esp_timer: added C++ wrapper for esp_timer

Closes IDF-1074

examples/cxx/experimental/esp_timer_cxx/CMakeLists.txt

@@ -0,0 +1,8 @@
+# The following lines of boilerplate have to be in your project's CMakeLists
+# in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.5)
+
+set(EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/examples/cxx/experimental/experimental_cpp_component")
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(esp_timer_cxx)

examples/cxx/experimental/esp_timer_cxx/Makefile

@@ -0,0 +1,10 @@
+#
+# This is a project Makefile. It is assumed the directory this Makefile resides in is a
+# project subdirectory.
+#
+
+EXTRA_COMPONENT_DIRS += ${IDF_PATH}/examples/cxx/experimental/experimental_cpp_component
+
+PROJECT_NAME := esp_timer_cxx
+
+include $(IDF_PATH)/make/project.mk

examples/cxx/experimental/esp_timer_cxx/README.md

@@ -0,0 +1,48 @@
+# Example: ESPTimer C++ class
+
+(See the README.md file in the upper level 'examples' directory for more information about examples.)
+
+This example demonstrates usage of the ESPTimer c++ class in ESP-IDF.
+
+In this example, the `sdkconfig.defaults` file sets the `CONFIG_COMPILER_CXX_EXCEPTIONS` option. 
+This enables both compile time support (`-fexceptions` compiler flag) and run-time support for C++ exception handling.
+This is necessary for the C++ APIs.
+
+## How to use example
+
+### Hardware Required
+
+Any ESP32 family development board.
+
+### Configure the project
+
+```
+idf.py menuconfig
+```
+
+### Build and Flash
+
+```
+idf.py -p PORT flash monitor
+```
+
+(Replace PORT with the name of the serial port.)
+
+(To exit the serial monitor, type ``Ctrl-]``.)
+
+See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects.
+
+## Example Output
+
+```
+Setting up timer to trigger in 500ms
+timeout
+Setting up timer to periodically every 200ms
+periodic timeout
+periodic timeout
+periodic timeout
+periodic timeout
+periodic timeout
+
+```
+

examples/cxx/experimental/esp_timer_cxx/main/CMakeLists.txt

@@ -0,0 +1,2 @@
+idf_component_register(SRCS "esp_timer_example.cpp"
+                    INCLUDE_DIRS ".")

examples/cxx/experimental/esp_timer_cxx/main/component.mk

@@ -0,0 +1,4 @@
+#
+# "main" pseudo-component makefile.
+#
+# (Uses default behaviour of compiling all source files in directory, adding 'include' to include path.)

examples/cxx/experimental/esp_timer_cxx/main/esp_timer_example.cpp

@@ -0,0 +1,44 @@
+// Copyright 2020 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 <iostream>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#include "esp_timer_cxx.hpp"
+#include "esp_exception.hpp"
+
+using namespace std;
+using namespace idf;
+using namespace idf::esp_timer;
+
+extern "C" void app_main(void)
+{
+    try {
+        cout << "Setting up timer to trigger in 500ms" << endl;
+        ESPTimer timer([]() { cout << "timeout" << endl; });
+        timer.start(chrono::microseconds(200 * 1000));
+
+        vTaskDelay(550 / portTICK_PERIOD_MS);
+
+        cout << "Setting up timer to trigger periodically every 200ms" << endl;
+        ESPTimer timer2([]() { cout << "periodic timeout" << endl; });
+        timer2.start_periodic(chrono::microseconds(200 * 1000));
+
+        vTaskDelay(1050 / portTICK_PERIOD_MS);
+
+    } catch (const ESPException &e) {
+        cout << "Exception with error: " << e.error << endl;
+    }
+}

examples/cxx/experimental/esp_timer_cxx/sdkconfig.defaults

@@ -0,0 +1,3 @@
+# Enable C++ exceptions and set emergency pool size for exception objects
+CONFIG_COMPILER_CXX_EXCEPTIONS=y
+CONFIG_COMPILER_CXX_EXCEPTIONS_EMG_POOL_SIZE=1024

