Add LWIP network for FreeRTOS system (#932)

* ft: Add LWIP network implementation for `system/freertos`

Author: joaomariolago

CMakeLists.txt

@@ -45,6 +45,7 @@ include(GNUInstallDirs)
 option(BUILD_SHARED_LIBS "Build shared libraries if ON, otherwise build static libraries" ON)
 option(WITH_ZEPHYR "Build for Zephyr RTOS" OFF)
 option(WITH_FREERTOS_PLUS_TCP "Build for FreeRTOS RTOS and FreeRTOS-Plus-TCP network stack" OFF)
+option(WITH_FREERTOS_LWIP "Build for FreeRTOS RTOS and LWIP (Lightweight IP) network stack" OFF)
 option(WITH_RPI_PICO "Build for Raspberry Pi Pico" OFF)
 set(ZENOH_DEBUG 0 CACHE STRING "Use this to set the ZENOH_DEBUG variable")
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE INTERNAL "")
@@ -184,6 +185,8 @@ elseif(CMAKE_SYSTEM_NAME MATCHES "Generic")
     pico_add_compile_definition(ZENOH_ZEPHYR)
   elseif(WITH_FREERTOS_PLUS_TCP)
     pico_add_compile_definition(ZENOH_FREERTOS_PLUS_TCP)
+  elseif(WITH_FREERTOS_LWIP)
+    pico_add_compile_definition(ZENOH_FREERTOS_LWIP)
   endif()
 elseif(CMAKE_SYSTEM_NAME MATCHES "PICO") # Raspberry Pi Pico Series
   pico_add_compile_definition(ZENOH_RPI_PICO)
@@ -303,6 +306,7 @@ message(STATUS "Unicast batch max size: ${BATCH_UNICAST_SIZE}")
 message(STATUS "Multicast batch max size: ${BATCH_MULTICAST_SIZE}")
 message(STATUS "Build for Zephyr RTOS: ${WITH_ZEPHYR}")
 message(STATUS "Build for FreeRTOS-Plus-TCP: ${WITH_FREERTOS_PLUS_TCP}")
+message(STATUS "Build for FreeRTOS + LWIP: ${WITH_FREERTOS_LWIP}")
 message(STATUS "Build for Raspberry Pi Pico: ${WITH_RPI_PICO}")
 message(STATUS "Configuring for ${CMAKE_SYSTEM_NAME}")
 
@@ -363,8 +367,13 @@ 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")
+  file (GLOB Sources_Freertos_Plus_TCP "src/system/freertos/freertos_plus_tcp/*.c")
+  list(APPEND Sources_Freertos_Plus_TCP "src/system/freertos/system.c")
   list(APPEND Sources ${Sources_Freertos_Plus_TCP})
+elseif(WITH_FREERTOS_LWIP)
+  file (GLOB Sources_Freertos_Plus_LWIP "src/system/freertos/lwip/*.c")
+  list(APPEND Sources_Freertos_Plus_LWIP "src/system/freertos/system.c")
+  list(APPEND Sources ${Sources_Freertos_Plus_LWIP})
 elseif(WITH_RPI_PICO)
   file (GLOB Sources_RPI_Pico "src/system/rpi_pico/*.c")
   list(APPEND Sources ${Sources_RPI_Pico})

