add RIOT-OS support to WAMR (#425)

* add RIOT platform

see riot-os.org

* add simple RIOT example

core/shared/platform/riot/platform_internal.h

@@ -0,0 +1,75 @@
+/*
+ * Copyright (C) 2019 Intel Corporation.  All rights reserved.
+ * Copyright (C) 2020 TU Bergakademie Freiberg Karl Fessel
+ * SPDX-License-Identifier: Apache-2.0 WITH LLVM-exception
+ */
+
+#ifndef _PLATFORM_INTERNAL_H
+#define _PLATFORM_INTERNAL_H
+
+//Riot includes core
+#include <kernel_types.h>
+#include <thread.h>
+#include <mutex.h>
+
+//Riot includes sys
+#include <sema.h>
+
+#include <inttypes.h>
+#include <stdbool.h>
+#include <stdarg.h>
+#include <ctype.h>
+#include <limits.h>
+#include <errno.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#ifndef BH_PLATFORM_RIOT
+#define BH_PLATFORM_RIOT
+#endif
+
+#define BH_APPLET_PRESERVED_STACK_SIZE (2 * BH_KB)
+
+/* Default thread priority */
+#define BH_THREAD_DEFAULT_PRIORITY 7
+
+typedef thread_t korp_thread;
+typedef kernel_pid_t korp_tid;
+typedef mutex_t korp_mutex;
+
+// typedef sema_t korp_sem;
+
+struct os_thread_wait_node;
+typedef struct os_thread_wait_node *os_thread_wait_list;
+typedef struct korp_cond {
+     mutex_t wait_list_lock;
+     os_thread_wait_list thread_wait_list;
+} korp_cond;
+
+#define os_printf  printf
+#define os_vprintf vprintf
+
+#if WA_MATH
+/* math functions which are not provided by os*/
+double sqrt(double x);
+double floor(double x);
+double ceil(double x);
+double fmin(double x, double y);
+double fmax(double x, double y);
+double rint(double x);
+double fabs(double x);
+double trunc(double x);
+float floorf(float x);
+float ceilf(float x);
+float fminf(float x, float y);
+float fmaxf(float x, float y);
+float rintf(float x);
+float truncf(float x);
+int signbit(double x);
+int isnan(double x);
+#endif
+
+#endif /* end of _BH_PLATFORM_H */
+

core/shared/platform/riot/riot_platform.c

@@ -0,0 +1,73 @@
+/*
+ * Copyright (C) 2019 Intel Corporation.  All rights reserved.
+ * Copyright (C) 2020 TU Bergakademie Freiberg Karl Fessel
+ * SPDX-License-Identifier: Apache-2.0 WITH LLVM-exception
+ */
+
+#include "platform_api_vmcore.h"
+#include "platform_api_extension.h"
+
+int
+os_thread_sys_init(void);
+
+void
+os_thread_sys_destroy(void);
+
+int
+bh_platform_init(void)
+{
+    return os_thread_sys_init();
+}
+
+void
+bh_platform_destroy(void)
+{
+    os_thread_sys_destroy();
+}
+
+void *
+os_malloc(unsigned size)
+{
+    return malloc(size);
+}
+
+void *
+os_realloc(void *ptr, unsigned size)
+{
+    return realloc(ptr, size);
+}
+
+void
+os_free(void *ptr)
+{
+    free(ptr);
+}
+
+void *
+os_mmap(void *hint, unsigned int size, int prot, int flags)
+{
+    return BH_MALLOC(size);
+}
+
+void
+os_munmap(void *addr, size_t size)
+{
+    return BH_FREE(addr);
+}
+
+int
+os_mprotect(void *addr, size_t size, int prot)
+{
+    return 0;
+}
+
+void
+os_dcache_flush(void)
+{
+#if defined(CONFIG_CPU_CORTEX_M7) && defined(CONFIG_ARM_MPU)
+    uint32 key;
+    key = irq_lock();
+    SCB_CleanDCache();
+    irq_unlock(key);
+#endif
+}

