Merge branch 'feature/cplusplus' into 'master'

C++ support

This change adds necessary support for compiling C++ programs:
- linking against libstdc++
- implementation of static initialization guards using FreeRTOS primitives: since we don't have condition variables at our disposal, and we don't want to allocate a synchronization primitive for every guard variable generated by the compiler, we imitate condition variables using a combination of a mutex, counting semaphore, and a counter (based on [Microsoft Research paper](https://www.microsoft.com/en-us/research/wp-content/uploads/2004/12/ImplementingCVs.pdf), albeit because we don't need *arbitrary* code to use these CVs, implementation gets simpler).

Note that libstdc++ also contains an implementation of `__cxa_guard_{acquire,release,abort}` functions. These implementations come from an `#ifndef GXX_THREADS` branch, i.e. are not aware of multthreading. There are three ways of replacing these libstdc++ functions with our implementation:

1. Move our code into gcc. Pros: cleanest solution. Cons: Such changes are unlikely to be merged by any upstream, so we end up maintaining our own forks of {gcc,crosstool-ng}.
2. Use library as it is built by crosstool, use `ar` to delete one object file (`guards.o`), add this library to ESP-IDF. Pros: easy to implement. Cons: libstdc++ is a 15MB binary 😯 
3. Keep using libstdc++ from crosstool, force our implementation to be linked using a `-u` linker flag. Pros: no impact on repo size, easy to implement. Cons: somewhat less clean than 1 (and about as hacky as 2).

For the reasons mentioned, option (3) looks like the best tradeoff.

Ref. TW6702

See merge request !364

components/cxx/component.mk

@@ -0,0 +1,3 @@
+# Mark __cxa_guard_dummy as undefined so that implementation of static guards 
+# is taken from cxx_guards.o instead of libstdc++.a
+COMPONENT_ADD_LDFLAGS := -l$(COMPONENT_NAME) -u __cxa_guard_dummy

