Initial PR of OkApi port to PROS 4

.github/workflows/test.yml

@@ -15,6 +15,15 @@ jobs:
 
       - uses: actions/checkout@v1
 
+      - name: Install pip3
+        run: sudo apt-get update && sudo apt-get install -y python3-pip
+
+      - name: Install pros-cli
+        run: |
+          sudo apt-get install zlib1g-dev -y
+          pip3 install pyinstaller
+          pip3 install pros-cli
+
       - name: Update Submodules
         run: git submodule update --init --recursive
 

Makefile

@@ -22,7 +22,7 @@ USE_PACKAGE:=0
 # Set this to 1 to add additional rules to compile your project as a PROS library template
 IS_LIBRARY:=1
 LIBNAME:=okapilib
-VERSION:=4.8.0
+VERSION:=5.0.0
 EXCLUDE_SRC_FROM_LIB=$(call rwildcard,$(SRCDIR)/test,*.*)
 # this line excludes opcontrol.c and similar files
 EXCLUDE_SRC_FROM_LIB+= $(foreach file, $(SRCDIR)/opcontrol $(SRCDIR)/initialize $(SRCDIR)/autonomous $(SRCDIR)/main,$(foreach cext,$(CEXTS),$(file).$(cext)) $(foreach cxxext,$(CXXEXTS),$(file).$(cxxext)))

common.mk

@@ -2,14 +2,27 @@ ARCHTUPLE=arm-none-eabi-
 DEVICE=VEX EDR V5
 
 MFLAGS=-mcpu=cortex-a9 -mfpu=neon-fp16 -mfloat-abi=softfp -Os -g
-CPPFLAGS=-D_POSIX_THREADS -D_UNIX98_THREAD_MUTEX_ATTRIBUTES
+CPPFLAGS=-D_POSIX_THREADS -D_UNIX98_THREAD_MUTEX_ATTRIBUTES -D_POSIX_TIMERS -D_POSIX_MONOTONIC_CLOCK
 GCCFLAGS=-ffunction-sections -fdata-sections -fdiagnostics-color -funwind-tables
 
+# Check if the llemu files in libvgl exist. If they do, define macros that the
+# llemu headers in the kernel repo can use to conditionally include the libvgl
+# versions
+ifneq (,$(wildcard ./include/liblvgl/llemu.h))
+	CPPFLAGS += -D_PROS_INCLUDE_LIBLVGL_LLEMU_H
+endif
+ifneq (,$(wildcard ./include/liblvgl/llemu.hpp))
+	CPPFLAGS += -D_PROS_INCLUDE_LIBLVGL_LLEMU_HPP
+endif
+
 WARNFLAGS+=-Wno-psabi
 
 SPACE := $() $()
 COMMA := ,
 
+C_STANDARD?=gnu11
+CXX_STANDARD?=gnu++17
+
 DEPDIR := .d
 $(shell mkdir -p $(DEPDIR))
 DEPFLAGS = -MT $$@ -MMD -MP -MF $(DEPDIR)/$$*.Td
@@ -24,8 +37,8 @@ wlprefix=-Wl,$(subst $(SPACE),$(COMMA),$1)
 LNK_FLAGS=--gc-sections --start-group $(strip $(LIBRARIES)) -lgcc -lstdc++ --end-group -T$(FWDIR)/v5-common.ld
 
 ASMFLAGS=$(MFLAGS) $(WARNFLAGS)
-CFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=gnu11
-CXXFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=gnu++17
+CFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=$(C_STANDARD)
+CXXFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=$(CXX_STANDARD)
 LDFLAGS=$(MFLAGS) $(WARNFLAGS) -nostdlib $(GCCFLAGS)
 SIZEFLAGS=-d --common
 NUMFMTFLAGS=--to=iec --format %.2f --suffix=B
@@ -201,7 +214,7 @@ library: $(LIBAR)
 