examples/cxx/experimental/experimental_cpp_component/CMakeLists.txt

@@ -1,3 +1,8 @@
-idf_component_register(SRCS "esp_exception.cpp" "i2c_cxx.cpp" "esp_event_api.cpp" "esp_event_cxx.cpp"
+idf_component_register(SRCS
+                    "esp_exception.cpp"
+                    "i2c_cxx.cpp"
+                    "esp_event_api.cpp"
+                    "esp_event_cxx.cpp"
+                    "esp_timer_cxx.cpp"
                     INCLUDE_DIRS "include"
-                    REQUIRES driver esp_event)
+                    REQUIRES driver esp_event esp_timer)

examples/cxx/experimental/experimental_cpp_component/esp_timer_cxx.cpp

@@ -0,0 +1,60 @@
+// Copyright 2020 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.
+
+#ifdef __cpp_exceptions
+
+#include <functional>
+#include "esp_timer_cxx.hpp"
+#include "esp_exception.hpp"
+
+using namespace std;
+
+namespace idf {
+
+namespace esp_timer {
+
+ESPTimer::ESPTimer(function<void()> timeout_cb, const string &timer_name)
+    : timeout_cb(timeout_cb), name(timer_name)
+{
+    if (timeout_cb == nullptr) {
+        throw ESPException(ESP_ERR_INVALID_ARG);
+    }
+
+    esp_timer_create_args_t timer_args = {};
+    timer_args.callback = esp_timer_cb;
+    timer_args.arg = this;
+    timer_args.dispatch_method = ESP_TIMER_TASK;
+    timer_args.name = name.c_str();
+
+    CHECK_THROW(esp_timer_create(&timer_args, &timer_handle));
+}
+
+ESPTimer::~ESPTimer()
+{
+    // Ignore potential ESP_ERR_INVALID_STATE here to not throw exception.
+    esp_timer_stop(timer_handle);
+    esp_timer_delete(timer_handle);
+}
+
+void ESPTimer::esp_timer_cb(void *arg)
+{
+    ESPTimer *timer = static_cast<ESPTimer*>(arg);
+    timer->timeout_cb();
+}
+
+} // esp_timer
+
+} // idf
+
+#endif // __cpp_exceptions

