modules: chre

include/zephyr/arch/structs.h

@@ -31,6 +31,12 @@
 
 /* Per CPU architecture specifics (empty) */
 struct _cpu_arch {
+#ifdef __cplusplus
+	/* This struct will have a size 0 in C which is not allowed in C++ (it'll have a size 1). To
+	 * prevent this, we add a 1 byte dummy variable.
+	 */
+	uint8_t dummy;
+#endif
 };
 
 #endif

include/zephyr/kernel/thread.h

@@ -208,6 +208,15 @@ typedef struct k_thread_runtime_stats {
 
 	uint64_t idle_cycles;
 #endif
+
+#if __cplusplus && !defined(CONFIG_SCHED_THREAD_USAGE) &&                                          \
+	!defined(CONFIG_SCHED_THREAD_USAGE_ANALYSIS) && !defined(CONFIG_SCHED_THREAD_USAGE_ALL)
+	/* If none of the above Kconfig values are defined, this struct will have a size 0 in C
+	 * which is not allowed in C++ (it'll have a size 1). To prevent this, we add a 1 byte dummy
+	 * variable when the struct would otherwise be empty.
+	 */
+	uint8_t dummy;
+#endif
 }  k_thread_runtime_stats_t;
 
 struct z_poller {

modules/Kconfig

@@ -84,6 +84,9 @@ comment "FFF module not available."
 comment "zcbor module not available."
 	depends on !ZEPHYR_ZCBOR_MODULE
 
+comment "CHRE module not available."
+	depends on !ZEPHYR_CHRE_MODULE
+
 # This ensures that symbols are available in Kconfig for dependency checking
 # and referencing, while keeping the settings themselves unavailable when the
 # modules are not present in the workspace

samples/modules/chre/CMakeLists.txt

@@ -0,0 +1,11 @@
+# Copyright (c) Google LLC
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(chre_sample)
+
+FILE(GLOB app_sources src/*.cpp)
+target_sources(app PRIVATE ${app_sources})
+target_include_directories(app PRIVATE include)