components/cxx/cxx_guards.cpp

@@ -0,0 +1,216 @@
+// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <stdlib.h>
+#include <assert.h>
+#include <cxxabi.h>
+#include <stdint.h>
+#include <limits.h>
+#include <algorithm>
+#include <sys/lock.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/semphr.h"
+#include "freertos/task.h"
+
+using __cxxabiv1::__guard;
+
+static SemaphoreHandle_t s_static_init_mutex = NULL;        //!< lock used for the critical section
+static SemaphoreHandle_t s_static_init_wait_sem = NULL;     //!< counting semaphore used by the waiting tasks
+static portMUX_TYPE s_init_spinlock = portMUX_INITIALIZER_UNLOCKED;   //!< spinlock used to guard initialization of the above two primitives
+static size_t s_static_init_waiting_count = 0;              //!< number of tasks which are waiting for static init guards
+#ifndef _NDEBUG
+static size_t s_static_init_max_waiting_count = 0;          //!< maximum ever value of the above; can be inspected using GDB for debugging purposes
+#endif
+
+
+/**
+ * Layout of the guard object (defined by the ABI).
+ *
+ * Compiler will check lower byte before calling guard functions.
+ */
+typedef struct {
+    uint8_t ready;      //!< nonzero if initialization is done
+    uint8_t pending;    //!< nonzero if initialization is in progress
+} guard_t;
+
+static void static_init_prepare()
+{
+    portENTER_CRITICAL(&s_init_spinlock);
+    if (s_static_init_mutex == NULL) {
+        s_static_init_mutex = xSemaphoreCreateMutex();
+        s_static_init_wait_sem = xSemaphoreCreateCounting(INT_MAX, 0);
+        if (s_static_init_mutex == NULL || s_static_init_wait_sem == NULL) {
+            // no way to bail out of static initialization without these
+            abort();
+        }
+    }
+    portEXIT_CRITICAL(&s_init_spinlock);
+}
+
+/**
+ * Use s_static_init_wait_sem to wait until guard->pending == 0.
+ * Preconditions:
+ * - s_static_init_mutex taken
+ * - guard.pending == 1
+ * Postconditions:
+ * - s_static_init_mutex taken
+ * - guard.pending == 0
+ */
+static void wait_for_guard_obj(guard_t* g)
+{
+    s_static_init_waiting_count++;
+#ifndef _NDEBUG
+    s_static_init_max_waiting_count = std::max(s_static_init_waiting_count,
+            s_static_init_max_waiting_count);
+#endif
+
+    do {
+        auto result = xSemaphoreGive(s_static_init_mutex);
+        assert(result);
+        /* Task may be preempted here, but this isn't a problem,
+         * as the semaphore will be given exactly the s_static_init_waiting_count
+         * number of times; eventually the current task will execute next statement,
+         * which will immediately succeed.
+         */
+        result = xSemaphoreTake(s_static_init_wait_sem, portMAX_DELAY);
+        assert(result);
+        /* At this point the semaphore was given, so all waiting tasks have woken up.
+         * We take s_static_init_mutex before accessing the state of the guard
+         * object again.
+         */
+        result = xSemaphoreTake(s_static_init_mutex, portMAX_DELAY);
+        assert(result);
+        /* Semaphore may have been given because some other guard object became ready.
+         * Check the guard object we need and wait again if it is still pending.
+         */
+    } while(g->pending);
+    s_static_init_waiting_count--;
+}
+
+/**
+ * Unblock tasks waiting for static initialization to complete.
+ * Preconditions:
+ * - s_static_init_mutex taken
+ * Postconditions:
+ * - s_static_init_mutex taken
+ */
+static void signal_waiting_tasks()
+{
+    auto count = s_static_init_waiting_count;
+    while (count--) {
+        xSemaphoreGive(s_static_init_wait_sem);
+    }
+}
+
+extern "C" int __cxa_guard_acquire(__guard* pg)
+{
+    guard_t* g = reinterpret_cast<guard_t*>(pg);
