New virtual hub for more effective debugging

.github/workflows/build.yml

@@ -145,8 +145,10 @@ jobs:
     needs: [mpy_cross]
     runs-on: ubuntu-24.04
     steps:
-    - name: Install depedencies
-      run: sudo apt-get update && sudo apt-get install lcov python3-numpy --yes
+    - name: Install dependencies
+      run: sudo apt-get update && sudo apt-get install lcov pipx
+    - name: Install Pybricksdev
+      run: pipx install pybricksdev
     - name: Checkout repo
       uses: actions/checkout@v4
       with:
@@ -166,7 +168,7 @@ jobs:
     - name: Fix file permission
       run: chmod +x micropython/mpy-cross/build/mpy-cross
     - name: Build and test
-      run: COVERAGE=1 ./test-virtualhub.sh
+      run: ./test-virtualhub.sh
     - name: Coveralls
       uses: coverallsapp/github-action@v2
       with:

.vscode/c_cpp_properties.json

@@ -341,6 +341,27 @@
             "cStandard": "c11",
             "intelliSenseMode": "gcc-arm"
         },
+        {
+            "name": "pbio/test",
+            "includePath": [
+                "${workspaceFolder}/lib/btstack/chipset/cc256x",
+                "${workspaceFolder}/lib/btstack/platform/posix",
+                "${workspaceFolder}/lib/btstack/src",
+                "${workspaceFolder}/lib/contiki-core",
+                "${workspaceFolder}/lib/lego",
+                "${workspaceFolder}/lib/lwrb/src/include",
+                "${workspaceFolder}/lib/pbio",
+                "${workspaceFolder}/lib/pbio/include",
+                "${workspaceFolder}/lib/pbio/platform/test",
+                "${workspaceFolder}/lib/pbio/test",
+                "${workspaceFolder}/lib/pbio/test/build",
+                "${workspaceFolder}/lib/tinytest"
+            ],
+            "defines": [
+                "UNIX"
+            ],
+            "cStandard": "c11"
+        },
         {
             "name": "virtualhub",
             "includePath": [
@@ -352,41 +373,18 @@
                 "${workspaceFolder}/lib/pbio",
                 "${workspaceFolder}/lib/pbio/include",
                 "${workspaceFolder}/lib/pbio/platform/virtual_hub",
-                "${workspaceFolder}/micropython/ports/unix",
                 "${workspaceFolder}/micropython",
                 "${workspaceFolder}",
                 "/usr/include/python3.10"
             ],
             "defines": [
-                "UNIX",
                 "MICROPY_MODULE_FROZEN_MPY",
                 "MICROPY_USE_READLINE=1"
             ],
             "compilerPath": "/usr/bin/gcc",
             "cStandard": "c11",
             "intelliSenseMode": "gcc-x64"
         },
-        {
-            "name": "pbio/test",
-            "includePath": [
-                "${workspaceFolder}/lib/btstack/chipset/cc256x",
-                "${workspaceFolder}/lib/btstack/platform/posix",
-                "${workspaceFolder}/lib/btstack/src",
-                "${workspaceFolder}/lib/contiki-core",
-                "${workspaceFolder}/lib/lego",
-                "${workspaceFolder}/lib/lwrb/src/include",
-                "${workspaceFolder}/lib/pbio",
-                "${workspaceFolder}/lib/pbio/include",
-                "${workspaceFolder}/lib/pbio/platform/test",
-                "${workspaceFolder}/lib/pbio/test",
-                "${workspaceFolder}/lib/pbio/test/build",
-                "${workspaceFolder}/lib/tinytest"
-            ],
-            "defines": [
-                "UNIX"
-            ],
-            "cStandard": "c11"
-        }
     ],
     "version": 4
 }

