Introduce Pigweed Module

.github/workflows/twister.yaml

@@ -75,6 +75,7 @@ jobs:
           west config --global update.narrow true
           west update --path-cache /github/cache/zephyrproject 2>&1 1> west.update.log || west update --path-cache /github/cache/zephyrproject 2>&1 1> west.update.log || ( rm -rf ../modules ../bootloader ../tools && west update --path-cache /github/cache/zephyrproject)
           west forall -c 'git reset --hard HEAD'
+          pip3 install pigweed
 
       - name: Generate Test Plan with Twister
         if: github.event_name == 'pull_request_target'
@@ -166,7 +167,7 @@ jobs:
             git log  --pretty=oneline | head -n 10
           fi
           echo "$HOME/.local/bin" >> $GITHUB_PATH
-
+          pip3 install pigweed
           west init -l . || true
           west config --global update.narrow true
           west update --path-cache /github/cache/zephyrproject 2>&1 1> west.update.log || west update --path-cache /github/cache/zephyrproject 2>&1 1> west.update.log || ( rm -rf ../modules ../bootloader ../tools && west update --path-cache /github/cache/zephyrproject)

modules/Kconfig

@@ -95,6 +95,9 @@ comment "zcbor module not available."
 comment "CHRE module not available."
 	depends on !ZEPHYR_CHRE_MODULE
 
+comment "Pigweed module not available."
+	depends on !ZEPHYR_PIGWEED_MODULE
+
 # This ensures that symbols are available in Kconfig for dependency checking
 # and referencing, while keeping the settings themselves unavailable when the
 # modules are not present in the workspace

samples/modules/pigweed/README.rst

@@ -0,0 +1,32 @@
+Pigweed
+************
+
+Pigweed is a broad open source collection of embedded-targeted libraries.
+These libraries are called modules inside Pigweed. Pigweed is intergrated into Zephyr as a single Zephyr module.
+Individual Pigweed modules can be enabled with Kconfig flags (e.g. `CONFIG_PIGWEED_ASSERT`).
+Not every module can be expected to work with Zephyr out of the box.
+Only pigweed modules with Zephyr samples are expected to work reliably.
+
+For detailed documentation on individual Pigweed modules, refer to `Pigweed.dev <https://pigweed.dev/module_guides.html>`_.
+
+Requirements
+************
+
+* The pigweed python module (included in `requirements-extra.txt`)
+* The `pw_rpc` sample depends on the :ref:`nanopb<nanopb_sample>` module.
+
+Building
+************
+
+To build the samples use the following west command:
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/modules/pigweed/<pigweed_module_sample>
+   :board: native_posix
+   :goals: build
+
+Maintenance
+************
+
+Bug fixes and feature changes should be sent to the upstream `Pigweed repository <https://pigweed.googlesource.com/pigweed/pigweed/>`_.
+Pigweed APIs are subject to change, users should pin to specific revision in west.yml to ensure compatibility.

samples/modules/pigweed/pw_rpc/CMakeLists.txt

@@ -0,0 +1,36 @@
+# Copyright (c) 2023 Google LLC
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+
+project(rpc_demo)
+
+add_definitions(-DVERSION=5)
+add_definitions(-DCONFIG_RPC_BUFFER_SIZE=1024)
+add_definitions(-DPW_LOG_LEVEL=PW_LOG_LEVEL_INFO)
+add_definitions(-DPW_LOG_SHOW_MODULE=1)
+
+# Define the proto library
+include($ENV{PW_ROOT}/pw_protobuf_compiler/proto.cmake)
+pw_proto_library(
+    rpc_demo.protos
+    SOURCES proto/demo.proto
+)
+
+file(GLOB app_sources src/*.cpp)
+target_sources(app
+  PRIVATE
+    ${app_sources}
+)
+zephyr_include_directories(include)
+zephyr_link_libraries(
+    rpc_demo.protos.nanopb
+    rpc_demo.protos.nanopb_rpc
+)
+target_link_libraries(app
+  PRIVATE
+    rpc_demo.protos.nanopb
+    rpc_demo.protos.nanopb_rpc
+)