+    const auto scheduler_started = xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED;
+    if (!scheduler_started) {
+        if (g->pending) {
+            /* Before the scheduler has started, there we don't support simultaneous
+             * static initialization. This may be implemented using a spinlock and a
+             * s32c1i instruction, though.
+             */
+            abort();
+        }
+    } else {
+        if (s_static_init_mutex == NULL) {
+            static_init_prepare();
+        }
+
+        /* We don't need to use double-checked locking pattern here, as the compiler
+         * must generate code to check if the first byte of *pg is non-zero, before
+         * calling __cxa_guard_acquire.
+         */
+        auto result = xSemaphoreTake(s_static_init_mutex, portMAX_DELAY);
+        assert(result);
+        if (g->pending) {
+            /* Another task is doing initialization at the moment; wait until it calls
+             * __cxa_guard_release or __cxa_guard_abort
+             */
+            wait_for_guard_obj(g);
+            /* At this point there are two scenarios:
+             * - the task which was doing static initialization has called __cxa_guard_release,
+             *   which means that g->ready is set. We need to return 0.
+             * - the task which was doing static initialization has called __cxa_guard_abort,
+             *   which means that g->ready is not set; we should acquire the guard and return 1,
+             *   same as for the case if we didn't have to wait.
+             * Note: actually the second scenario is unlikely to occur in the current
+             * configuration because exception support is disabled.
+             */
+        }
+    }
+    int ret;
+    if (g->ready) {
+        /* Static initialization has been done by another task; nothing to do here */
+        ret = 0;
+    } else {
+        /* Current task can start doing static initialization */
+        g->pending = 1;
+        ret = 1;
+    }
+    if (scheduler_started) {
+        auto result = xSemaphoreGive(s_static_init_mutex);
+        assert(result);
+    }
+    return ret;
+}
+
+extern "C" void __cxa_guard_release(__guard* pg)
+{
+    guard_t* g = reinterpret_cast<guard_t*>(pg);
+    const auto scheduler_started = xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED;
+    if (scheduler_started) {
+        auto result = xSemaphoreTake(s_static_init_mutex, portMAX_DELAY);
+        assert(result);
+    }
+    assert(g->pending && "tried to release a guard which wasn't acquired");
+    g->pending = 0;
+    /* Initialization was successful */
+    g->ready = 1;
+    if (scheduler_started) {
+        /* Unblock the tasks waiting for static initialization to complete */
+        signal_waiting_tasks();
+        auto result = xSemaphoreGive(s_static_init_mutex);
+        assert(result);
+    }
+}
+
+extern "C" void __cxa_guard_abort(__guard* pg)
+{
+    guard_t* g = reinterpret_cast<guard_t*>(pg);
+    const auto scheduler_started = xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED;
+    if (scheduler_started) {
+        auto result = xSemaphoreTake(s_static_init_mutex, portMAX_DELAY);
+        assert(result);
+    }
+    assert(!g->ready && "tried to abort a guard which is ready");
+    assert(g->pending && "tried to release a guard which is not acquired");
+    g->pending = 0;
+    if (scheduler_started) {
+        /* Unblock the tasks waiting for static initialization to complete */
+        signal_waiting_tasks();
+        auto result = xSemaphoreGive(s_static_init_mutex);
+        assert(result);
+    }
+}
+
+/**
+ * Dummy function used to force linking this file instead of the same one in libstdc++.
+ * This works via -u __cxa_guard_dummy flag in component.mk
+ */
+extern "C" void __cxa_guard_dummy()
+{
+}

