Implement posix app loading (#643)
- Added POSIX desktop support for SDK builds, application packaging, and integration testing. - Added POSIX filesystem partitions and improved application path handling. - Added simulator support for loading and running applications dynamically. - Improved simulator task stack handling and display startup reliability. - Improved simulator display scaling, resizing, high-DPI support, and pointer accuracy. - Fixed LVGL timers and input polling on POSIX. (fixes simulator with Linux on some Intel graphics platforms) - Standardized data paths across platforms. - Logging now works via separate task: this allows apps to write to log without it affecting their stdout (for apps that output text as relevant date for other apps, like the File Selection app) - Fixes for app stdio
This commit is contained in:
Ken Van Hoeylandt
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d3656bcd3d
commit
643cbc3806
@@ -0,0 +1,17 @@
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cmake_minimum_required(VERSION 3.20)
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include("${CMAKE_CURRENT_LIST_DIR}/../../Buildscripts/module.cmake")
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file(GLOB_RECURSE SOURCE_FILES "source/*.c*")
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tactility_add_module(app-posix-module
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SRCS ${SOURCE_FILES}
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INCLUDE_DIRS include/
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REQUIRES TactilityKernel app-module service-module
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PRIV_REQUIRES ${CMAKE_DL_LIBS}
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)
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# Baked in at compile time, mirroring ESP32's CONFIG_IDF_TARGET - names the installed-app binary
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# (e.g. "elf/posix-x86_64.so") this Tactility process's own architecture can dlopen(), letting one
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# .app package bundle a variant per posix architecture, same as one .app bundles a .elf per chip.
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target_compile_definitions(app-posix-module PRIVATE "TACTILITY_POSIX_ARCH=\"${CMAKE_SYSTEM_PROCESSOR}\"")
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@@ -0,0 +1,195 @@
|
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Apache License
|
||||
==============
|
||||
|
||||
_Version 2.0, January 2004_
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_<<http://www.apache.org/licenses/>>_
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### Terms and Conditions for use, reproduction, and distribution
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@@ -0,0 +1,12 @@
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// SPDX-License-Identifier: Apache-2.0
|
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#pragma once
|
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|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
extern struct Module app_posix_module;
|
||||
|
||||
#ifdef __cplusplus
|
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}
|
||||
#endif
|
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@@ -0,0 +1,124 @@
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
#include <app/loader.h>
|
||||
#include <app/location.h>
|
||||
|
||||
#include <tactility/error.h>
|
||||
#include <tactility/log.h>
|
||||
|
||||
#include <service/manager.h>
|
||||
|
||||
#include <dlfcn.h>
|
||||
#include <sys/stat.h>
|
||||
|
||||
#include <new>
|
||||
#include <string>
|
||||
|
||||
constexpr auto* TAG = "app_posix_loader";
|
||||
|
||||
namespace {
|
||||
|
||||
/** load()-allocated state, passed back through run()/unload(). */
|
||||
struct PosixAppRuntime {
|
||||
void* handle = nullptr;
|
||||
};
|
||||
|
||||
bool is_regular_file(const std::string& path) {
|
||||
struct stat path_stat {};
|
||||
return ::stat(path.c_str(), &path_stat) == 0 && S_ISREG(path_stat.st_mode);
|
||||
}
|
||||
|
||||
// location.location can be either an app's install directory or the .so file directly; the
|
||||
// former resolves to the per-architecture binary at {dir}/elf/posix-{TACTILITY_POSIX_ARCH}.so,
|
||||
// mirroring app_esp32_loader_service.cpp's resolve_elf_path().
|
||||
error_t resolve_app_path(const std::string& path, std::string& resolvedPath) {
|
||||
if (path.ends_with(".so")) {
|
||||
resolvedPath = path;
|
||||
return ERROR_NONE;
|
||||
}
|
||||
std::string shared_object_path = path + "/elf/posix-" TACTILITY_POSIX_ARCH ".so";
|
||||
if (!is_regular_file(shared_object_path)) {
|
||||
return ERROR_NOT_FOUND;
|
||||
}
|
||||
resolvedPath = shared_object_path;
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
error_t api_load(AppLocation location, AppRuntime* out_runtime) {
|
||||
if (location.type != APP_LOCATION_PATH) {
|
||||
LOG_E(TAG, "Unsupported location type");
|
||||
return ERROR_NOT_SUPPORTED;
|
||||
}
|
||||
|
||||
std::string app_path;
|
||||
auto error = resolve_app_path(static_cast<const char*>(location.location), app_path);
|
||||
if (error != ERROR_NONE) {
|
||||
LOG_E(TAG, "Failed to resolve app path: %s", location.location);
|
||||
return error;
|
||||
}
|
||||
|
||||
LOG_I(TAG, "Loading %s", app_path.c_str());
|
||||
|
||||
// RTLD_NOW: a missing symbol fails here, not mid-run(). RTLD_LOCAL: this app's own exported
|
||||
// symbols (if any beyond its entry point) don't leak into the process's global scope and
|
||||
// clash with a different app's.