examples/cxx/experimental/experimental_cpp_component/include/esp_timer_cxx.hpp

@@ -0,0 +1,144 @@
+// Copyright 2020 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.
+
+#pragma once
+
+#ifdef __cpp_exceptions
+
+#include <chrono>
+#include <functional>
+#include "esp_exception.hpp"
+#include "esp_timer.h"
+
+namespace idf {
+
+namespace esp_timer {
+
+/**
+ * @brief Get time since boot
+ * @return time since \c esp_timer_init() was called (this normally happens early during application startup).
+ */
+static inline std::chrono::microseconds get_time()
+{
+    return std::chrono::microseconds(esp_timer_get_time());
+}
+
+/**
+ * @brief Get the timestamp when the next timeout is expected to occur
+ * @return Timestamp of the nearest timer event.
+ *         The timebase is the same as for the values returned by \c get_time().
+ */
+static inline std::chrono::microseconds get_next_alarm()
+{
+    return std::chrono::microseconds(esp_timer_get_next_alarm());
+}
+
+
+/**
+ * @brief
+ * A timer using the esp_timer component which can be started either as one-shot timer or periodically.
+ */
+class ESPTimer {
+public:
+    /**
+     * @param timeout_cb The timeout callback.
+     * @param timer_name The name of the timer (optional). This is for debugging using \c esp_timer_dump().
+     */
+    ESPTimer(std::function<void()> timeout_cb, const std::string &timer_name = "ESPTimer");
+
+    /**
+     * Stop the timer if necessary and delete it.
+     */
+    ~ESPTimer();
+
+    /**
+     * Default copy constructor is deleted since one instance of esp_timer_handle_t must not be shared.
+     */
+    ESPTimer(const ESPTimer&) = delete;
+
+    /**
+     * Default copy assignment is deleted since one instance of esp_timer_handle_t must not be shared.
+     */
+    ESPTimer &operator=(const ESPTimer&) = delete;
+
+    /**
+     * @brief Start one-shot timer
+     *
+     * Timer should not be running (started) when this function is called.
+     *
+     * @param timeout timer timeout, in microseconds relative to the current moment.
+     *
+     * @throws ESPException with error ESP_ERR_INVALID_STATE if the timer is already running.
+     */
+    inline void start(std::chrono::microseconds timeout)
+    {
+        CHECK_THROW(esp_timer_start_once(timer_handle, timeout.count()));
+    }
+
+    /**
+     * @brief Start periodic timer
+     *
+     * Timer should not be running when this function is called. This function will
+     * start a timer which will trigger every 'period' microseconds.
+     *
+     * Timer should not be running (started) when this function is called.
+     *
+     * @param timeout timer timeout, in microseconds relative to the current moment.
+     *
+     * @throws ESPException with error ESP_ERR_INVALID_STATE if the timer is already running.
+     */
+    inline void start_periodic(std::chrono::microseconds period)
+    {
+        CHECK_THROW(esp_timer_start_periodic(timer_handle, period.count()));
+    }
+
+    /**
+     * @brief Stop the previously started timer.
+     *
+     * This function stops the timer previously started using \c start() or \c start_periodic().
+     *
+     * @throws ESPException with error ESP_ERR_INVALID_STATE if the timer has not been started yet.
+     */
+    inline void stop()
+    {
+        CHECK_THROW(esp_timer_stop(timer_handle));
+    }
+
+private:
+    /**
+     * Internal callback to hook into esp_timer component.
+     */
+    static void esp_timer_cb(void *arg);
+
+    /**
+     * Timer instance of the underlying esp_event component.
+     */
+    esp_timer_handle_t timer_handle;
+
+    /**
+     * Callback which will be called once the timer triggers.
+     */
+    std::function<void()> timeout_cb;
+
+    /**
+     * Name of the timer, will be passed to the underlying timer framework and is used for debugging.
+     */
+    const std::string name;
+};
+
+} // esp_timer
+
+} // idf
+
+#endif // __cpp_exceptions

