Add preliminary support for ESP IDF and FreeRTOS #305

sbgaia · 2025-09-19T18:15:02Z

This PR adds preliminary support for building and running the reactor-uc library and its examples on FreeRTOS and ESP-IDF platforms, tested on the RP2040 (Pico) and ESP32 microcontrollers (#37).

…nd source files.

…configurations and adding example projects.

github-actions · 2025-09-19T18:16:28Z

Coverage after merging esp32 into main will be

52.86%

Coverage Report

File	Stmts	Branches	Funcs	Lines	Uncovered Lines
src
action.c	70%	65.38%	62.50%	71.88%	113–114, 127–128, 131–134, 137–138, 140–143, 145, 149, 152–155, 25, 40–42, 46, 48, 55–56, 63–65, 65, 65–68
builtin_triggers.c	90.91%	70%	100%	96.77%	14, 18, 40, 43
clock_synchronization.c	0%	0%	0%	0%	100–103, 105–106, 106, 106–109, 114–116, 116, 116–118, 120–122, 122, 122–124, 124, 124, 124, 124–126, 129, 13, 130, 132, 135, 137–139, 14, 141, 143, 143, 143–145, 147–149, 149, 149–151, 154, 156, 158, 16, 160–161, 161, 161–163, 163, 163, 166, 166, 166–167, 17, 170–175, 175, 175–176, 18, 180, 182–188, 188, 188–189, 19, 192, 195–199, 20, 200, 200, 200–201, 203, 205, 208, 210–214, 214, 214–215, 215, 215–224, 224, 224–225, 227, 23, 23, 23, 230–232, 234–236, 238, 238, 238–239, 24, 241, 244–245, 247–249, 25, 250–254, 254, 254–256, 26, 26, 26, 261–264, 264, 264–266, 268–269, 27, 273–275, 277–278, 278, 278–279, 279, 279–287, 287, 287–288, 290, 294, 297–298, 30, 301–310, 310, 310–311, 314, 317–320, 323, 323, 323, 323, 323, 323, 323, 323, 323–329, 33, 330–339, 34, 340–344, 347–348, 35, 350, 354–362, 364, 367, 367, 367–368, 372–376, 379, 379, 379–380, 383, 385, 40, 42, 44, 46, 49, 49, 49–51, 51, 51–52, 55, 58, 62, 64–66, 66, 66, 69, 69, 69–70, 73–79, 79, 79–80, 83, 89–90, 93, 95, 95, 95–97
connection.c	78.43%	53.33%	100%	87.88%	10, 104, 110, 123–124, 137–138, 14, 14, 144, 146–147, 149, 16–17, 21–22, 22, 22–23, 25, 27–28, 34, 48, 48, 48–49, 55, 60–62, 97
environment.c	94.12%	83.33%	100%	100%	16, 29
event.c	100%	100%	100%	100%
federated.c	6.53%	3.26%	10%	7.94%	10, 100–101, 103, 103, 103–104, 106, 106, 106, 106, 106–107, 107, 107–109, 11, 112, 112, 112–114, 117–118, 121–123, 123, 123–124, 124, 124–126, 128, 13, 131, 133, 135–139, 14, 140, 143–145, 147, 147, 147, 149, 15, 150–152, 154, 156, 156, 156–157, 159, 16, 160, 163–164, 171–173, 173, 173–174, 176, 178, 178, 178–179, 18, 18, 18, 180–181, 181, 181, 181, 181, 181, 181–189, 19, 19, 19, 190, 190, 190–191, 193–200, 202–205, 209, 21, 21, 21, 212, 212, 212–214, 216, 218, 22, 220–222, 222, 222, 222, 222–229, 23, 23, 23, 231–234, 234, 234–235, 237, 24, 240–243, 245, 25, 251–253, 266–267, 267, 267–268, 268, 268–269, 269, 269–270, 270, 270–271, 271, 271–272, 272, 272–273, 273, 273, 275, 275, 275–276, 276, 276–277, 277, 277–278, 278, 278–279, 279, 279, 281, 29–30, 34–39, 41, 43, 43, 43–44, 44, 44–45, 45, 45–46, 46, 46, 48, 50–53, 55, 55, 55–58, 58, 58–59, 61, 63–64, 64, 64–65, 69, 72–73, 73, 73–74, 76–78, 80, 84, 86, 88–90, 93, 95–99
logging.c	88.52%	83.33%	100%	89.36%	25, 38–40, 47, 60–61
network_channel.c	69.23%	62.50%	100%	70.59%	40, 40, 40, 45–48, 57
physical_clock.c	89.61%	83.33%	71.43%	93.10%	26, 41, 57–58, 81, 83
port.c	74.68%	42.86%	100%	91.49%	10, 10, 10, 15, 15, 15–16, 22, 26, 31, 31–33, 33, 33–34, 45, 45, 45–46
queues.c	86.11%	79.03%	100%	88.03%	100–106, 131–135, 138–139, 156, 161, 167, 34, 34, 38–44, 69–70, 96, 96
reaction.c	71.31%	56.52%	100%	78.87%	15, 21, 28–30, 30, 30–32, 32, 32–33, 43, 46, 53–54, 54, 54–56, 56, 56–57, 72, 88–90, 90, 90–93, 93, 93–94
reactor.c	69.33%	51.52%	100%	82.28%	10, 101–102, 14–19, 22, 28, 30, 32–37, 37, 37–38, 38, 38, 43, 55, 58–59, 59, 59–60, 60, 60–61, 63, 77–78, 81–82, 82, 82–83, 83, 83–84, 86, 91
serialization.c	37.50%	25%	50%	40%	16–17, 26–27, 33–34, 34, 34–35, 37–38, 41–42, 42, 42–43, 45–46
startup_coordinator.c	0%	0%	0%	0%	100,