|
||||
void* handle = dlopen(app_path.c_str(), RTLD_NOW | RTLD_LOCAL);
|
||||
if (handle == nullptr) {
|
||||
LOG_E(TAG, "dlopen(%s) failed: %s", app_path.c_str(), dlerror());
|
||||
return ERROR_NOT_FOUND;
|
||||
}
|
||||
|
||||
auto* runtime = new (std::nothrow) PosixAppRuntime { .handle = handle };
|
||||
if (runtime == nullptr) {
|
||||
LOG_E(TAG, "Out of memory");
|
||||
dlclose(handle);
|
||||
return ERROR_OUT_OF_MEMORY;
|
||||
}
|
||||
|
||||
*out_runtime = runtime;
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
int32_t api_run(AppRuntime runtime_ptr, uint32_t /*app_instance_id*/, int argc, char* argv[]) {
|
||||
auto* runtime = static_cast<PosixAppRuntime*>(runtime_ptr);
|
||||
|
||||
dlerror(); // clear any pending error, per dlsym(3)'s own recommended idiom for telling a NULL
|
||||
// symbol address apart from a real lookup failure
|
||||
void* symbol = dlsym(runtime->handle, "main");
|
||||
const char* lookup_error = dlerror();
|
||||
if (symbol == nullptr || lookup_error != nullptr) {
|
||||
LOG_E(TAG, "dlsym(\"main\") failed: %s", lookup_error != nullptr ? lookup_error : "not found");
|
||||
return -1;
|
||||
}
|
||||
|
||||
auto* main_fn = reinterpret_cast<AppMainFn>(symbol);
|
||||
return main_fn(argc, argv);
|
||||
}
|
||||
|
||||
void api_unload(AppRuntime runtime_ptr) {
|
||||
auto* runtime = static_cast<PosixAppRuntime*>(runtime_ptr);
|
||||
dlclose(runtime->handle);
|
||||
delete runtime;
|
||||
}
|
||||
|
||||
AppLoaderApi loader_api = {
|
||||
.load = api_load,
|
||||
.run = api_run,
|
||||
.unload = api_unload,
|
||||
};
|
||||
|
||||
void* create_service(const ServiceManifest*) {
|
||||
return &loader_api;
|
||||
}
|
||||
|
||||
void destroy_service(const ServiceManifest*, void*) {
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
ServiceManifest loader_service_manifest = {
|
||||
.id = APP_LOADER_PATH_SERVICE_ID,
|
||||
.create_service = create_service,
|
||||
.destroy_service = destroy_service,
|
||||
.on_start = nullptr,
|
||||
.on_stop = nullptr,
|
||||
};
|
||||
@@ -0,0 +1,30 @@
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
#include <app_posix/module.h>
|
||||
|
||||
#include <service/manager.h>
|
||||
|
||||
#include <tactility/error.h>
|
||||
#include <tactility/module.h>
|
||||
|
||||
extern "C" {
|
||||
|
||||
extern ServiceManifest loader_service_manifest;
|
||||
|
||||
static error_t start() {
|
||||
return service_manager_add(&loader_service_manifest, /*auto_start=*/true);
|
||||
}
|
||||
|
||||
static error_t stop() {
|
||||
return service_manager_remove(loader_service_manifest.id);
|
||||
}
|
||||
|
||||
Module app_posix_module = {
|
||||
.name = "app-posix",
|
||||
.start = start,
|
||||
.stop = stop,
|
||||
.drivers = nullptr,
|
||||
.symbols = nullptr,
|
||||
.internal = nullptr,
|
||||
};
|
||||
|
||||
}
|
||||
@@ -0,0 +1,37 @@
|
||||
project(AppPosixModuleTests)
|
||||
|
||||
enable_language(C CXX ASM)
|
||||
|
||||
# Fixture: a tiny shared object with a main() the test dlopen()s through app-posix-module's real
|
||||
# loader service. Deliberately not linked against app-module, so its call into
|
||||
# app_scheduler_current_app_id() stays undefined until dlopen() resolves it against
|
||||
# AppPosixModuleTests's own copy, exactly like a real Tactility-embedded app would resolve
|
||||
# against the running Tactility binary.
|
||||
add_library(app_posix_module_test_fixture SHARED EXCLUDE_FROM_ALL ${CMAKE_CURRENT_LIST_DIR}/fixtures/fixture_app.cpp)
|
||||
target_include_directories(app_posix_module_test_fixture PRIVATE ${CMAKE_SOURCE_DIR}/Modules/app-module/include)
|
||||
set_target_properties(app_posix_module_test_fixture PROPERTIES POSITION_INDEPENDENT_CODE ON)
|
||||
|
||||
file(GLOB_RECURSE TEST_SOURCES CONFIGURE_DEPENDS ${PROJECT_SOURCE_DIR}/source/*.cpp)
|
||||
add_executable(AppPosixModuleTests EXCLUDE_FROM_ALL ${TEST_SOURCES})
|
||||
add_dependencies(AppPosixModuleTests app_posix_module_test_fixture)
|
||||
|
||||
target_include_directories(AppPosixModuleTests PRIVATE ${DOCTESTINC})
|
||||
target_compile_definitions(AppPosixModuleTests PRIVATE
|
||||
FIXTURE_APP_PATH="$<TARGET_FILE:app_posix_module_test_fixture>"
|
||||
)
|
||||
|
||||
add_test(NAME AppPosixModuleTests COMMAND AppPosixModuleTests)
|
||||
|
||||
target_link_libraries(AppPosixModuleTests PUBLIC
|
||||
TactilityKernel
|
||||
app-module
|
||||
app-posix-module
|
||||
service-module
|
||||
platform-posix
|
||||
freertos_kernel
|
||||
${CMAKE_DL_LIBS}
|
||||
)
|
||||
# So the fixture's undefined app_scheduler_current_app_id() reference can resolve against this
|
||||
# test binary's own copy at dlopen() time. See app-posix-module's own ENABLE_EXPORTS comment on
|
||||
# the real Tactility executable for why this is needed.
|
||||
set_target_properties(AppPosixModuleTests PROPERTIES ENABLE_EXPORTS ON)
|
||||
@@ -0,0 +1,12 @@
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
#include <app/scheduler.h>
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
// Deliberately not linked against app-module: app_scheduler_current_app_id() stays an undefined
|
||||
// symbol in this .so, resolved at dlopen() time against the loading process's own copy. Proves
|
||||
// app-posix-module's loader lets a loaded app call straight back into Tactility without linking
|
||||
// its own copy of it.
|
||||
extern "C" int32_t main(int, char*[]) {
|
||||
return static_cast<int32_t>(app_scheduler_current_app_id());
|
||||
}
|
||||
@@ -0,0 +1,113 @@
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
#include "doctest.h"
|
||||
|
||||
#include <app/event.h>
|
||||
#include <app/loader.h>
|
||||
#include <app/manager.h>
|
||||
#include <app/scheduler.h>
|
||||
|
||||
#include <service/manager.h>
|
||||
|
||||
#include <tactility/delay.h>
|
||||
|
||||
#include <atomic>
|
||||
|
||||
extern ServiceManifest loader_service_manifest; // app-posix-module's own
|
||||
extern ServiceManifest app_internal_loader_service_manifest; // app-module's real memory loader
|
||||
|
||||
namespace {
|
||||
|
||||
void ensure_path_loader_registered() {
|
||||
if (service_manager_find_instance(APP_LOADER_PATH_SERVICE_ID) == nullptr) {
|
||||
service_manager_add(&loader_service_manifest, /*auto_start=*/true);
|
||||
}
|
||||
}
|
||||
|
||||
void ensure_memory_loader_registered() {
|
||||
if (service_manager_find_instance(APP_LOADER_MEMORY_SERVICE_ID) == nullptr) {
|
||||
service_manager_add(&app_internal_loader_service_manifest, /*auto_start=*/true);
|
||||
}
|
||||
}
|
||||
|
||||
bool wait_for_state(AppInstanceId id, AppInstanceState target, uint32_t timeout_ms) {
|
||||
uint32_t waited = 0;
|
||||
while (waited < timeout_ms) {
|
||||
if (app_manager_get_state(id) == target) {
|
||||
return true;
|
||||
}
|
||||
delay_millis(10);
|
||||
waited += 10;
|
||||
}
|
||||
return app_manager_get_state(id) == target;
|
||||
}
|
||||
|
||||
std::atomic<int32_t> g_fixture_result { -1 };
|
||||
std::atomic<bool> g_fixture_result_received { false };
|
||||
|
||||
// Starts the dlopen()ed fixture as its own modal child and stashes its returned result, so the
|
||||
// test can inspect that result from the (in-process, directly readable) parent's own task.
|
||||
int32_t parent_app_main(int, char*[]) {
|
||||
TaskEventGroup event_group {};
|
||||
task_event_group_construct(&event_group);
|
||||
|
||||
AppEventSubscription sub {};
|
||||
app_event_subscribe(&sub, &event_group);
|
||||
|
||||
AppInstanceId self_id = app_scheduler_current_app_id();
|
||||
|
||||
AppManifest fixture_manifest {
|
||||
"test.posix.fixture", "Fixture", APP_CATEGORY_USER,
|
||||
{ APP_LOCATION_PATH, const_cast<char*>(FIXTURE_APP_PATH) }
|
||||
};
|
||||
app_manager_add(&fixture_manifest);
|
||||
|
||||
AppInstanceId fixture_id = 0;
|
||||
app_manager_start_for_result("test.posix.fixture", self_id, 0, nullptr, &fixture_id);
|
||||
|
||||
while (true) {
|
||||
if (task_event_group_wait_any(&event_group, nullptr, pdMS_TO_TICKS(5000)) != ERROR_NONE) {
|
||||
break; // safety net so a bug here can't hang the test suite
|
||||
}
|
||||
AppEvent event {};
|
||||
bool got_result = false;
|
||||
while (app_event_poll(&sub, &event) == ERROR_NONE) {
|
||||
if (event.type == APP_EVENT_RESULT && event.result.launch_id == fixture_id) {
|
||||
g_fixture_result.store(event.result.result, std::memory_order_release);
|
||||
got_result = true;
|
||||
}
|
||||
}
|
||||
if (got_result) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
g_fixture_result_received.store(true, std::memory_order_release);
|
||||
|
||||
app_manager_remove("test.posix.fixture");
|
||||
app_event_unsubscribe(&sub);
|
||||
task_event_group_destruct(&event_group);
|
||||
return 0;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
TEST_CASE("app-posix-module's loader-path service dlopen()s a .so and calls its main(), which resolves a real Tactility symbol against the host") {
|
||||
ensure_path_loader_registered();
|
||||
ensure_memory_loader_registered();
|
||||
g_fixture_result.store(-1, std::memory_order_relaxed);
|
||||
g_fixture_result_received.store(false, std::memory_order_relaxed);
|
||||
|
||||
AppManifest parent_manifest { "test.posix.parent", "Parent", APP_CATEGORY_USER, { APP_LOCATION_MEMORY, reinterpret_cast<void*>(parent_app_main) } };
|
||||
REQUIRE_EQ(app_manager_add(&parent_manifest), ERROR_NONE);
|
||||
|
||||
AppInstanceId parent_id = 0;
|
||||
REQUIRE_EQ(app_manager_start("test.posix.parent", &parent_id), ERROR_NONE);
|
||||
REQUIRE(wait_for_state(parent_id, APP_INSTANCE_STATE_STOPPED, 3000));
|
||||
|
||||
CHECK(g_fixture_result_received.load(std::memory_order_acquire));
|
||||
// A positive AppInstanceId proves the fixture's dlopen()ed main() actually resolved and
|
||||
// called app_scheduler_current_app_id() against the host process, not just "ran and returned
|
||||
// a hardcoded value" - 0 would mean it thought it wasn't running as an app instance at all.
|
||||
CHECK_GT(g_fixture_result.load(std::memory_order_acquire), 0);
|
||||
|
||||
app_manager_remove("test.posix.parent");
|
||||
}
|
||||
@@ -0,0 +1,54 @@
|
||||
#define DOCTEST_CONFIG_IMPLEMENT
|
||||
#include "doctest.h"
|
||||
#include <cassert>
|
||||
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
typedef struct {
|
||||
int argc;
|
||||
char** argv;
|
||||
int result;
|
||||
} TestTaskData;
|
||||
|
||||
void test_task(void* parameter) {
|
||||
auto* data = (TestTaskData*)parameter;
|
||||
|
||||
doctest::Context context;
|
||||
|
||||
context.applyCommandLine(data->argc, data->argv);
|
||||
|
||||
// overrides
|
||||
context.setOption("no-breaks", true); // don't break in the debugger when assertions fail
|
||||
|
||||
data->result = context.run();
|
||||
|
||||
vTaskEndScheduler();
|
||||
|
||||
vTaskDelete(nullptr);
|
||||
}
|
||||
|
||||
int main(int argc, char** argv) {
|
||||
TestTaskData data = {
|
||||
.argc = argc,
|
||||
.argv = argv,
|
||||
.result = 0
|
||||
};
|
||||
|
||||
BaseType_t task_result = xTaskCreate(
|
||||
test_task,
|
||||
"test_task",
|
||||
8192,
|
||||
&data,
|
||||
1,
|
||||
nullptr
|
||||
);
|
||||
|
||||
if (task_result != pdPASS) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
vTaskStartScheduler();
|
||||
|
||||
return data.result;
|
||||
}
|
||||
Reference in New Issue
Block a user