samples/modules/pigweed/pw_rpc/include/rpc_demo/client/client_reader.h

@@ -0,0 +1,31 @@
+/*
+ * Copyright (c) 2023 Google LLC
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <pw_hdlc/rpc_channel.h>
+#include <pw_hdlc/rpc_packets.h>
+#include <pw_rpc/client.h>
+#include <pw_stream/stream.h>
+
+#include <array>
+#include <atomic>
+
+namespace rpc_demo {
+
+class ClientReader {
+ public:
+  ClientReader(pw::stream::Reader& rx, pw::rpc::Client* rpc_client);
+  bool ParsePacket();
+
+ private:
+  pw::stream::Reader& rx_;
+  pw::rpc::Client* rpc_client_;
+  std::array<std::byte, CONFIG_RPC_BUFFER_SIZE> decode_buffer_;
+  pw::hdlc::Decoder decoder_;
+};
+
+}  // namespace rpc_demo

samples/modules/pigweed/pw_rpc/include/rpc_demo/deque_stream.h

@@ -0,0 +1,25 @@
+/*
+ * Copyright (c) 2023 Google LLC
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <pw_stream/stream.h>
+#include <pw_sync/mutex.h>
+
+#include <deque>
+
+class DequeReadWriter : public pw::stream::NonSeekableReaderWriter {
+ public:
+  DequeReadWriter() = default;
+
+ protected:
+  pw::StatusWithSize DoRead(pw::ByteSpan destination) override;
+  pw::Status DoWrite(pw::ConstByteSpan data) override;
+
+ private:
+  std::deque<std::byte> buff_;
+  pw::sync::Mutex mutex_;
+};

samples/modules/pigweed/pw_rpc/include/rpc_demo/rxtx.h

@@ -0,0 +1,19 @@
+/*
+ * Copyright (c) 2023 Google LLC
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <pw_stream/stream.h>
+
+/**
+ * @return The ReaderWriter stream used for client-to-service communication.
+ */
+pw::stream::ReaderWriter& ClientToServiceStream();
+
+/**
+ * @return The ReaderWriter stream used for service-to-client communication.
+ */
+pw::stream::ReaderWriter& ServiceToClientStream();

samples/modules/pigweed/pw_rpc/include/rpc_demo/service/demo_service.h

@@ -0,0 +1,30 @@
+/*
+ * Copyright (c) 2023 Google LLC
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include "proto/demo.rpc.pb.h"
+
+namespace rpc_demo {
+
+class DemoService : public pw_rpc::nanopb::DemoService::Service<DemoService> {
+ public:
+  ::pw::Status GetVersion(const ::rpc_demo_Empty& request,
+                          ::rpc_demo_GetVersionResponse& response);
+
+  ::pw::Status GetSensorList(const ::rpc_demo_Empty& request,
+                             ::rpc_demo_GetSensorListResponse& response);
+
+  ::pw::Status UpdateSensorFrequency(
+      const ::rpc_demo_UpdateSensorFrequencyRequest& request,
+      ::rpc_demo_UpdateSensorFrequencyResponse& response);
+
+  ::pw::Status GetSensorSamples(
+      const ::rpc_demo_GetSensorSamplesRequest& request,
+      ::rpc_demo_GetSensorSamplesResponse& response);
+};
+
+}  // namespace rpc_demo

samples/modules/pigweed/pw_rpc/include/rpc_demo/service/service_reader.h

@@ -0,0 +1,36 @@
+/*
+ * Copyright (c) 2023 Google LLC
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <pw_hdlc/rpc_channel.h>
+#include <pw_span/span.h>
+#include <pw_stream/stream.h>
+
+#include <atomic>
+#include <thread>
+
+#include "rpc_demo/service/demo_service.h"
+
+namespace rpc_demo {
+
+class ServiceReader {
+ public:
+  ServiceReader(pw::stream::Reader* reader,
+                pw::stream::Writer* writer,
+                pw::hdlc::RpcChannelOutput* output,
+                pw::span<pw::rpc::Channel> channels);
+
+  bool ParsePacket();
+
+ private:
+  pw::stream::Reader* reader_;
+  pw::stream::Writer* writer_;
+  pw::hdlc::RpcChannelOutput* output_;
+  pw::span<pw::rpc::Channel> channels_;
+};
+
+}  // namespace rpc_demo