examples/cxx/experimental/experimental_cpp_component/test/test_esp_timer.cpp

@@ -0,0 +1,198 @@
+// Copyright 2020 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.
+
+#ifdef __cpp_exceptions
+
+#include "unity.h"
+#include "unity_cxx.hpp"
+#include <limits>
+#include <stdio.h>
+
+#include <iostream>
+#include "test_utils.h" // ref clock
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+
+#include "esp_timer_cxx.hpp"
+#include "esp_exception.hpp"
+
+using namespace std;
+using namespace idf;
+using namespace idf::esp_timer;
+
+struct RefClock {
+    RefClock()
+    {
+        ref_clock_init();
+    };
+
+    ~RefClock()
+    {
+        ref_clock_deinit();
+    }
+};
+
+TEST_CASE("ESPTimer null function", "[ESPTimer]")
+{
+    TEST_THROW(ESPTimer(nullptr), ESPException);
+}
+
+TEST_CASE("ESPTimer empty std::function", "[ESPTimer]")
+{
+    function<void()> nothing;
+    TEST_THROW(ESPTimer(nothing, "test"), ESPException);
+}
+
+TEST_CASE("ESPTimer starting twice throws", "[ESPTimer]")
+{
+    function<void()> timer_cb = [&]() { };
+
+    ESPTimer timer(timer_cb);
+
+    timer.start(chrono::microseconds(5000));
+
+    TEST_THROW(timer.start(chrono::microseconds(5000)), ESPException);
+}
+
+TEST_CASE("ESPTimer periodically starting twice throws", "[ESPTimer]")
+{
+    function<void()> timer_cb = [&]() { };
+
+    ESPTimer timer(timer_cb);
+
+    timer.start_periodic(chrono::microseconds(5000));
+
+    TEST_THROW(timer.start_periodic(chrono::microseconds(5000)), ESPException);
+}
+
+TEST_CASE("ESPTimer stopping non-started timer throws", "[ESPTimer]")
+{
+    function<void()> timer_cb = [&]() { };
+
+    ESPTimer timer(timer_cb);
+
+    TEST_THROW(timer.stop(), ESPException);
+}
+
+TEST_CASE("ESPTimer calls callback", "[ESPTimer]")
+{
+    bool called = false;
+
+    function<void()> timer_cb = [&]() {
+        called = true;
+    };
+
+    ESPTimer timer(timer_cb);
+
+    timer.start(chrono::microseconds(5000));
+
+    vTaskDelay(10 / portTICK_PERIOD_MS);
+
+    TEST_ASSERT(called);
+}
+
+TEST_CASE("ESPTimer periodically calls callback", "[ESPTimer]")
+{
+    size_t called = 0;
+
+    function<void()> timer_cb = [&]() {
+        called++;
+    };
+
+    ESPTimer timer(timer_cb);
+
+    timer.start_periodic(chrono::microseconds(2000));
+
+    vTaskDelay(10 / portTICK_PERIOD_MS);
+
+    TEST_ASSERT(called >= 4u);
+}
+
+TEST_CASE("ESPTimer produces correct delay", "[ESPTimer]")
+{
+    int64_t t_end;
+
+    RefClock ref_clock;
+
+    function<void()> timer_cb = [&t_end]() {
+        t_end = ref_clock_get();
+    };
+
+    ESPTimer timer(timer_cb, "timer1");
+
+    const int delays_ms[] = {20, 100, 200, 250};
+    const size_t delays_count = sizeof(delays_ms)/sizeof(delays_ms[0]);
+
+    for (size_t i = 0; i < delays_count; ++i) {
+        t_end = 0;
+        int64_t t_start = ref_clock_get();
+
+        timer.start(chrono::microseconds(delays_ms[i] * 1000));
+
+        vTaskDelay(delays_ms[i] * 2 / portTICK_PERIOD_MS);
+        TEST_ASSERT(t_end != 0);
+        int32_t ms_diff = (t_end - t_start) / 1000;
+        printf("%d %d\n", delays_ms[i], ms_diff);
+
+        TEST_ASSERT_INT32_WITHIN(portTICK_PERIOD_MS, delays_ms[i], ms_diff);
+    }
+}
+
+TEST_CASE("ESPtimer produces correct periodic delays", "[ESPTimer]")
+{
+    const size_t NUM_INTERVALS = 3u;
+
+    size_t cur_interval = 0;
+    int intervals[NUM_INTERVALS];
+    int64_t t_start;
+    SemaphoreHandle_t done;
+
+    const int DELAY_MS = 100;
+    function<void()> timer_cb = [&]() {
+        int64_t t_end = ref_clock_get();
+        int32_t ms_diff = (t_end - t_start) / 1000;
+        printf("timer #%d %dms\n", cur_interval, ms_diff);
+        if (cur_interval < NUM_INTERVALS) {
+           intervals[cur_interval++] = ms_diff;
+        }
+        // Deliberately make timer handler run longer.
+        // We check that this doesn't affect the result.
+        esp_rom_delay_us(10*1000);
+        if (cur_interval == NUM_INTERVALS) {
+            printf("done\n");
+            xSemaphoreGive(done);
+        }
+    };
+
+    ESPTimer timer(timer_cb, "timer1");
+    RefClock ref_clock;
+    t_start = ref_clock_get();
+    done = xSemaphoreCreateBinary();
+    timer.start_periodic(chrono::microseconds(DELAY_MS * 1000));
+
+    TEST_ASSERT(xSemaphoreTake(done, DELAY_MS * NUM_INTERVALS * 2));
+    timer.stop();
+
+    TEST_ASSERT_EQUAL_UINT32(NUM_INTERVALS, cur_interval);
+    for (size_t i = 0; i < NUM_INTERVALS; ++i) {
+        TEST_ASSERT_INT32_WITHIN(portTICK_PERIOD_MS, (i + 1) * DELAY_MS, intervals[i]);
+    }
+    TEST_ESP_OK(esp_timer_dump(stdout));
+
+    vSemaphoreDelete(done);
+#undef NUM_INTERVALS
+}
+
+#endif // __cpp_exceptions