Changes for FreeRTOS/LwIP Port for the ESP32 (ESP-IDF) (#15250)

* Changes for FreeRTOS/LwIP Port for the ESP32 (ESP-IDF)

Adding FreeRTOS/LwIP to compiler:

* adding freertos option
* dyncalls for freertos
* add freertos to posix os list
* adding lwip option

Setting up networking FreeRTOS/LwIP Port:

* setting up lwip network for freertos
* fixing posix / networking for freertos
* disable setInheritable for freerots
* using lwip for net control items

* Fix builds by ignoring lib/posix/posix_freertos_consts.nim similar to lib/posix/posix_other_consts.nim

compiler/options.nim

@@ -494,7 +494,7 @@ proc isDefined*(conf: ConfigRef; symbol: string): bool =
                             osQnx, osAtari, osAix,
                             osHaiku, osVxWorks, osSolaris, osNetbsd,
                             osFreebsd, osOpenbsd, osDragonfly, osMacosx, osIos,
-                            osAndroid, osNintendoSwitch}
+                            osAndroid, osNintendoSwitch, osFreeRTOS}
     of "linux":
       result = conf.target.targetOS in {osLinux, osAndroid}
     of "bsd":
@@ -510,6 +510,10 @@ proc isDefined*(conf: ConfigRef; symbol: string): bool =
     of "sunos": result = conf.target.targetOS == osSolaris
     of "nintendoswitch":
       result = conf.target.targetOS == osNintendoSwitch
+    of "freertos":
+      result = conf.target.targetOS == osFreeRTOS
+    of "lwip":
+      result = conf.target.targetOS in {osFreeRTOS}
     of "littleendian": result = CPU[conf.target.targetCPU].endian == platform.littleEndian
     of "bigendian": result = CPU[conf.target.targetCPU].endian == platform.bigEndian
     of "cpu8": result = CPU[conf.target.targetCPU].bit == 8

compiler/platform.nim

@@ -22,7 +22,7 @@ type
     osNone, osDos, osWindows, osOs2, osLinux, osMorphos, osSkyos, osSolaris,
     osIrix, osNetbsd, osFreebsd, osOpenbsd, osDragonfly, osAix, osPalmos, osQnx,
     osAmiga, osAtari, osNetware, osMacos, osMacosx, osIos, osHaiku, osAndroid, osVxWorks
-    osGenode, osJS, osNimVM, osStandalone, osNintendoSwitch, osAny
+    osGenode, osJS, osNimVM, osStandalone, osNintendoSwitch, osFreeRTOS, osAny
 
 type
   TInfoOSProp* = enum
@@ -177,6 +177,10 @@ const
       objExt: ".o", newLine: "\x0A", pathSep: ":", dirSep: "/",
       scriptExt: ".sh", curDir: ".", exeExt: ".elf", extSep: ".",
       props: {ospNeedsPIC, ospPosix}),
+     (name: "FreeRTOS", parDir: "..", dllFrmt: "lib$1.so", altDirSep: "/",
+      objExt: ".o", newLine: "\x0A", pathSep: ":", dirSep: "/",
+      scriptExt: ".sh", curDir: ".", exeExt: ".elf", extSep: ".",
+      props: {ospPosix}),
      (name: "Any", parDir: "..", dllFrmt: "lib$1.so", altDirSep: "/",
       objExt: ".o", newLine: "\x0A", pathSep: ":", dirSep: "/",
       scriptExt: ".sh", curDir: ".", exeExt: "", extSep: ".",
@@ -189,7 +193,7 @@ type
     cpuNone, cpuI386, cpuM68k, cpuAlpha, cpuPowerpc, cpuPowerpc64,
     cpuPowerpc64el, cpuSparc, cpuVm, cpuHppa, cpuIa64, cpuAmd64, cpuMips,
     cpuMipsel, cpuArm, cpuArm64, cpuJS, cpuNimVM, cpuAVR, cpuMSP430,
-    cpuSparc64, cpuMips64, cpuMips64el, cpuRiscV64, cpuWasm32
+    cpuSparc64, cpuMips64, cpuMips64el, cpuRiscV64, cpuEsp, cpuWasm32
 