core/shared/platform/riot/riot_thread.c

@@ -0,0 +1,429 @@
+/*
+ * Copyright (C) 2019 Intel Corporation.  All rights reserved.
+ * Copyright (C) 2020 TU Bergakademie Freiberg Karl Fessel
+ * SPDX-License-Identifier: Apache-2.0 WITH LLVM-exception
+ */
+
+#include "platform_api_vmcore.h"
+#include "platform_api_extension.h"
+
+#include <panic.h>
+
+#define bh_assert(v) do {                                   \
+     if (!(v)) {                                            \
+       printf("\nASSERTION FAILED: %s, at %s, line %d\n",   \
+              #v, __FILE__, __LINE__);                      \
+       core_panic(0,0/*expr_string*/);                           \
+       while (1);                                           \
+     }                                                      \
+  } while (0)
+
+struct os_thread_data;
+typedef struct os_thread_wait_node {
+    sema_t sem;
+    void * ret;
+    os_thread_wait_list next;
+} os_thread_wait_node;
+
+// all information for thread to cleanup it self
+typedef struct os_thread_data {
+    /* Next thread data */
+    struct os_thread_data *next;
+    /* thread handle */
+    kernel_pid_t tid;
+    /* Thread start routine */
+    thread_start_routine_t start_routine;
+    /* Thread start routine argument */
+    void *arg;
+    /* thread local root */
+    void *tlr;
+    /* Lock for waiting list */
+    mutex_t wait_list_lock;
+    /* Waiting list of other threads who are joining this thread */
+    os_thread_wait_list thread_wait_list;
+    /* Thread stack size */
+    unsigned stack_size;
+    /* Thread stack */
+    char stack[1];
+} os_thread_data;
+
+typedef struct os_thread_obj {
+    korp_tid thread;
+    /* Whether the thread is terminated and this thread object is to
+     be freed in the future. */
+    bool to_be_freed;
+    struct os_thread_obj *next;
+} os_thread_obj;
+
+static bool is_thread_sys_inited = false;
+
+/* Lock for thread data list */
+static mutex_t thread_data_lock;
+
+/* Thread data list */
+static os_thread_data *thread_data_list = NULL;
+
+static void thread_data_list_add(os_thread_data *thread_data)
+{
+    mutex_lock(&thread_data_lock);
+    if (!thread_data_list)
+        thread_data_list = thread_data;
+    else {
+        /* If already in list, just return */
+        os_thread_data *p = thread_data_list;
+        while (p) {
+            if (p == thread_data) {
+                mutex_unlock(&thread_data_lock);
+                return;
+            }
+            p = p->next;
+        }
+
+        /* Set as head of list */
+        thread_data->next = thread_data_list;
+        thread_data_list = thread_data;
+    }
+    mutex_unlock(&thread_data_lock);
+}
+
+static void thread_data_list_remove(os_thread_data *thread_data)
+{
+    mutex_lock(&thread_data_lock);
+    if (thread_data_list) {
+        if (thread_data_list == thread_data)
+            thread_data_list = thread_data_list->next;
+        else {
+            /* Search and remove it from list */
+            os_thread_data *p = thread_data_list;
+            while (p && p->next != thread_data)
+                p = p->next;
+            if (p && p->next == thread_data)
+                p->next = p->next->next;
+        }
+    }
+    mutex_unlock(&thread_data_lock);
+}
+
+static os_thread_data *
+thread_data_list_lookup(korp_tid tid)
+{
+    mutex_lock(&thread_data_lock);
+    if (thread_data_list) {
+        os_thread_data *p = thread_data_list;
+        while (p) {
+            if (p->tid == tid) {
+                /* Found */
+                mutex_unlock(&thread_data_lock);
+                return p;
+            }
+            p = p->next;
+        }
+    }
+    mutex_unlock(&thread_data_lock);
+    return NULL;
+}
+
+int
+os_thread_sys_init()
+{
+    if (is_thread_sys_inited)
+        return BHT_OK;
+
+    mutex_init(&thread_data_lock);
+
+    is_thread_sys_inited = true;
+    return BHT_OK;
+}
+
+void
+os_thread_sys_destroy()
+{
+    if (is_thread_sys_inited) {
+        is_thread_sys_inited = false;
+    }
+}
+
+static os_thread_data *
+thread_data_current()
+{
+    kernel_pid_t tid = thread_getpid();
+    return thread_data_list_lookup(tid);
+}
+
+static void
+os_thread_cleanup(void)
+{
+    //TODO Check this (Join sema trigger, cleanup of thread_data)
+    os_thread_data *thread_data = thread_data_current();
+    bh_assert(thread_data != NULL);
+    mutex_lock(&thread_data->wait_list_lock);
+    if (thread_data->thread_wait_list) {
+        /* Signal each joining thread */
+        os_thread_wait_list head = thread_data->thread_wait_list;
+        while (head) {
+            os_thread_wait_list next = head->next;
+            head->ret = thread_data->arg;
+            sema_post(&head->sem);
+            head = next;
+        }
+        thread_data->thread_wait_list = NULL;
+    }
+    mutex_unlock(&thread_data->wait_list_lock);
+
+    thread_data_list_remove(thread_data);
+}
+
+static void *
+os_thread_wrapper(void *thread_data)
+{
+    /* Set thread custom data */
+    os_thread_data * t = (os_thread_data*) thread_data;
+    t->tid = thread_getpid();
+    thread_data_list_add(t);
+
+    // save the return value to arg since it is not need after the call
+    t->arg = (t->start_routine)(t->arg);
+
+    os_thread_cleanup(); // internal structures and joiners
+
+    BH_FREE(thread_data);
+    sched_task_exit();// stop thread //clean
+    return NULL; //never reached
+}
+
+int
+os_thread_create(korp_tid *p_tid, thread_start_routine_t start,
+                 void *arg, unsigned int stack_size)
+{
+    return os_thread_create_with_prio(p_tid, start, arg, stack_size,