components/cxx/test/component.mk

@@ -0,0 +1 @@
+COMPONENT_ADD_LDFLAGS = -Wl,--whole-archive -l$(COMPONENT_NAME) -Wl,--no-whole-archive

components/cxx/test/test_cxx.cpp

@@ -0,0 +1,203 @@
+#include <functional>
+#include <vector>
+#include <algorithm>
+#include "unity.h"
+#include "esp_log.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+
+static const char* TAG = "cxx";
+
+TEST_CASE("can use new and delete", "[cxx]")
+{
+    int* int_p = new int(10);
+    delete int_p;
+    int* int_array = new int[10];
+    delete[] int_array;
+}
+
+class Base
+{
+public:
+    virtual ~Base() {}
+    virtual void foo() = 0; 
+};
+
+class Derived : public Base
+{
+public:
+    virtual void foo() { }
+};
+
+TEST_CASE("can call virtual functions", "[cxx]")
+{
+    Derived d;
+    Base& b = static_cast<Base&>(d);
+    b.foo();
+}
+
+class NonPOD
+{
+public:
+    NonPOD(int a_) : a(a_) { }
+    int a;
+};
+
+static int non_pod_test_helper(int new_val)
+{
+    static NonPOD non_pod(42);
+    int ret = non_pod.a;
+    non_pod.a = new_val;
+    return ret;
+}
+
+TEST_CASE("can use static initializers for non-POD types", "[cxx]")
+{
+    TEST_ASSERT_EQUAL(42, non_pod_test_helper(1));
+    TEST_ASSERT_EQUAL(1, non_pod_test_helper(0));
+}
+
+TEST_CASE("can call std::function and bind", "[cxx]")
+{
+    int outer = 1;
+    std::function<int(int)> fn = [&outer](int x) -> int {
+        return x + outer;
+    };
+    outer = 5;
+    TEST_ASSERT_EQUAL(6, fn(1));
+    
+    auto bound = std::bind(fn, outer);
+    outer = 10;
+    TEST_ASSERT_EQUAL(15, bound());
+}
+
+TEST_CASE("can use std::vector", "[cxx]")
+{
+    std::vector<int> v(10, 1);
+    v[0] = 42;
+    TEST_ASSERT_EQUAL(51, std::accumulate(std::begin(v), std::end(v), 0));
+}
+
+/*
+ * This test exercises static initialization guards for two objects.
+ * For each object, 4 tasks are created which attempt to perform static initialization.
+ * We check that constructor runs only once for each object.
+ */
+
+static SemaphoreHandle_t s_slow_init_sem = NULL;
+
+template<int obj>
+class SlowInit
+{
+public:
+    SlowInit(int arg) {
+        ESP_LOGD(TAG, "init obj=%d start, arg=%d\n", obj, arg);
+        vTaskDelay(300/portTICK_PERIOD_MS);
+        TEST_ASSERT_EQUAL(-1, mInitBy);
+        TEST_ASSERT_EQUAL(0, mInitCount);
+        mInitBy = arg;
+        ++mInitCount;
+        ESP_LOGD(TAG, "init obj=%d done\n", obj);
+    }
+
+    static void task(void* arg) {
+        int taskId = reinterpret_cast<int>(arg);
+        ESP_LOGD(TAG, "obj=%d before static init, task=%d\n", obj, taskId);
+        static SlowInit slowinit(taskId);
+        ESP_LOGD(TAG, "obj=%d after static init, task=%d\n", obj, taskId);
+        xSemaphoreGive(s_slow_init_sem);
+        vTaskDelay(10);
+        vTaskDelete(NULL);
+    }
+private:
+    static int mInitBy;
+    static int mInitCount;
+};
+
+template<> int SlowInit<1>::mInitBy = -1;
+template<> int SlowInit<1>::mInitCount = 0;
+template<> int SlowInit<2>::mInitBy = -1;
+template<> int SlowInit<2>::mInitCount = 0;
+
+template<int obj>
+static void start_slow_init_task(int id, int affinity)
+{
+    xTaskCreatePinnedToCore(&SlowInit<obj>::task, "slow_init", 2048,
+            reinterpret_cast<void*>(id), 3, NULL, affinity);
+}
+
+TEST_CASE("static initialization guards work as expected", "[cxx]")
+{
+    s_slow_init_sem = xSemaphoreCreateCounting(10, 0);
+    TEST_ASSERT_NOT_NULL(s_slow_init_sem);
+    // four tasks competing for static initialization of one object
+    start_slow_init_task<1>(0, PRO_CPU_NUM);
+    start_slow_init_task<1>(1, APP_CPU_NUM);
+    start_slow_init_task<1>(2, PRO_CPU_NUM);
+    start_slow_init_task<1>(3, tskNO_AFFINITY);
+
+    // four tasks competing for static initialization of another object
+    start_slow_init_task<2>(0, PRO_CPU_NUM);
+    start_slow_init_task<2>(1, APP_CPU_NUM);
+    start_slow_init_task<2>(2, PRO_CPU_NUM);
+    start_slow_init_task<2>(3, tskNO_AFFINITY);
+
+    // All tasks should
+    for (int i = 0; i < 8; ++i) {
+        TEST_ASSERT_TRUE(xSemaphoreTake(s_slow_init_sem, 500/portTICK_PERIOD_MS));
+    }
+    vSemaphoreDelete(s_slow_init_sem);
+}
+
+struct GlobalInitTest
+{
+    GlobalInitTest() : index(order++) {
+    }
+    int index;
+    static int order;
+};
+
+int GlobalInitTest::order = 0;
+
+GlobalInitTest g_init_test1;
+GlobalInitTest g_init_test2;
+GlobalInitTest g_init_test3;
+
+TEST_CASE("global initializers run in the correct order", "[cxx]")
+{
+    TEST_ASSERT_EQUAL(0, g_init_test1.index);
+    TEST_ASSERT_EQUAL(1, g_init_test2.index);
+    TEST_ASSERT_EQUAL(2, g_init_test3.index);
+}
+
+struct StaticInitTestBeforeScheduler
+{
+    StaticInitTestBeforeScheduler()
+    {
+        static int first_init_order = getOrder();
+        index = first_init_order;
+    }
+
+    int getOrder()
+    {
+        return order++;
+    }
+
+    int index;
+    static int order;
+};
+
+int StaticInitTestBeforeScheduler::order = 1;
+
+StaticInitTestBeforeScheduler g_static_init_test1;
+StaticInitTestBeforeScheduler g_static_init_test2;
+StaticInitTestBeforeScheduler g_static_init_test3;
+
+TEST_CASE("before scheduler has started, static initializers work correctly", "[cxx]")
+{
+    TEST_ASSERT_EQUAL(1, g_static_init_test1.index);
+    TEST_ASSERT_EQUAL(1, g_static_init_test2.index);
+    TEST_ASSERT_EQUAL(1, g_static_init_test3.index);
+    TEST_ASSERT_EQUAL(2, StaticInitTestBeforeScheduler::order);
+}