 type
   TEndian* = enum
@@ -223,6 +227,7 @@ const
     (name: "mips64", intSize: 64, endian: bigEndian, floatSize: 64, bit: 64),
     (name: "mips64el", intSize: 64, endian: littleEndian, floatSize: 64, bit: 64),
     (name: "riscv64", intSize: 64, endian: littleEndian, floatSize: 64, bit: 64),
+    (name: "esp", intSize: 32, endian: littleEndian, floatSize: 64, bit: 32),
     (name: "wasm32", intSize: 32, endian: littleEndian, floatSize: 64, bit: 32)]
 
 type

lib/posix/posix.nim

@@ -962,9 +962,15 @@ proc IN6_IS_ADDR_LINKLOCAL* (a1: ptr In6Addr): cint {.
 proc IN6_IS_ADDR_SITELOCAL* (a1: ptr In6Addr): cint {.
   importc, header: "<netinet/in.h>".}
   ## Unicast site-local address.
-proc IN6_IS_ADDR_V4MAPPED* (a1: ptr In6Addr): cint {.
-  importc, header: "<netinet/in.h>".}
-  ## IPv4 mapped address.
+when defined(lwip):
+  proc IN6_IS_ADDR_V4MAPPED*(ipv6_address: ptr In6Addr): cint =
+    var bits32: ptr array[4, uint32] = cast[ptr array[4, uint32]](ipv6_address)
+    return (bits32[1] == 0'u32 and bits32[2] == htonl(0x0000FFFF)).cint
+else:
+  proc IN6_IS_ADDR_V4MAPPED* (a1: ptr In6Addr): cint {.
+    importc, header: "<netinet/in.h>".}
+    ## IPv4 mapped address.
+
 proc IN6_IS_ADDR_V4COMPAT* (a1: ptr In6Addr): cint {.
   importc, header: "<netinet/in.h>".}
   ## IPv4-compatible address.
@@ -1026,8 +1032,9 @@ proc setnetent*(a1: cint) {.importc, header: "<netdb.h>".}
 proc setprotoent*(a1: cint) {.importc, header: "<netdb.h>".}
 proc setservent*(a1: cint) {.importc, header: "<netdb.h>".}
 
-proc poll*(a1: ptr TPollfd, a2: Tnfds, a3: int): cint {.
-  importc, header: "<poll.h>", sideEffect.}
+when not defined(lwip):
+  proc poll*(a1: ptr TPollfd, a2: Tnfds, a3: int): cint {.
+    importc, header: "<poll.h>", sideEffect.}
 
 proc realpath*(name, resolved: cstring): cstring {.
   importc: "realpath", header: "<stdlib.h>".}

lib/posix/posix_other.nim

@@ -10,9 +10,14 @@
 when defined(nimHasStyleChecks):
   {.push styleChecks: off.}
 
-const
-  hasSpawnH = true # should exist for every Posix system nowadays
-  hasAioH = defined(linux)
+when defined(freertos):
+  const
+    hasSpawnH = false # should exist for every Posix system nowadays
+    hasAioH = false
+else:
+  const
+    hasSpawnH = true # should exist for every Posix system nowadays
+    hasAioH = defined(linux)
 
 when defined(linux) and not defined(android):
   # On Linux:
@@ -397,21 +402,55 @@ type
   SockLen* {.importc: "socklen_t", header: "<sys/socket.h>".} = cuint
   TSa_Family* {.importc: "sa_family_t", header: "<sys/socket.h>".} = cushort
 
-  SockAddr* {.importc: "struct sockaddr", header: "<sys/socket.h>",
-              pure, final.} = object ## struct sockaddr
-    sa_family*: TSa_Family         ## Address family.
-    sa_data*: array[0..255, char] ## Socket address (variable-length data).
+when defined(lwip):
+  type
+    SockAddr* {.importc: "struct sockaddr", header: "<sys/socket.h>",
+                pure, final.} = object ## struct sockaddr
+      sa_len*: uint8         ## Address family.
+      sa_family*: TSa_Family         ## Address family.
+      sa_data*: array[0..255, char] ## Socket address (variable-length data).
+else:
+  type
+    SockAddr* {.importc: "struct sockaddr", header: "<sys/socket.h>",
+                pure, final.} = object ## struct sockaddr
+      sa_family*: TSa_Family         ## Address family.
+      sa_data*: array[0..255, char] ## Socket address (variable-length data).
 