 .PHONY: template
 template: clean-template $(LIBAR)
-	$Dprosv5 c create-template . $(LIBNAME) $(VERSION) $(foreach file,$(TEMPLATE_FILES) $(LIBAR),--system "$(file)") --target v5 $(CREATE_TEMPLATE_FLAGS)
+	$Dpros c create-template . $(LIBNAME) $(VERSION) $(foreach file,$(TEMPLATE_FILES) $(LIBAR),--system "$(file)") --target v5 $(CREATE_TEMPLATE_FLAGS)
 endif
 
 # if project is a library source, compile the archive and link output.elf against the archive rather than source objects
@@ -227,7 +240,7 @@ $(COLD_BIN): $(COLD_ELF)
 $(COLD_ELF): $(COLD_LIBRARIES)
 	$(VV)mkdir -p $(dir $@)
 	$(call test_output_2,Creating cold package with $(ARCHIVE_TEXT_LIST) ,$(LD) $(LDFLAGS) $(call wlprefix,--gc-keep-exported --whole-archive $^ -lstdc++ --no-whole-archive) $(call wlprefix,-T$(FWDIR)/v5.ld $(LNK_FLAGS) -o $@),$(OK_STRING))
-	$(call test_output_2,Stripping cold package ,$(OBJCOPY) --strip-symbol=install_hot_table --strip-symbol=__libc_init_array --strip-symbol=_PROS_COMPILE_DIRECTORY --strip-symbol=_PROS_COMPILE_TIMESTAMP $@ $@, $(DONE_STRING))
+	$(call test_output_2,Stripping cold package ,$(OBJCOPY) --strip-symbol=install_hot_table --strip-symbol=__libc_init_array --strip-symbol=_PROS_COMPILE_DIRECTORY --strip-symbol=_PROS_COMPILE_TIMESTAMP --strip-symbol=_PROS_COMPILE_TIMESTAMP_INT $@ $@, $(DONE_STRING))
 	@echo Section sizes:
 	-$(VV)$(SIZETOOL) $(SIZEFLAGS) $@ $(SIZES_SED) $(SIZES_NUMFMT)
 
@@ -236,7 +249,7 @@ $(HOT_BIN): $(HOT_ELF) $(COLD_BIN)
 
 $(HOT_ELF): $(COLD_ELF) $(ELF_DEPS)
 	$(call _pros_ld_timestamp)
-	$(call test_output_2,Linking hot project with $(COLD_ELF) and $(ARCHIVE_TEXT_LIST) ,$(LD) $(LDFLAGS) $(call wlprefix,-nostartfiles -R $<) $(filter-out $<,$^) $(LDTIMEOBJ) $(LIBRARIES) $(call wlprefix,-T$(FWDIR)/v5-hot.ld $(LNK_FLAGS) -o $@),$(OK_STRING))
+	$(call test_output_2,Linking hot project with $(COLD_ELF) and $(ARCHIVE_TEXT_LIST) ,$(LD) -nostartfiles $(LDFLAGS) $(call wlprefix,-R $<) $(filter-out $<,$^) $(LDTIMEOBJ) $(LIBRARIES) $(call wlprefix,-T$(FWDIR)/v5-hot.ld $(LNK_FLAGS) -o $@),$(OK_STRING))
 	@printf "%s\n" "Section sizes:"
 	-$(VV)$(SIZETOOL) $(SIZEFLAGS) $@ $(SIZES_SED) $(SIZES_NUMFMT)
 