.vscode/launch.json

@@ -53,13 +53,20 @@
             "args": [],
             "console": "integratedTerminal"
         },
+        {
+            "name":"Virtual Hub Animation",
+            "type":"debugpy",
+            "request":"launch",
+            "program":"${workspaceFolder}/lib/pbio/platform/virtual_hub/animation.py",
+            "console":"integratedTerminal"
+        },
         {
             "name": "virtualhub",
             "type": "cppdbg",
             "request": "launch",
-            "program": "${workspaceFolder}/bricks/virtualhub/build-debug/virtualhub-micropython",
+            "program": "${workspaceFolder}/bricks/virtualhub/build-debug/firmware.elf",
             "args": [
-                "${workspaceFolder}/tests/virtualhub/motor/car.py"
+                "${workspaceFolder}/tests/virtualhub/motor/car.py",
             ],
             "stopAtEntry": false,
             "cwd": "${workspaceFolder}",
@@ -83,14 +90,7 @@
                     "ignoreFailures": false
                 }
             ],
-            "preLaunchTask": "build virtualhub"
-        },
-        {
-            "name":"Virtual Hub Animation",
-            "type":"debugpy",
-            "request":"launch",
-            "program":"${workspaceFolder}/lib/pbio/platform/virtual_hub/animation.py",
-            "console":"integratedTerminal"
+            "preLaunchTask": "build virtualhub (debug)"
         },
         {
             "name": "test-pbio",

.vscode/tasks.json

@@ -37,9 +37,12 @@
             "detail": "Build the PrimeHub project"
         },
         {
-            "label": "build virtualhub",
+            "options": {
+                "cwd": "${workspaceFolder}/bricks/virtualhub"
+            },
+            "label": "build virtualhub (debug)",
             "type": "shell",
-            "command": "poetry run make -C bricks/virtualhub DEBUG=1 COPT=-O0 CROSS_COMPILE= -j"
+            "command": "make -C ../../micropython/mpy-cross -j && poetry run make DEBUG=1 BUILD=build-debug -j",
         },
         {
             "label": "build test-pbio",

Makefile

@@ -78,8 +78,8 @@ virtualhub: mpy-cross
 	@$(MAKE) -C bricks/virtualhub CROSS_COMPILE=
 
 clean-virtualhub: clean-mpy-cross
-	@$(MAKE) -C bricks/virtualhub clean CROSS_COMPILE=
-	@$(MAKE) -C bricks/virtualhub clean DEBUG=1
+	@$(MAKE) -C bricks/virtualhub clean
+	@$(MAKE) -C bricks/virtualhub clean BUILD=build-debug
 
 mpy-cross:
 	@$(MAKE) -C micropython/mpy-cross CROSS_COMPILE=$(HOST_CROSS_COMPILE)

bricks/_common/arm_none_eabi.mk → bricks/_common/common.mk

@@ -5,7 +5,7 @@
 # This file is shared by all bare-metal Arm Pybricks ports.
 
 THIS_MAKEFILE := $(lastword $(MAKEFILE_LIST))
-PBTOP := ../$(patsubst %/_common/arm_none_eabi.mk,%,$(THIS_MAKEFILE))
+PBTOP := ../$(patsubst %/_common/common.mk,%,$(THIS_MAKEFILE))
 
 # Bricks must specify the following variables in their Makefile
 
@@ -101,8 +101,6 @@ MICROPY_ROM_TEXT_COMPRESSION ?= 1
 include $(TOP)/py/py.mk
 include $(TOP)/extmod/extmod.mk
 
-CROSS_COMPILE ?= arm-none-eabi-
-
 INC += -I.
 INC += -I$(TOP)
 ifeq ($(PB_MCU_FAMILY),STM32)
@@ -155,6 +153,18 @@ OPENOCD ?= openocd
 OPENOCD_CONFIG ?= openocd_stm32$(PB_MCU_SERIES_LCASE).cfg
 TEXT0_ADDR ?= 0x08000000
 