+type
   Sockaddr_un* {.importc: "struct sockaddr_un", header: "<sys/un.h>",
               pure, final.} = object ## struct sockaddr_un
     sun_family*: TSa_Family         ## Address family.
     sun_path*: array[0..Sockaddr_un_path_length-1, char] ## Socket path
 
-  Sockaddr_storage* {.importc: "struct sockaddr_storage",
-                       header: "<sys/socket.h>",
-                       pure, final.} = object ## struct sockaddr_storage
-    ss_family*: TSa_Family ## Address family.
 
+when defined(lwip):
+  when not defined(lwip6):
+    type
+      Sockaddr_storage* {.importc: "struct sockaddr_storage",
+                          header: "<sys/socket.h>",
+                          pure, final.} = object ## struct sockaddr_storage
+        s2_len*: uint8 ## Address family.
+        ss_family*: TSa_Family ## Address family.
+        s2_data1*: array[2, char] ## Address family.
+        s2_data2*: array[3, uint32] ## Address family.
+  else:
+    type
+      Sockaddr_storage* {.importc: "struct sockaddr_storage",
+                          header: "<sys/socket.h>",
+                          pure, final.} = object ## struct sockaddr_storage
+        s2_len*: uint8 ## Address family.
+        ss_family*: TSa_Family ## Address family.
+        s2_data1*: array[2, char] ## Address family.
+        s2_data2*: array[3, uint32] ## Address family.
+        s2_data3*: array[3, uint32] ## Address family.
+else:
+  type
+    Sockaddr_storage* {.importc: "struct sockaddr_storage",
+                        header: "<sys/socket.h>",
+                        pure, final.} = object ## struct sockaddr_storage
+      ss_family*: TSa_Family ## Address family.
+
+type
   Tif_nameindex* {.importc: "struct if_nameindex", final,
                    pure, header: "<net/if.h>".} = object ## struct if_nameindex
     if_index*: cint   ## Numeric index of the interface.
@@ -530,13 +569,15 @@ type
     ai_canonname*: cstring  ## Canonical name of service location.
     ai_next*: ptr AddrInfo ## Pointer to next in list.
 
-  TPollfd* {.importc: "struct pollfd", pure, final,
-             header: "<poll.h>".} = object ## struct pollfd
-    fd*: cint        ## The following descriptor being polled.
-    events*: cshort  ## The input event flags (see below).
-    revents*: cshort ## The output event flags (see below).
+when not defined(lwip):
+  type
+    TPollfd* {.importc: "struct pollfd", pure, final,
+              header: "<poll.h>".} = object ## struct pollfd
+      fd*: cint        ## The following descriptor being polled.
+      events*: cshort  ## The input event flags (see below).
+      revents*: cshort ## The output event flags (see below).
 
-  Tnfds* {.importc: "nfds_t", header: "<poll.h>".} = cint
+    Tnfds* {.importc: "nfds_t", header: "<poll.h>".} = cint
 
 var
   errno* {.importc, header: "<errno.h>".}: cint ## error variable
@@ -545,7 +586,10 @@ var
   timezone* {.importc, header: "<time.h>".}: int
 
 # Regenerate using detect.nim!
-include posix_other_consts
+when defined(lwip):
+  include posix_freertos_consts
+else:
+  include posix_other_consts
 
 when defined(linux):
   var

lib/pure/ioselects/ioselectors_select.nim

@@ -312,7 +312,7 @@ proc selectInto*[T](s: Selector[T], timeout: int,
   verifySelectParams(timeout)
 
   if timeout != -1:
-    when defined(genode):
+    when defined(genode) or defined(freertos):
       tv.tv_sec = Time(timeout div 1_000)
     else:
       tv.tv_sec = timeout.int32 div 1_000

lib/pure/nativesockets.nim

@@ -269,7 +269,7 @@ proc getAddrInfo*(address: string, port: Port, domain: Domain = AF_INET,
   let socketPort = if sockType == SOCK_RAW: "" else: $port
   var gaiResult = getaddrinfo(address, socketPort, addr(hints), result)
   if gaiResult != 0'i32:
-    when useWinVersion:
+    when useWinVersion or defined(freertos):
       raiseOSError(osLastError())
     else:
       raiseOSError(osLastError(), $gai_strerror(gaiResult))

lib/pure/selectors.nim

@@ -332,5 +332,7 @@ else:
     include ioselects/ioselectors_select # TODO: use the native VFS layer
   elif defined(nintendoswitch):
     include ioselects/ioselectors_select
+  elif defined(freertos) or defined(lwip):
+    include ioselects/ioselectors_select
   else:
     include ioselects/ioselectors_poll

lib/system/dyncalls.nim

@@ -179,7 +179,7 @@ elif defined(genode):
   proc nimGetProcAddr(lib: LibHandle, name: cstring): ProcAddr {.
     error: "nimGetProcAddr not implemented".}
 
-elif defined(nintendoswitch):
+elif defined(nintendoswitch) or defined(freertos):
   proc nimUnloadLibrary(lib: LibHandle) =
     cstderr.rawWrite("nimUnLoadLibrary not implemented")
     cstderr.rawWrite("\n")

lib/system/io.nim

@@ -269,7 +269,7 @@ when SupportIoctlInheritCtl:
 
   proc c_ioctl(fd: cint, request: cint): cint {.
     importc: "ioctl", header: "<sys/ioctl.h>", varargs.}
-elif defined(posix) and not defined(nimscript):
+elif defined(posix) and not defined(lwip) and not defined(nimscript):
   var
     F_GETFD {.importc, header: "<fcntl.h>".}: cint
     F_SETFD {.importc, header: "<fcntl.h>".}: cint
@@ -336,6 +336,8 @@ when defined(nimdoc) or (defined(posix) and not defined(nimscript)) or defined(w
     ## availability with `declared() <system.html#declared,untyped>`.
     when SupportIoctlInheritCtl:
       result = c_ioctl(f, if inheritable: FIONCLEX else: FIOCLEX) != -1
+    elif defined(freertos):
+      result = true
     elif defined(posix):
       var flags = c_fcntl(f, F_GETFD)
       if flags == -1:
@@ -767,6 +769,10 @@ when declared(stdout):
     var echoLock: SysLock
     initSysLock echoLock
 
+  const stdOutLock = not defined(windows) and not defined(android) and
+                     not defined(nintendoswitch) and not defined(freertos) and
+                     hostOS != "any"
+
   proc echoBinSafe(args: openArray[string]) {.compilerproc.} =
     when defined(androidNDK):
       var s = ""
@@ -775,7 +781,7 @@ when declared(stdout):
       android_log_print(ANDROID_LOG_VERBOSE, "nim", s)
     else:
       # flockfile deadlocks some versions of Android 5.x.x
-      when not defined(windows) and not defined(android) and not defined(nintendoswitch) and hostOS != "any":
+      when stdOutLock:
         proc flockfile(f: File) {.importc, nodecl.}
         proc funlockfile(f: File) {.importc, nodecl.}
         flockfile(stdout)
@@ -789,7 +795,7 @@ when declared(stdout):
       const linefeed = "\n"
       discard c_fwrite(linefeed.cstring, linefeed.len, 1, stdout)
       discard c_fflush(stdout)
-      when not defined(windows) and not defined(android) and not defined(nintendoswitch) and hostOS != "any":
+      when stdOutLock:
         funlockfile(stdout)
       when defined(windows) and compileOption("threads"):
         releaseSys echoLock

tools/kochdocs.nim

@@ -158,6 +158,7 @@ lib/posix/posix_nintendoswitch_consts.nim
 lib/posix/posix_linux_amd64.nim
 lib/posix/posix_linux_amd64_consts.nim
 lib/posix/posix_other_consts.nim
+lib/posix/posix_freertos_consts.nim
 lib/posix/posix_openbsd_amd64.nim
 lib/posix/posix_haiku.nim
 lib/js/jsre.nim