@@ -272,7 +285,15 @@ $(VV)mkdir -p $(dir $(LDTIMEOBJ))
 @# Pipe a line of code defining _PROS_COMPILE_TOOLSTAMP and _PROS_COMPILE_DIRECTORY into GCC,
 @# which allows compilation from stdin. We define _PROS_COMPILE_DIRECTORY using a command line-defined macro
 @# which is the pwd | tail bit, which will truncate the path to the last 23 characters
-$(call test_output_2,Adding timestamp ,echo 'char const * const _PROS_COMPILE_TIMESTAMP = __DATE__ " " __TIME__; char const * const _PROS_COMPILE_DIRECTORY = "$(shell pwd | tail -c 23)";' | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) -o $(LDTIMEOBJ) -,$(OK_STRING))
+@# 
+@# const int _PROS_COMPILE_TIMESTAMP_INT = $(( $(date +%s) - $(date +%z) * 3600 ))
+@# char const * const _PROS_COMPILE_TIEMSTAMP = __DATE__ " " __TIME__
+@# char const * const _PROS_COMPILE_DIRECTORY = "$(shell pwd | tail -c 23)";
+@#
+@# The shell command $$(($$(date +%s)+($$(date +%-z)/100*3600))) fetches the current
+@# unix timestamp, and then adds the UTC timezone offset to account for time zones.
+
+$(call test_output_2,Adding timestamp ,echo 'const int _PROS_COMPILE_TIMESTAMP_INT = $(shell echo $$(($$(date +%s)+($$(date +%-z)/100*3600)))); char const * const _PROS_COMPILE_TIMESTAMP = __DATE__ " " __TIME__; char const * const _PROS_COMPILE_DIRECTORY = "$(wildcard $(shell pwd | tail -c 23))";' | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) -o $(LDTIMEOBJ) -,$(OK_STRING))
 endef
 
 # these rules are for build-compile-commands, which just print out sysroot information

firmware/v5-common.ld

@@ -21,52 +21,52 @@ SECTIONS
    *(.gnu.linkonce.t.*)
    *(.plt)
    *(.gnu_warning)
-   *(.gcc_execpt_table)
+   *(.gcc_except_table)
    *(.glue_7)
    *(.glue_7t)
    *(.vfp11_veneer)
    *(.ARM.extab)
    *(.gnu.linkonce.armextab.*)
-} > MEMORY
+} > RAM
 
 .init : {
    KEEP (*(.init))
-} > MEMORY
+} > RAM
 
 .fini : {
    KEEP (*(.fini))
-} > MEMORY
+} > RAM
 
 .rodata : {
    __rodata_start = .;
    *(.rodata)
    *(.rodata.*)
    *(.gnu.linkonce.r.*)
    __rodata_end = .;
-} > MEMORY
+} > RAM
 
 .rodata1 : {
    __rodata1_start = .;
    *(.rodata1)
    *(.rodata1.*)
    __rodata1_end = .;
-} > MEMORY
+} > RAM
 
 .sdata2 : {
    __sdata2_start = .;
    *(.sdata2)
    *(.sdata2.*)
    *(.gnu.linkonce.s2.*)
    __sdata2_end = .;
-} > MEMORY
+} > RAM
 
 .sbss2 : {
    __sbss2_start = .;
    *(.sbss2)
    *(.sbss2.*)
    *(.gnu.linkonce.sb2.*)
    __sbss2_end = .;
-} > MEMORY
+} > RAM
 
 .data : {
    __data_start = .;
@@ -77,18 +77,18 @@ SECTIONS
    *(.got)
    *(.got.plt)
    __data_end = .;
-} > MEMORY
+} > RAM
 
 .data1 : {
    __data1_start = .;
    *(.data1)
    *(.data1.*)
    __data1_end = .;
-} > MEMORY
+} > RAM
 
 .got : {
    *(.got)
-} > MEMORY
+} > RAM
 
 .ctors : {
    __CTOR_LIST__ = .;
@@ -99,7 +99,7 @@ SECTIONS
    KEEP (*(.ctors))
    __CTOR_END__ = .;
    ___CTORS_END___ = .;
-} > MEMORY
+} > RAM
 
 .dtors : {
    __DTOR_LIST__ = .;
@@ -110,99 +110,99 @@ SECTIONS
    KEEP (*(.dtors))
    __DTOR_END__ = .;
    ___DTORS_END___ = .;
-} > MEMORY
+} > RAM
 