+ifeq ($(PB_MCU_FAMILY),native)
+UNAME_S := $(shell uname -s)
+LD = $(CC)
+CFLAGS += $(INC) -Wall -Werror -Wdouble-promotion -Wfloat-conversion -std=gnu99 $(COPT) -D_GNU_SOURCE
+ifeq ($(UNAME_S),Linux)
+LDFLAGS += -Wl,[email protected],--cref -Wl,--gc-sections
+else ifeq ($(UNAME_S),Darwin)
+LDFLAGS += -Wl,-map,[email protected] -Wl,-dead_strip
+endif
+LIBS = -lm
+else # end native, begin embedded
+CROSS_COMPILE ?= arm-none-eabi-
 ifeq ($(PB_MCU_FAMILY),STM32)
 CFLAGS_MCU_F0 = -mthumb -mtune=cortex-m0 -mcpu=cortex-m0 -msoft-float
 CFLAGS_MCU_F4 = -mthumb -mtune=cortex-m4 -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard
@@ -200,9 +210,14 @@ endif
 # avoid doubles
 CFLAGS += -fsingle-precision-constant -Wdouble-promotion
 
+endif # end embedded, begin common
+
 # Tune for Debugging or Optimization
-ifeq ($(DEBUG), 1)
-CFLAGS += -Og -ggdb
+ifeq ($(COVERAGE), 1)
+CFLAGS += --coverage -fprofile-arcs -ftest-coverage
+LDFLAGS += --coverage
+else ifeq ($(DEBUG), 1)
+CFLAGS += -O0 -ggdb
 else ifeq ($(DEBUG), 2)
 CFLAGS += -Os -DNDEBUG -flto=auto
 else
@@ -218,7 +233,7 @@ CFLAGS += -DSTM32_H='<stm32$(PB_MCU_SERIES_LCASE)xx.h>'
 CFLAGS += -DSTM32_HAL_H='<stm32$(PB_MCU_SERIES_LCASE)xx_hal.h>'
 endif
 
-LIBS = "$(shell $(CC) $(CFLAGS) -print-libgcc-file-name)"
+LIBS += "$(shell $(CC) $(CFLAGS) -print-libgcc-file-name)"
 
 # Sources and libraries common to all pybricks bricks
 
@@ -233,13 +248,26 @@ include $(PBTOP)/bricks/_common/sources.mk
 # between the top level directory and the micropython/ subdirectory.
 
 PY_EXTRA_SRC_C = $(addprefix shared/,\
-	libc/string0.c \
-	runtime/gchelper_native.c \
 	runtime/interrupt_char.c \
 	runtime/pyexec.c \
 	runtime/stdout_helpers.c \
+	)
+
+ifeq ($(PB_MCU_FAMILY),native)
+PY_EXTRA_SRC_C += $(addprefix shared/,\
+	runtime/gchelper_generic.c \
+	runtime/sys_stdio_mphal.c \
+	)
+PY_EXTRA_SRC_C += $(addprefix bricks/virtualhub/,\
+	pbio_os_hook.c \
+	)
+else
+PY_EXTRA_SRC_C += $(addprefix shared/,\
+	libc/string0.c \
+	runtime/gchelper_native.c \
 	runtime/sys_stdio_mphal.c \
 	)
+endif
 
 ifneq ($(PBIO_PLATFORM),move_hub)
 # to avoid adding unused root pointers
@@ -262,7 +290,9 @@ PY_EXTRA_SRC_C += $(addprefix bricks/_common/,\
 endif
 
 # Not all MCUs support thumb2 instructions.
-ifeq ($(PB_MCU_SERIES),$(filter $(PB_MCU_SERIES),AT91SAM7 F0 TIAM1808))
+ifeq ($(PB_MCU_FAMILY),native)
+SRC_S +=
+else ifeq ($(PB_MCU_SERIES),$(filter $(PB_MCU_SERIES),AT91SAM7 F0 TIAM1808))
 SRC_S += shared/runtime/gchelper_thumb1.s
 else
 SRC_S += shared/runtime/gchelper_thumb2.s
@@ -561,8 +591,12 @@ CFLAGS += -DMICROPY_MODULE_FROZEN_MPY
 MPY_TOOL_FLAGS += -mlongint-impl none
 endif
 