github-actions · 2025-09-19T18:17:47Z

Benchmark results after merging this PR:

Benchmark results

Performance:

PingPongUc:
Best Time: 244.492 msec
Worst Time: 244.806 msec
Median Time: 244.603 msec

PingPongC:
Best Time: 171.897 msec
Worst Time: 173.019 msec
Median Time: 172.508 msec

ReactionLatencyUc:
Best latency: 34609 nsec
Median latency: 60834 nsec
Worst latency: 129852 nsec

ReactionLatencyC:
Best latency: 21540 nsec
Median latency: 60692 nsec
Worst latency: 345777 nsec

Memory usage:

PingPongUc:
text data bss dec hex filename
37386 760 8472 46618 b61a bin/PingPongUc

PingPongC:
text data bss dec hex filename
47658 878 384 48920 bf18 bin/PingPongC

ReactionLatencyUc:
text data bss dec hex filename
23651 736 2520 26907 691b bin/ReactionLatencyUc

ReactionLatencyC:
text data bss dec hex filename
43200 846 384 44430 ad8e bin/ReactionLatencyC

github-actions · 2025-09-19T18:17:53Z

Memory usage after merging this PR will be:

Memory Report

action_empty_test_c

	from	to
text	69479	69479
data	752	752
bss	12416	12416
total	82647	82647

action_microstep_test_c

	from	to
text	70308	70308
data	760	760
bss	12480	12480
total	83548	83548

action_overwrite_test_c

	from	to
text	70185	70185
data	752	752
bss	12480	12480
total	83417	83417

action_test_c

	from	to
text	70081	70081
data	760	760
bss	12480	12480
total	83321	83321

deadline_test_c

	from	to
text	64936	64936
data	768	768
bss	11776	11776
total	77480	77480

delayed_conn_test_c

	from	to
text	70423	70423
data	752	752
bss	13248	13248
total	84423	84423

event_payload_pool_test_c

	from	to
text	24353	24353
data	720	720
bss	480	480
total	25553	25553

event_queue_test_c

	from	to
text	29092	29092
data	728	728
bss	480	480
total	30300	30300

nanopb_test_c

	from	to
text	44218	44218
data	1928	1928
bss	320	320
total	46466	46466

physical_clock_test_c

	from	to
text	49792	49792
data	832	832
bss	640	640
total	51264	51264

port_test_c

	from	to
text	70326	70326
data	752	752
bss	13056	13056
total	84134	84134

reaction_queue_test_c

	from	to
text	28292	28292
data	728	728
bss	480	480
total	29500	29500

request_shutdown_test_c

	from	to
text	70318	70318
data	752	752
bss	12480	12480
total	83550	83550

startup_test_c

	from	to
text	64565	64565
data	760	760
bss	11776	11776
total	77101	77101

tcp_channel_test_c

	from	to
text	92307	92307
data	2288	2288
bss	14720	14720
total	109315	109315

timer_test_c

	from	to
text	64537	64537
data	752	752
bss	11776	11776
total	77065	77065

tanneberger · 2025-09-21T17:03:56Z

examples/common/timer_source.h

 }

-LF_ENTRY_POINT(TimerSource,32,32, SEC(1), false, false);
+#ifdef TIMEOUT 


Why this change?

I've added a configurable timeout to address an issue when debugging a Raspberry Pi Pico on WSL. After a reboot, the serial port must be manually forwarded from the host to WSL, which means that the initial boot logs are missed. This change gives users the option to set a long timeout, providing a sufficient window to re-establish the port connection and see the logs to confirm the board is working.

So it is actually not a timeout in the LF sense, but a delay on startup?