samples/modules/pigweed/pw_rpc/prj.conf

@@ -0,0 +1,36 @@
+# Copyright (c) 2023 Google LLC
+# SPDX-License-Identifier: Apache-2.0
+
+CONFIG_ASSERT=y
+CONFIG_NANOPB=y
+CONFIG_BOARD_NATIVE_POSIX_64BIT=y
+CONFIG_LOG=y
+CONFIG_LOG_DEFAULT_LEVEL=4
+
+CONFIG_PIGWEED_ASSERT=y
+CONFIG_PIGWEED_BYTES=y
+CONFIG_PIGWEED_CHECKSUM=y
+CONFIG_PIGWEED_CHRONO_SYSTEM_CLOCK=y
+CONFIG_PIGWEED_CONTAINERS=y
+CONFIG_PIGWEED_FUNCTION=y
+CONFIG_PIGWEED_HDLC=y
+CONFIG_PIGWEED_INTERRUPT_CONTEXT=y
+CONFIG_PIGWEED_LOG=y
+CONFIG_PIGWEED_POLYFILL=y
+CONFIG_PIGWEED_POLYFILL_OVERRIDES=y
+CONFIG_PIGWEED_PREPROCESSOR=y
+CONFIG_PIGWEED_RESULT=y
+CONFIG_PIGWEED_ROUTER_PACKET_PARSER=y
+CONFIG_PIGWEED_RPC_COMMON=y
+CONFIG_PIGWEED_SPAN=y
+CONFIG_PIGWEED_STATUS=y
+CONFIG_PIGWEED_STREAM=y
+CONFIG_PIGWEED_STRING=y
+CONFIG_PIGWEED_SYNC_MUTEX=y
+CONFIG_PIGWEED_SYS_IO=y
+CONFIG_PIGWEED_VARINT=y
+
+CONFIG_CPLUSPLUS=y
+CONFIG_STD_CPP17=y
+CONFIG_LIB_CPLUSPLUS=y
+CONFIG_CPP_MAIN=y

samples/modules/pigweed/pw_rpc/proto/demo.proto

@@ -0,0 +1,67 @@
+/*
+ * Copyright (c) 2023 Google LLC
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+syntax = "proto3";
+
+package rpc_demo;
+
+message GetVersionResponse {
+  uint32 version_number = 1;
+}
+
+message ThreeAxisData {
+  float x = 1;
+  float y = 2;
+  float z = 3;
+}
+
+message SensorInfo {
+  string name = 1;
+  enum Type {
+    ACCEL = 0;
+    GYRO = 1;
+    MAG = 2;
+  }
+  Type type = 2;
+  uint32 sample_frequency_hz = 3;
+}
+
+message GetSensorListResponse {
+  repeated SensorInfo sensors = 1;
+}
+
+message UpdateSensorFrequencyRequest {
+  uint32 sensor_index = 1;
+  uint32 sample_frequency_hz = 2;
+}
+
+message UpdateSensorFrequencyResponse {
+  uint32 sample_frequency_hz = 1;
+}
+
+message GetSensorSamplesRequest {
+  uint32 sensor_index = 1;
+}
+
+message GetSensorSamplesResponse {
+  repeated ThreeAxisData data = 1;
+}
+
+message Empty {}
+
+enum RpcClientChannelId {
+  UNASSIGNED = 0;
+  DEFAULT = 1;
+}
+
+service DemoService {
+  rpc GetVersion(Empty) returns (GetVersionResponse) {}
+  rpc GetSensorList(Empty) returns (GetSensorListResponse) {}
+  rpc UpdateSensorFrequency(UpdateSensorFrequencyRequest)
+      returns (UpdateSensorFrequencyResponse) {}
+  rpc GetSensorSamples(GetSensorSamplesRequest)
+      returns (GetSensorSamplesResponse) {}
+}

samples/modules/pigweed/pw_rpc/sample.yaml

@@ -0,0 +1,23 @@
+sample:
+  description: A simple sample of the Pigweed pw_rpc sub module.
+  name: pw_rpc sample
+tests:
+  sample.modules.pw_rpc:
+    tags: pw_rpc
+    platform_allow: native_posix
+    timeout: 10
+    modules:
+      - pigweed
+    harness: console
+    harness_config:
+      type: multi_line
+      ordered: true
+      regex:
+        - "(.*)Starting RPC demo(.*)"
+        - "(.*)Service waiting for data(.*)"
+        - "(.*)Starting pw_rpc service(.*)"
+        - "(.*)Service got packet!(.*)"
+        - "(.*)Client waiting for response(.*)"
+        - "(.*)Reading bytes(.*)"
+        - "(.*)Client got packet!(.*)"
+        - "(.*)Received version #5(.*)"