+ifneq ($(PB_MCU_FAMILY),native)
 # Main firmware build targets
 TARGETS := $(BUILD)/firmware.zip
+else
+TARGETS := $(BUILD)/firmware.elf
+endif
 
 all: $(TARGETS)
 
@@ -673,4 +707,8 @@ deploy-openocd: $(BUILD)/firmware-base.bin
 	$(ECHO) "Writing $< to the board via ST-LINK using OpenOCD"
 	$(Q)$(OPENOCD) -f $(OPENOCD_CONFIG) -c "stm_flash $< $(TEXT0_ADDR)"
 
+# Run emulation build on a POSIX system using normal stdio
+run: $(BUILD)/firmware.elf
+	@$(BUILD)/firmware.elf
+
 include $(TOP)/py/mkrules.mk

bricks/_common/mpconfigport.h

@@ -149,8 +149,14 @@ typedef long mp_off_t;
 #define MICROPY_END_ATOMIC_SECTION(state) (void)(state)
 #endif
 
+// Optional extra code to run before MicroPython drives the event loop.
+#ifndef PYBRICKS_VM_HOOK_LOOP_EXTRA
+#define PYBRICKS_VM_HOOK_LOOP_EXTRA
+#endif
+
 #define MICROPY_VM_HOOK_LOOP \
     do { \
+        PYBRICKS_VM_HOOK_LOOP_EXTRA \
         extern bool pbio_os_run_processes_once(void); \
         pbio_os_run_processes_once(); \
     } while (0);

bricks/_common/sources.mk

@@ -237,6 +237,7 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	sys/battery.c \
 	sys/command.c \
 	sys/core.c \
+	sys/hmi_env_mpy.c \
 	sys/hmi_lcd.c \
 	sys/hmi_pup.c \
 	sys/hmi_none.c \

bricks/cityhub/Makefile

@@ -10,4 +10,4 @@ PB_LIB_STM32_HAL = 1
 PB_LIB_BLE5STACK = 1
 PB_FROZEN_MODULES = 1
 
-include ../_common/arm_none_eabi.mk
+include ../_common/common.mk

bricks/essentialhub/Makefile

@@ -16,4 +16,4 @@ DFU_VID = 0x0694
 DFU_PID = 0x000C
 PB_FROZEN_MODULES = 1
 
-include ../_common/arm_none_eabi.mk
+include ../_common/common.mk

bricks/ev3/Makefile

@@ -3,4 +3,4 @@ PB_MCU_FAMILY = TIAM1808
 
 PB_LIB_UMM_MALLOC = 1
 
-include ../_common/arm_none_eabi.mk
+include ../_common/common.mk

bricks/movehub/Makefile

@@ -11,4 +11,4 @@ PB_LIB_BLUENRG = 1
 PB_FROZEN_MODULES = 0
 MICROPY_ROM_TEXT_COMPRESSION = 0 # Needed for PYBRICKS_OPT_TERSE_ERR
 
-include ../_common/arm_none_eabi.mk
+include ../_common/common.mk

bricks/nxt/Makefile

@@ -4,4 +4,4 @@
 PBIO_PLATFORM = nxt
 PB_MCU_FAMILY = AT91SAM7
 
-include ../_common/arm_none_eabi.mk
+include ../_common/common.mk

bricks/primehub/Makefile

@@ -16,4 +16,4 @@ DFU_VID = 0x0694
 DFU_PID = 0x0008
 PB_FROZEN_MODULES = 1
 
-include ../_common/arm_none_eabi.mk
+include ../_common/common.mk

bricks/technichub/Makefile

@@ -11,4 +11,4 @@ PB_LIB_BLE5STACK = 1
 PB_LIB_LSM6DS3TR_C = 1
 PB_FROZEN_MODULES = 1
 
-include ../_common/arm_none_eabi.mk
+include ../_common/common.mk

bricks/virtualhub/.gitignore

@@ -0,0 +1 @@
+debug/