extra_script.py

@@ -33,7 +33,7 @@
                   "-<system/arduino/>",
                   "-<system/emscripten/>",
                   "-<system/espidf/>",
-                  "-<system/freertos_plus_tcp/>",
+                  "-<system/freertos/>",
                   "-<system/rpi_pico/>",
                   "-<system/mbed/>",
                   "-<system/unix/>",
@@ -50,7 +50,7 @@
                       "-<system/arduino/opencr>",
                       "-<system/emscripten/>",
                       "-<system/espidf>",
-                      "-<system/freertos_plus_tcp/>",
+                      "-<system/freertos/>",
                       "-<system/rpi_pico/>",
                       "-<system/mbed/>",
                       "-<system/unix/>",
@@ -67,7 +67,7 @@
                           "-<system/arduino/esp32>",
                           "-<system/emscripten/>",
                           "-<system/espidf>",
-                          "-<system/freertos_plus_tcp/>",
+                          "-<system/freertos/>",
                           "-<system/rpi_pico/>",
                           "-<system/mbed/>",
                           "-<system/unix/>",
@@ -82,7 +82,7 @@
                   "-<example/>",
                   "-<system/arduino/>",
                   "-<system/emscripten/>",
-                  "-<system/freertos_plus_tcp/>",
+                  "-<system/freertos/>",
                   "-<system/rpi_pico/>",
                   "-<system/mbed/>",
                   "-<system/unix/>",
@@ -98,7 +98,7 @@
                   "-<system/arduino/>",
                   "-<system/emscripten/>",
                   "-<system/espidf/>",
-                  "-<system/freertos_plus_tcp/>",
+                  "-<system/freertos/>",
                   "-<system/rpi_pico/>",
                   "-<system/unix/>",
                   "-<system/flipper/>",

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

@@ -45,7 +45,9 @@
 #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"
+#include "zenoh-pico/system/platform/freertos/freertos_plus_tcp.h"
+#elif defined(ZENOH_FREERTOS_LWIP)
+#include "zenoh-pico/system/platform/freertos/lwip.h"
 #elif defined(ZENOH_RPI_PICO)
 #include "zenoh-pico/system/platform/rpi_pico.h"
 #elif defined(ZENOH_GENERIC)

include/zenoh-pico/system/platform/freertos_plus_tcp.h renamed to include/zenoh-pico/system/platform/freertos/freertos_plus_tcp.h

@@ -0,0 +1,90 @@
+//
+// 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:
+//   João Mário Lago, <joaolago@bluerobotics.com>
+//
+
+#ifndef ZENOH_PICO_SYSTEM_FREERTOS_PLUS_LWIP_TYPES_H
+#define ZENOH_PICO_SYSTEM_FREERTOS_PLUS_LWIP_TYPES_H
+
+#include <time.h>
+
+#include "FreeRTOS.h"
+#include "lwip/sockets.h"
+#include "semphr.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if Z_FEATURE_MULTI_THREAD == 1
+typedef struct {
+    const char *name;
+    UBaseType_t priority;
+    size_t stack_depth;
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+    bool static_allocation;
+    StackType_t *stack_buffer;
+    StaticTask_t *task_buffer;
+#endif /* SUPPORT_STATIC_ALLOCATION */
+} z_task_attr_t;
+
+typedef struct {
+    TaskHandle_t handle;
+    EventGroupHandle_t join_event;
+    void *(*fun)(void *);
+    void *arg;
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+    StaticEventGroup_t join_event_buffer;
+#endif /* SUPPORT_STATIC_ALLOCATION */
+} _z_task_t;
+
+typedef struct {
+    SemaphoreHandle_t handle;
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+    StaticSemaphore_t buffer;
+#endif /* SUPPORT_STATIC_ALLOCATION */
+} _z_mutex_t;
+typedef struct {
+    SemaphoreHandle_t mutex;
+    SemaphoreHandle_t sem;
+    int waiters;
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+    StaticSemaphore_t mutex_buffer;
+    StaticSemaphore_t sem_buffer;
+#endif /* SUPPORT_STATIC_ALLOCATION */
+} _z_condvar_t;
+#endif  // Z_MULTI_THREAD == 1
+
+typedef TickType_t z_clock_t;
+typedef struct timeval z_time_t;
+
+typedef struct {
+    union {
+#if Z_FEATURE_LINK_TCP == 1 || Z_FEATURE_LINK_UDP_MULTICAST == 1 || Z_FEATURE_LINK_UDP_UNICAST == 1
+        int _socket;
+#endif
+    };
+} _z_sys_net_socket_t;
+
+typedef struct {
+    union {
+#if Z_FEATURE_LINK_TCP == 1 || Z_FEATURE_LINK_UDP_MULTICAST == 1 || Z_FEATURE_LINK_UDP_UNICAST == 1
+        struct addrinfo *_iptcp;
+#endif
+    };
+} _z_sys_net_endpoint_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif