External messaging.

CMakeLists.txt

@@ -99,6 +99,7 @@ endif()
 set(TOIT_GENERIC_FLAGS "${TOIT_GENERIC_FLAGS} -Wall -ffunction-sections -fdata-sections")
 
 include_directories(
+  "${TOIT_SDK_SOURCE_DIR}/include"
   "${IDF_PATH}/components/mbedtls/mbedtls/include"
   )
 

include/toit/cmessaging.h

@@ -0,0 +1,44 @@
+// Copyright (C) 2023 Toitware ApS.
+//
+// This library is free software; you can redistribute it and/or
+// modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation; version
+// 2.1 only.
+//
+// This library is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// Lesser General Public License for more details.
+//
+// The license can be found in the file `LICENSE` in the top level
+// directory of this repository.
+
+/*
+ * C interface for Toit's messaging API.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct HandlerContext;
+typedef struct HandlerContext HandlerContext;
+
+void toit_register_external_message_handler(void* user_context,
+                                            int requested_pid,
+                                            void (*create_handler)(void* user_context, HandlerContext* handler_context));
+void toit_set_callbacks(HandlerContext* handler_context,
+                        void (*callback)(void* user_context, int sender, int type, void* data, int length),
+                        void (*release)(void* user_context));
+
+bool toit_send_message(HandlerContext* handler_context, int target_pid, int type, void* data, int length, bool free_on_failure);
+void toit_release_handler(HandlerContext* handler_context);
+
+#ifdef __cplusplus
+}
+#endif

src/messaging.cc

@@ -14,6 +14,7 @@
 // directory of this repository.
 
 #include "messaging.h"
+#include <toit/cmessaging.h>
 
 #include "objects.h"
 #include "process.h"
@@ -834,4 +835,104 @@ void ExternalSystemMessageHandler::collect_garbage(bool try_hard) {
   }
 }
 
+namespace {
+
+struct RegisteredHandler {
+  int requested_pid;
+  void* user_context;
+  void (*create_handler)(void* user_context, HandlerContext* handler_context);
+};
+
+struct RegisteredHandlerList {
+  RegisteredHandlerList* next;
+  RegisteredHandler handler;
+};
+
+RegisteredHandlerList* registered_handlers = null;
+
+typedef void (*ReceiverCallback)(void* user_context, int sender, int type, void* data, int length);
+typedef void (*ReleaseCallback)(void* user_context);
+
+class ExternalMessageHandler : public ExternalSystemMessageHandler {
+ public:
+  ExternalMessageHandler(VM* vm,
+                         void* user_context)
+      : ExternalSystemMessageHandler(vm)
+      , user_context_(user_context) {}
+  virtual ~ExternalMessageHandler() {
+    if (release_ != null) release_(user_context_);
+  }
+
+  void on_message(int pid, int type, void* data, int length) override {
+    if (on_message_ == null) return;
+    printf("Calling on-message %p\n", user_context_);
+    on_message_(user_context_, pid, type, data, length);
+  }
+
+  void set_on_message(ReceiverCallback on_message) {
+    on_message_ = on_message;
+  }
+
+  void set_release(ReleaseCallback release) {
+    release_ = release;
+  }
+
+ private:
+  void* user_context_;
+  ReceiverCallback on_message_ = null;
+  ReleaseCallback release_ = null;
+};
+
+}  // anonymous namespace.
+
+void create_and_start_external_message_handlers(VM* vm) {
+  for (RegisteredHandlerList* list = registered_handlers; list != null; list = list->next) {
+    // TODO(florian): use requested pid.
+    ExternalMessageHandler* handler = _new ExternalMessageHandler(vm, list->handler.user_context);
+    if (!handler->start()) {
+      FATAL("[failed to start external message handler]");
+    }
+    list->handler.create_handler(list->handler.user_context, reinterpret_cast<HandlerContext*>(handler));
+  }
+  // Free the list.
+  while (registered_handlers != null) {
+    RegisteredHandlerList* next = registered_handlers->next;
+    free(registered_handlers);
+    registered_handlers = next;
+  }
+}
+
 }  // namespace toit
+
+extern "C" {
+
+void toit_register_external_message_handler(void* user_context,
+                                            int requested_pid,
+                                            void (*create_handler)(void* user_context, HandlerContext* handler_context)) {
+  auto old = toit::registered_handlers;
+  auto list = reinterpret_cast<toit::RegisteredHandlerList*>(malloc(sizeof(toit::RegisteredHandlerList)));
+  if (list == null) return;
+  list->next = old;
+  list->handler.requested_pid = requested_pid;
+  list->handler.user_context = user_context;
+  list->handler.create_handler = create_handler;
+  toit::registered_handlers = list;
+}
+
+void toit_set_callbacks(HandlerContext* handler_context, toit::ReceiverCallback on_message, toit::ReleaseCallback release) {
+  auto handler = reinterpret_cast<toit::ExternalMessageHandler*>(handler_context);
+  handler->set_on_message(on_message);
+  handler->set_release(release);
+}
+
+bool toit_send_message(HandlerContext* handler_context, int target_pid, int type, void* data, int length, bool free_on_failure) {
+  auto handler = reinterpret_cast<toit::ExternalMessageHandler*>(handler_context);
+  return handler->send(target_pid, type, data, length, free_on_failure);
+}
+
+void toit_release_handler(HandlerContext* handler_context) {
+  auto handler = reinterpret_cast<toit::ExternalMessageHandler*>(handler_context);
+  delete handler;
+}
+
+} // Extern C.