components/esp32/abi.cpp

@@ -1,114 +0,0 @@
-// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-#include <stdlib.h>
-#include <assert.h>
-#include <cxxabi.h>
-#include <stdint.h>
-
-// using __cxxabiv1::__guard;
-
-void *operator new(size_t size)
-{
-    return malloc(size);
-}
-
-void *operator new[](size_t size)
-{
-    return malloc(size);
-}
-
-void operator delete(void * ptr)
-{
-    free(ptr);
-}
-
-void operator delete[](void * ptr)
-{
-    free(ptr);
-}
-
-extern "C" void __cxa_pure_virtual(void) __attribute__ ((__noreturn__));
-extern "C" void __cxa_deleted_virtual(void) __attribute__ ((__noreturn__));
-
-void __cxa_pure_virtual(void)
-{
-    abort();
-}
-
-void __cxa_deleted_virtual(void)
-{
-    abort();
-}
-
-#if 0
-typedef struct {
-    uint8_t guard;
-    uint8_t ps;
-} guard_t;
-
-extern "C" int __cxa_guard_acquire(__guard* pg)
-{
-    uint8_t ps = xt_rsil(15);
-    if (reinterpret_cast<guard_t*>(pg)->guard) {
-        xt_wsr_ps(ps);
-        return 0;
-    }
-    reinterpret_cast<guard_t*>(pg)->ps = ps;
-    return 1;
-}
-
-extern "C" void __cxa_guard_release(__guard* pg)
-{
-    reinterpret_cast<guard_t*>(pg)->guard = 1;
-    xt_wsr_ps(reinterpret_cast<guard_t*>(pg)->ps);
-}
-
-extern "C" void __cxa_guard_abort(__guard* pg)
-{
-    xt_wsr_ps(reinterpret_cast<guard_t*>(pg)->ps);
-}
-#endif
-
-extern "C" void __cxa_throw_bad_array_new_length()
-{
-    abort();
-}
-
-namespace std
-{
-void __throw_bad_function_call()
-{
-    abort();
-}
-
-void __throw_length_error(char const*)
-{
-    abort();
-}
-
-void __throw_bad_alloc()
-{
-    abort();
-}
-
-void __throw_logic_error(const char* str)
-{
-    abort();
-}
-
-void __throw_out_of_range(const char* str)
-{
-    abort();
-}
-}

make/project.mk

@@ -187,6 +187,7 @@ LDFLAGS ?= -nostdlib \
 	-Wl,--start-group	\
 	$(COMPONENT_LDFLAGS) \
 	-lgcc \
+	-lstdc++ \
 	-Wl,--end-group \
 	-Wl,-EL
 

tools/unit-test-app/components/unity/include/unity_config.h

@@ -61,11 +61,20 @@ void unity_run_all_tests();
 			.desc = desc_, \
 			.fn = &UNITY_TEST_UID(test_func_), \
 			.file = __FILE__, \
-			.line = __LINE__ \
+			.line = __LINE__, \
+			.next = NULL \
 		}; \
 		unity_testcase_register( & UNITY_TEST_UID(test_desc_) ); \
 	}\
 	static void UNITY_TEST_UID(test_func_) (void)
+/**
+ * Note: initialization of test_desc_t fields above has to be done exactly
+ * in the same order as the fields are declared in the structure.
+ * Otherwise the initializer will not be valid in C++ (which doesn't
+ * support designated initializers). G++ can parse the syntax, but
+ * field names are treated as annotations and don't affect initialization
+ * order. Also make sure all the fields are initialized.
+ */
 
 // shorthand to check esp_err_t return code
 #define TEST_ESP_OK(rc)	TEST_ASSERT_EQUAL_INT32(ESP_OK, rc)