micropython: update to v1.19.1

- rebase upstream patches
- update pybricksdev package for mpy-cross ABI v6 compatibility
- change from using PYBRICKS_PORT_BUILTIN_MODULES to
- make use of new MICROPY_BANNER_NAME_AND_VERSION option
  MP_REGISTER_MODULE()
- fix other compile errors due to upstream changes
- automatic code formatting changes
- change javascript package to @pybricks/mpy-cross-v6

Author: dlech

.github/workflows/npm-mpy-cross.yml

@@ -3,25 +3,23 @@ name: Publish mpy-cross web assembly package
 on:
   push:
     tags:
-    - '@pybricks/mpy-cross-**'
+    - '@pybricks/mpy-cross-v6/*'
 
 jobs:
   npm_mpy_cross:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     defaults:
       run:
         working-directory: npm/mpy-cross
     steps:
-    - uses: mymindstorm/setup-emsdk@v7
-      with:
-        version: 1.39.12
     - uses: actions/checkout@v2
       with:
         submodules: true
-    - uses: actions/setup-node@v1
+    - uses: actions/setup-node@v3
       with:
-        node-version: '10.x'
+        node-version: '16.x'
         registry-url: 'https://registry.npmjs.org'
+    - run: sudo apt-get update && sudo apt-get install -y emscripten
     - run: yarn install
     - run: yarn build
     - run: yarn publish

CHANGELOG.md

@@ -28,6 +28,7 @@
 - Overhauled the control code to make it smaller and more numerically robust
   while using higher position resolution where it is available.
 - Changed drive base default speed to go a little slower.
+- Updated MicroPython to v1.19.
 
 [support#662]: https://github.com/pybricks/support/issues/662
 [support#665]: https://github.com/pybricks/support/issues/665

bricks/ev3dev/Makefile

@@ -205,11 +205,9 @@ SRC_C += $(addprefix ports/unix/,\
 	input.c \
 	main.c \
 	modmachine.c \
-	modos.c \
 	modtime.c \
 	modufcntl.c \
 	modummap.c \
-	moduos_vfs.c \
 	moduselect.c \
 	mpthreadport.c \
 	)

bricks/ev3dev/brickconfig.h

@@ -38,22 +38,3 @@
 #define PYBRICKS_PY_ROBOTICS            (1)
 #define PYBRICKS_PY_TOOLS               (1)
 #define PYBRICKS_PY_USIGNAL             (1)
-
-#define MICROPY_PORT_INIT_FUNC pybricks_init()
-#define MICROPY_PORT_DEINIT_FUNC pybricks_deinit()
-#define MICROPY_MPHALPORT_H "ev3dev_mphal.h"
-#define MICROPY_PY_SYS_PATH_DEFAULT (".frozen:~/.pybricks-micropython/lib:/usr/lib/pybricks-micropython")
-
-extern const struct _mp_obj_module_t pb_package_pybricks;
-#define _PYBRICKS_PACKAGE_PYBRICKS \
-    { MP_OBJ_NEW_QSTR(MP_QSTR__pybricks), (mp_obj_t)&pb_package_pybricks },
-
-extern const struct _mp_obj_module_t pb_module_bluetooth;
-extern const struct _mp_obj_module_t pb_module_media_ev3dev;
-extern const struct _mp_obj_module_t pb_module_usignal;
-
-#define PYBRICKS_PORT_BUILTIN_MODULES \
-    _PYBRICKS_PACKAGE_PYBRICKS        \
-    { MP_ROM_QSTR(MP_QSTR_bluetooth_c),     MP_ROM_PTR(&pb_module_bluetooth)        }, \
-    { MP_ROM_QSTR(MP_QSTR_media_ev3dev_c),  MP_ROM_PTR(&pb_module_media_ev3dev)     }, \
-    { MP_ROM_QSTR(MP_QSTR_usignal),         MP_ROM_PTR(&pb_module_usignal)          },

bricks/ev3dev/ev3dev_mphal.c

@@ -26,6 +26,7 @@
 
 #include <assert.h>
 #include <errno.h>
+#include <fcntl.h>
 #include <signal.h>
 #include <stdlib.h>
 #include <string.h>
@@ -157,3 +158,14 @@ void mp_hal_delay_ms(mp_uint_t ms) {
         break;
     }
 }
+
+void mp_hal_get_random(size_t n, void *buf) {
+    #ifdef _HAVE_GETRANDOM
+    RAISE_ERRNO(getrandom(buf, n, 0), errno);
+    #else
+    int fd = open("/dev/urandom", O_RDONLY);
+    RAISE_ERRNO(fd, errno);
+    RAISE_ERRNO(read(fd, buf, n), errno);
+    close(fd);
+    #endif
+}

bricks/ev3dev/ev3dev_mphal.h

@@ -54,6 +54,8 @@ static inline void mp_hal_delay_us(mp_uint_t us) {
 }
 #define mp_hal_ticks_cpu() 0
 
+void mp_hal_get_random(size_t n, void *buf);
+
 #define RAISE_ERRNO(err_flag, error_val) \
     { if (err_flag == -1) \
       { mp_raise_OSError(error_val); } }

bricks/ev3dev/modbluetooth.c

@@ -77,3 +77,5 @@ const mp_obj_module_t pb_module_bluetooth = {
     .base = { &mp_type_module },
     .globals = (mp_obj_dict_t *)&ev3dev_bluetooth_globals,
 };
+
+MP_REGISTER_MODULE(MP_QSTR_bluetooth_c, pb_module_bluetooth);

bricks/ev3dev/modmedia_ev3dev.c

@@ -32,4 +32,6 @@ const mp_obj_module_t pb_module_media_ev3dev = {
     .globals = (mp_obj_dict_t *)&pb_module_media_ev3dev_globals,
 };
 
+MP_REGISTER_MODULE(MP_QSTR_media_ev3dev_c, pb_module_media_ev3dev);
+
 #endif // PYBRICKS_PY_MEDIA_EV3DEV

bricks/ev3dev/modules/pybricks/__init__.py

@@ -1,4 +1,4 @@
 # SPDX-License-Identifier: MIT
 # Copyright (c) 2018-2020 The Pybricks Authors
 
-from _pybricks import version
+from pybricks_c import version

bricks/ev3dev/modules/pybricks/ev3devices.py

@@ -4,7 +4,7 @@
 """Classes for LEGO MINDSTORMS EV3 Devices."""
 
 # import those ev3devices that are already written in MicroPython-style C code.
-from _pybricks.ev3devices import (
+from pybricks_c.ev3devices import (
     InfraredSensor,
     ColorSensor,
     TouchSensor,