src/messaging.h

@@ -393,4 +393,6 @@ class ExternalSystemMessageHandler : private ProcessRunner {
   virtual void set_process(Process* process) override;
 };
 
+void create_and_start_external_message_handlers(VM* vm);
+
 }  // namespace toit

src/run.cc

@@ -19,6 +19,7 @@
 #include "top.h"
 #include "run.h"
 #include "interpreter.h"
+#include "messaging.h"
 #include "scheduler.h"
 #include "vm.h"
 #include "os.h"
@@ -65,6 +66,7 @@ int run_program(SnapshotBundle boot_bundle, SnapshotBundle application_bundle, c
       vm.load_platform_event_sources();
       ProgramImage boot_image = read_image_from_bundle(boot_bundle);
       int group_id = vm.scheduler()->next_group_id();
+      create_and_start_external_message_handlers(&vm);
       if (boot_image.is_valid()) {
         exit = vm.scheduler()->run_boot_program(
             boot_image.program(), boot_bundle, application_bundle, argv, group_id);
@@ -98,4 +100,3 @@ int run_program(SnapshotBundle boot_bundle, SnapshotBundle application_bundle, c
 }
 
 } // namespace toit
-

src/toit_esp32.cc

@@ -45,6 +45,7 @@
 #include "heap.h"
 #include "process.h"
 #include "memory.h"
+#include "messaging.h"
 #include "embedded_data.h"
 #include "os.h"
 #include "program.h"
@@ -113,6 +114,7 @@ static void start() {
   { VM vm;
     vm.load_platform_event_sources();
     int group_id = vm.scheduler()->next_group_id();
+    create_and_start_external_message_handlers(&vm);
     exit_state = vm.scheduler()->run_boot_program(const_cast<Program*>(program), group_id);
   }
 

src/toit_run_image.cc

@@ -21,6 +21,7 @@
 #include "process.h"
 #include "flash_registry.h"
 #include "interpreter.h"
+#include "messaging.h"
 #include "scheduler.h"
 #include "vm.h"
 #include "os.h"
@@ -48,6 +49,7 @@ static int run_program(Program* program) {
       VM vm;
       vm.load_platform_event_sources();
       int group_id = vm.scheduler()->next_group_id();
+      create_and_start_external_message_handlers(&vm);
       exit = vm.scheduler()->run_boot_program(program, null, group_id);
     }
     switch (exit.reason) {

toolchains/idf/components/toit/CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.11)
 set(TOIT_BASE_DIR ${COMPONENT_PATH}/../../../..)
 
 # Register without sources, this will create an INTERFACE lib and we can then specify link options later
-idf_component_register(INCLUDE_DIRS "${TOIT_BASE_DIR}/src"
+idf_component_register(INCLUDE_DIRS "${TOIT_BASE_DIR}/src" "${TOIT_BASE_DIR}/include"
         REQUIRES "efuse" "esp_adc" "esp_eth" "esp_hw_support" "esp_netif" "esp_rom" "nvs_flash" "spi_flash" "mbedtls" "bt" "app_update" "ulp" "fatfs")
 
 cmake_policy(SET CMP0079 NEW)