tanneberger · 2025-09-21T17:04:09Z

examples/esp-idf/blink/CMakeLists.txt

@@ -0,0 +1,46 @@
+


remove empty spaces.

tanneberger · 2025-09-21T17:05:00Z

examples/esp-idf/blink/CMakeLists.txt

+cmake_minimum_required(VERSION 3.20.0)
+set(PLATFORM "ESP_IDF" CACHE STRING "Platform to target")
+set(BUILD_EXAMPLES OFF CAHCHE BOOL)
+set(TIMEOUT "1" ON CACHE STRING "Timeout in seconds, disable for infinite")


why as a compile flag, normally the timeout value is inside the generated code?

tanneberger · 2025-09-21T17:07:10Z

examples/esp-idf/blink/main.c

+#include "esp_flash.h"
+#include "esp_system.h"
+#include "reactor-uc/reactor-uc.h"
+#include "reactor-uc/environment.h"


I think this include should be unnecessary because it should already be included by the previous include statement.

tanneberger · 2025-09-21T17:08:20Z

examples/esp-idf/blink/main.c

+
+void app_main(void)
+{
+    configure_led();


is app_main the entry point for the ESP sdk?

why not put this configure_led(); inside a startup reaction?

That's a good point. It makes more sense to place this logic in the startup reaction.

tanneberger · 2025-09-21T17:12:03Z

sdkconfig

@@ -0,0 +1,1389 @@
+#


can we maybe, put this into the template repo for the ESP?

sbgaia added 7 commits September 15, 2025 21:39

Add support for the ESP32 platform and related example projects.

9e35f8b

Add sdkconfig to .gitignore

d3f0a58

Remove IDF setup from buildAll.sh script

9aadfc8

Refactor platform name from ESP32 to ESPIDF, updating related CMake a…

eb59df8

…nd source files.

Add platform support to include FreeRTOS and ESP-IDF, updating CMake …

a6772fc

…configurations and adding example projects.

Revert unused parameter handling to (void)super for consistency.

15aefa0

Format code.

91feffc

sbgaia added enhancement New feature or request platform Platform support labels Sep 19, 2025

sbgaia changed the title ~~Add preliminary support for ESP IDF and FreeRTOS framework.~~ Add preliminary support for ESP IDF and FreeRTOS Sep 19, 2025

tanneberger requested changes Sep 21, 2025

View reviewed changes

Add preliminary support for ESP IDF and FreeRTOS #305

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Add preliminary support for ESP IDF and FreeRTOS #305

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sbgaia commented Sep 19, 2025

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github-actions bot commented Sep 19, 2025

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github-actions bot commented Sep 19, 2025

Performance:

Memory usage:

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github-actions bot commented Sep 19, 2025

action_empty_test_c

action_microstep_test_c

action_overwrite_test_c

action_test_c

deadline_test_c

delayed_conn_test_c

event_payload_pool_test_c

event_queue_test_c

nanopb_test_c

physical_clock_test_c

port_test_c

reaction_queue_test_c

request_shutdown_test_c

startup_test_c

tcp_channel_test_c

timer_test_c

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