 .fixup : {
    __fixup_start = .;
    *(.fixup)
    __fixup_end = .;
-} > MEMORY
+} > RAM
 
 .eh_frame : {
    *(.eh_frame)
-} > MEMORY
+} > RAM
 
 .eh_framehdr : {
    __eh_framehdr_start = .;
    *(.eh_framehdr)
    __eh_framehdr_end = .;
-} > MEMORY
+} > RAM
 
 .gcc_except_table : {
    *(.gcc_except_table)
-} > MEMORY
+} > RAM
 
 .mmu_tbl (ALIGN(16384)) : {
    __mmu_tbl_start = .;
    *(.mmu_tbl)
    __mmu_tbl_end = .;
-} > MEMORY
+} > RAM
 
 .ARM.exidx : {
    __exidx_start = .;
    *(.ARM.exidx*)
    *(.gnu.linkonce.armexidix.*.*)
    __exidx_end = .;
-} > MEMORY
+} > RAM
 
 .preinit_array : {
    __preinit_array_start = .;
    KEEP (*(SORT(.preinit_array.*)))
    KEEP (*(.preinit_array))
    __preinit_array_end = .;
-} > MEMORY
+} > RAM
 
 .init_array : {
    __init_array_start = .;
    KEEP (*(SORT(.init_array.*)))
    KEEP (*(.init_array))
    __init_array_end = .;
-} > MEMORY
+} > RAM
 
 .fini_array : {
    __fini_array_start = .;
    KEEP (*(SORT(.fini_array.*)))
    KEEP (*(.fini_array))
    __fini_array_end = .;
-} > MEMORY
+} > RAM
 
 .ARM.attributes : {
    __ARM.attributes_start = .;
    *(.ARM.attributes)
    __ARM.attributes_end = .;
-} > MEMORY
+} > RAM
 
 .sdata : {
    __sdata_start = .;
    *(.sdata)
    *(.sdata.*)
    *(.gnu.linkonce.s.*)
    __sdata_end = .;
-} > MEMORY
+} > RAM
 
 .sbss (NOLOAD) : {
    __sbss_start = .;
    *(.sbss)
    *(.sbss.*)
    *(.gnu.linkonce.sb.*)
    __sbss_end = .;
-} > MEMORY
+} > RAM
 
 .tdata : {
    __tdata_start = .;
    *(.tdata)
    *(.tdata.*)
    *(.gnu.linkonce.td.*)
    __tdata_end = .;
-} > MEMORY
+} > RAM
 
 .tbss : {
    __tbss_start = .;
    *(.tbss)
    *(.tbss.*)
    *(.gnu.linkonce.tb.*)
    __tbss_end = .;
-} > MEMORY
+} > RAM
 
 .bss (NOLOAD) : {
    __bss_start = .;
@@ -211,7 +211,7 @@ SECTIONS
    *(.gnu.linkonce.b.*)
    *(COMMON)
    __bss_end = .;
-} > MEMORY
+} > RAM
 
 _SDA_BASE_ = __sdata_start + ((__sbss_end - __sdata_start) / 2 );
 

firmware/v5-hot.ld

@@ -28,6 +28,6 @@ MEMORY
    HOT_MEMORY : ORIGIN = start_of_hot_mem, LENGTH = _HOT_MEM_SIZE  /* Just over 8 MB */
 }
 
-REGION_ALIAS("MEMORY", HOT_MEMORY);
+REGION_ALIAS("RAM", HOT_MEMORY);
 
 ENTRY(install_hot_table)

firmware/v5.ld

@@ -28,6 +28,6 @@ MEMORY
    HOT_MEMORY : ORIGIN = start_of_hot_mem, LENGTH = _HOT_MEM_SIZE  /* Just over 8 MB */
 }
 
-REGION_ALIAS("MEMORY", COLD_MEMORY);
+REGION_ALIAS("RAM", COLD_MEMORY);
 
 ENTRY(vexStartup)