+                                      BH_THREAD_DEFAULT_PRIORITY);
+}
+
+int
+os_thread_create_with_prio(korp_tid *p_tid, thread_start_routine_t start,
+                           void *arg, unsigned int stack_size, int prio)
+{
+    kernel_pid_t tid;
+    os_thread_data *thread_data;
+    unsigned thread_data_size;
+
+    if (!p_tid || !stack_size)
+        return BHT_ERROR;
+
+    /* Create and initialize thread data */
+    thread_data_size = offsetof(os_thread_data, stack) + stack_size;
+    if (!(thread_data = BH_MALLOC(thread_data_size))) {
+        return BHT_ERROR;
+    }
+
+    memset(thread_data, 0, thread_data_size);
+    mutex_init(&thread_data->wait_list_lock);
+    thread_data->stack_size = stack_size;
+    thread_data->start_routine = start;
+    thread_data->arg = arg;
+
+    /* Create the thread &*/
+    if (!((tid = thread_create( thread_data->stack,
+            stack_size,prio,0, os_thread_wrapper, thread_data,"WASM")))) {
+        BH_FREE(thread_data);
+        return BHT_ERROR;
+    }
+
+    thread_data->tid = tid;
+
+    /* Set thread custom data */
+    thread_data_list_add(thread_data);
+    *p_tid = tid;
+    return BHT_OK;
+}
+
+korp_tid
+os_self_thread()
+{
+    return (korp_tid) thread_getpid();
+}
+
+int
+os_thread_join (korp_tid thread, void **value_ptr)
+{
+    // will test if thread is still working,
+    // wait if it is
+//     (void) value_ptr;
+    os_thread_data *thread_data;
+    os_thread_wait_node node;
+
+    sema_create(&node.sem, 0);
+    node.next = NULL;
+
+    /* Get thread data */
+    thread_data = thread_data_list_lookup(thread);
+    if(thread_data == NULL){
+        //thread not found
+        sema_destroy(&node.sem);
+        return BHT_ERROR;
+    }
+    bh_assert(thread_data != NULL);
+
+    mutex_lock(&thread_data->wait_list_lock);
+    if (!thread_data->thread_wait_list)
+        thread_data->thread_wait_list = &node;
+    else {
+        /* Add to end of waiting list */
+        os_thread_wait_node *p = thread_data->thread_wait_list;
+        while (p->next)
+            p = p->next;
+        p->next = &node;
+    }
+    mutex_unlock(&thread_data->wait_list_lock);
+
+    sema_wait(&node.sem);
+    //get the return value pointer conted may not be availible after return
+    if(value_ptr) (* value_ptr) = node.ret;
+    /* Wait some time for the thread to be actually terminated */
+//  TODO:   k_sleep(100);
+
+    //TODO: bump target prio to make it finish and free its resources
+    thread_yield();
+
+    //node has done its job
+    sema_destroy(&node.sem);
+
+    return BHT_OK;
+}
+
+
+
+// int vm_mutex_trylock(korp_mutex *mutex)
+// {
+//     return mutex_trylock(mutex);
+// }
+
+int
+os_mutex_init(korp_mutex *mutex)
+{
+    mutex_init(mutex);
+    return BHT_OK;
+}
+
+int
+os_mutex_destroy(korp_mutex *mutex)
+{
+    (void) mutex;
+    return BHT_OK;
+}
+
+int
+os_mutex_lock(korp_mutex *mutex)
+{
+    mutex_lock(mutex);
+    return 0; //Riot mutexes do not return until success
+}
+
+int
+os_mutex_unlock(korp_mutex *mutex)
+{
+    mutex_unlock(mutex);
+    return 0; //Riot mutexes do not return until success
+
+}
+
+int
+os_cond_init(korp_cond *cond)
+{
+    mutex_init(&cond->wait_list_lock);
+    cond->thread_wait_list = NULL;
+    return BHT_OK;
+}
+
+int
+os_cond_destroy(korp_cond *cond)
+{
+    (void) cond;
+    return BHT_OK;
+}
+
+static int
+os_cond_wait_internal(korp_cond *cond, korp_mutex *mutex,
+                      bool timed, uint64 useconds)
+{
+    os_thread_wait_node *node;
+
+    /* Create wait node and append it to wait list */
+    if (!(node = BH_MALLOC(sizeof(os_thread_wait_node))))
+        return BHT_ERROR;
+
+    sema_create(&node->sem, 0);
+    node->next = NULL;
+
+    mutex_lock(&cond->wait_list_lock);
+    if (!cond->thread_wait_list)
+        cond->thread_wait_list = node;
+    else {
+        /* Add to end of wait list */
+        os_thread_wait_node *p = cond->thread_wait_list;
+        while (p->next)
+            p = p->next;
+        p->next = node;
+    }
+    mutex_unlock(&cond->wait_list_lock);
+
+    /* Unlock mutex, wait sem and lock mutex again */
+    mutex_unlock(mutex);
+    if(timed)
+        sema_wait(&node->sem);
+    else
+        sema_wait_timed(&node->sem,useconds);
+    mutex_lock(mutex);
+
+    /* Remove wait node from wait list */
+    mutex_lock(&cond->wait_list_lock);
+    if (cond->thread_wait_list == node)
+        cond->thread_wait_list = node->next;
+    else {
+        /* Remove from the wait list */
+        os_thread_wait_node *p = cond->thread_wait_list;
+        while (p->next != node)
+            p = p->next;
+        p->next = node->next;
+    }
+    BH_FREE(node);
+    mutex_unlock(&cond->wait_list_lock);
+
+    return BHT_OK;
+}
+
+int
+os_cond_wait(korp_cond *cond, korp_mutex *mutex)
+{
+    return os_cond_wait_internal(cond, mutex, false, 0);
+}
+
+int
+os_cond_reltimedwait(korp_cond *cond, korp_mutex *mutex, int useconds)
+{
+    uint64 useconds64 = (uint64) useconds;
+    return os_cond_wait_internal(cond, mutex,
+                                 (useconds64 != BHT_WAIT_FOREVER), useconds64);
+}
+
+int
+os_cond_signal(korp_cond *cond)
+{
+    /* Signal the head wait node of wait list */
+    mutex_lock(&cond->wait_list_lock);
+    if (cond->thread_wait_list)
+        sema_post(&cond->thread_wait_list->sem);
+    mutex_unlock(&cond->wait_list_lock);
+
+    return BHT_OK;
+}
+
+uint8 *os_thread_get_stack_boundary()
+{
+#if defined(DEVELHELP) || defined(SCHED_TEST_STACK) \
+    || defined(MODULE_MPU_STACK_GUARD)
+    return (uint8*)thread_get_active()->stack_start;
+#else
+    return NULL;
+#endif
+}

core/shared/platform/riot/riot_time.c

@@ -0,0 +1,15 @@
+/*
+ * Copyright (C) 2019 Intel Corporation.  All rights reserved.
+ * Copyright (C) 2020 TU Bergakademie Freiberg Karl Fessel
+ * SPDX-License-Identifier: Apache-2.0 WITH LLVM-exception
+ */
+
+#include "platform_api_vmcore.h"
+#include <xtimer.h>
+
+uint64
+os_time_get_boot_microsecond()
+{
+    return xtimer_now_usec64();
+}
+

core/shared/platform/riot/shared_platform.cmake

@@ -0,0 +1,17 @@
+# Copyright (C) 2019 Intel Corporation.  All rights reserved.
+# Copyright (C) 2020 TU Bergakademie Freiberg Karl Fessel
+# SPDX-License-Identifier: Apache-2.0 WITH LLVM-exception
+
+set (PLATFORM_SHARED_DIR ${CMAKE_CURRENT_LIST_DIR})
+
+add_definitions(-DBH_PLATFORM_RIOT)
+
+include_directories(${PLATFORM_SHARED_DIR})
+include_directories(${PLATFORM_SHARED_DIR}/../include)
+
+# include (${CMAKE_CURRENT_LIST_DIR}/../common/math/platform_api_math.cmake)
+
+file (GLOB_RECURSE source_all ${PLATFORM_SHARED_DIR}/*.c)
+
+set (PLATFORM_SHARED_SOURCE ${source_all} ${PLATFORM_COMMON_MATH_SOURCE})
+