)8));
+    }
+
+    if (trb == (size_t)(payload_len + (uint16_t)6)) {
+        (void)memcpy(ptr, &after_cobs[i], payload_len);
+        i += (size_t)payload_len;
+
+        uint32_t crc = 0;
+        for (uint8_t j = 0; j < sizeof(crc); j++) {
+            crc |= (uint32_t)(after_cobs[i] << (j * (uint8_t)8));
+            i += 1;
+        }
+
+        uint32_t c_crc = _z_crc32(ptr, payload_len);
+        if (c_crc != crc) {
+            ret = _Z_ERR_GENERIC;
+        }
+    } else {
+        ret = _Z_ERR_GENERIC;
+    }
+
+    zp_free(before_cobs);
+    zp_free(after_cobs);
+
+    rb = payload_len;
+    if (ret != _Z_RES_OK) {
+        rb = SIZE_MAX;
+    }
+
+    return rb;
+}
+
+size_t _z_read_exact_serial(const _z_sys_net_socket_t sock, uint8_t* ptr, size_t len) {
+    size_t n = len;
+
+    do {
+        size_t rb = _z_read_serial(sock, ptr, n);
+        if (rb == SIZE_MAX) {
+            return rb;
+        }
+        n -= rb;
+        ptr += len - n;
+    } while (n > 0);
+
+    return len;
+}
+
+size_t _z_send_serial(const _z_sys_net_socket_t sock, const uint8_t* ptr, size_t len) {
+    int8_t ret = _Z_RES_OK;
+
+    uint8_t* before_cobs = (uint8_t*)zp_malloc(_Z_SERIAL_MFS_SIZE);
+    size_t i = 0;
+    for (i = 0; i < sizeof(uint16_t); ++i) {
+        before_cobs[i] = (len >> (i * (size_t)8)) & (size_t)0XFF;
+    }
+
+    (void)memcpy(&before_cobs[i], ptr, len);
+    i += len;
+
+    uint32_t crc = _z_crc32(ptr, len);
+    for (uint8_t j = 0; j < sizeof(crc); j++) {
+        before_cobs[i] = (crc >> (j * (uint8_t)8)) & (uint32_t)0XFF;
+        i++;
+    }
+
+    uint8_t* after_cobs = (uint8_t*)zp_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE);
+    ssize_t twb = _z_cobs_encode(before_cobs, i, after_cobs);
+    after_cobs[twb] = 0x00;  // Manually add the COBS delimiter
+
+    furi_hal_serial_tx(sock._serial, after_cobs, twb + (ssize_t)1);
+    furi_hal_serial_tx_wait_complete(sock._serial);
+
+    zp_free(before_cobs);
+    zp_free(after_cobs);
+
+    return len;
+}
+#endif
+
+#if Z_FEATURE_RAWETH_TRANSPORT == 1
+#error "Raw ethernet transport not supported on Flipper port of Zenoh-Pico"
+#endif