samples/modules/chre/README.rst

@@ -0,0 +1,69 @@
+Android's Context Hub Runtime Environment (CHRE)
+################################################
+
+Android's context hub enables the use of nanoapps. A single nanoapp has 3 entry points seen in
+`chre_api/chre/nanoapp.h`_:
+
+* A ``nanoappStart`` function used to notify the nanoapp that it is now active.
+* A ``nanoappHandleEvent`` function used to notify the nanoapp tha an event of interest took place.
+* A ``nanoappEnd`` function used to notify the nanoapp that it is now deactivated.
+
+The CHRE connects to several frameworks called Platform Abstraction Layers (PAL)s. Note that
+currently, none of these are implemented for Zephyr, but they are scheduled to be added. These
+frameworks include:
+
+#. *Audio* - a framework allowing nanoapps to get audio events. See `pal/audio.h`_ for API details.
+#. *GNSS* - a framework allowing nanoapps to manage location and measurement sessions. See
+   `pal/gnss.h`_ for API details.
+#. *Sensor* - a framework allowing nanoapps to request changes to sensors configuration get
+   data/bias events. See `pal/sensor.h`_ for API details.
+#. *System* - a framework allowing nanoapps to make common system requests such as logging, clock,
+   and some basic memory allocation/deallocation. See `pal/system.h`_ for API details.
+#. *WiFi* - a framework allowing nanoapps to interact with the on board WiFi. See `pal/wifi.h`_ for
+   API details.
+#. *WWAN* - a framework allowing nanoapps to interact with the WWAN module such as getting the
+   current capabilities and info. See `pal/wwan.h`_ for API details.
+
+Building and expectations
+=========================
+
+To build the sample use the following west command:
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/modules/chre
+   :board: native_posix
+   :goals: build
+
+Once built and run, the sample application should:
+
+#. Print a hello message
+#. Notify that the event loop started via an ``inf`` level log
+#. Notify that a nanoapp was started and assigned an instance/app ID of 1 via a ``dbg`` level log
+#. Print a message saying that the nanoapp's start callback was called
+#. Send an event of type ``1`` and no data to the nanoapp
+#. Notify that the event was processed
+#. Call the ``nanoappEnd`` function of the nanoapp
+#. Print a message notifying that it's not possible to remove a system level nanoapp
+#. Exit the event loop
+
+Roadmap
+=======
+
+#. Add an implementation of the `pal/sensor.h`_ and `pal/system.h`_ to Zephyr. These will be
+   standalone modules that can be used independently of CHRE, but when ``CONFIG_CHRE`` is enabled
+   will also provide an implementation of ``chrePalSensorGetApi()`` and ``struct chrePalSystemApi``.
+#. Add a directory ``chre/nanoapps`` which will host various nanoapps to be used by the Zephyr
+   community. These should each have their own Kconfig to enable them and set the appropriate
+   dependencies. The first nanoapp will be a lid angle calculator which will use 2 accelerometers.
+#. Update the ``overlay.dts`` of this sample application to include 2 emulated accelerometers and
+   configure them to return scripted data.
+#. Run this sample application and watch the nanoapp provide lid angle calculations based on 2
+   accelerometers provided by the sensors PAL framework.
+
+.. _`chre_api/chre/nanoapp.h`: https://cs.android.com/android/platform/superproject/+/master:system/chre/chre_api/include/chre_api/chre/nanoapp.h;drc=7c60a553288d63e6e3370d679803da46dac723a4
+.. _`pal/audio.h`: https://cs.android.com/android/platform/superproject/+/master:system/chre/pal/include/chre/pal/audio.h;l=69;drc=6ca547ad175f80ce9f09f5b7b14fcc6f14565f5c
+.. _`pal/gnss.h`: https://cs.android.com/android/platform/superproject/+/master:system/chre/pal/include/chre/pal/gnss.h;l=152;drc=830255234157cc7afe5201dca19a7fb71ea850fe
+.. _`pal/sensor.h`: https://cs.android.com/android/platform/superproject/+/master:system/chre/pal/include/chre/pal/sensor.h;l=51;drc=23207906add05054a94dfab41b95bcfc39bedfe4
+.. _`pal/system.h`: https://cs.android.com/android/platform/superproject/+/master:system/chre/pal/include/chre/pal/system.h;l=49;drc=6ca547ad175f80ce9f09f5b7b14fcc6f14565f5c
+.. _`pal/wifi.h`: https://cs.android.com/android/platform/superproject/+/master:system/chre/pal/include/chre/pal/wifi.h;l=153;drc=b673b80ed98e1b6e6360bee4ba98e2cd8f4e0935
+.. _`pal/wwan.h`: https://cs.android.com/android/platform/superproject/+/master:system/chre/pal/include/chre/pal/wwan.h;l=69;drc=629361a803cb305c8575b41614e6e071e7141a03

samples/modules/chre/include/apps.hpp

@@ -0,0 +1,17 @@
+/* Copyright (c) 2021 Google LLC
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef SAMPLES_APPLICATION_DEVELOPMENT_CHRE_INCLUDE_APPS_H_
+#define SAMPLES_APPLICATION_DEVELOPMENT_CHRE_INCLUDE_APPS_H_
+
+#include "chre/core/nanoapp.h"
+#include "chre/util/unique_ptr.h"
+
+namespace chre {
+
+UniquePtr<Nanoapp> initializeStaticNanoappEchoApp();
+
+}  /* namespace chre */
+
+#endif /* SAMPLES_APPLICATION_DEVELOPMENT_CHRE_INCLUDE_APPS_H_ */

samples/modules/chre/prj.conf

@@ -0,0 +1,7 @@
+CONFIG_CHRE=y
+CONFIG_LOG=y
+CONFIG_CHRE_LOG_LEVEL_DBG=y
+
+CONFIG_CPLUSPLUS=y
+CONFIG_STD_CPP17=y
+CONFIG_LIB_CPLUSPLUS=y

samples/modules/chre/sample.yaml

@@ -0,0 +1,23 @@
+sample:
+  description: A simple echo app using Android's Context Hub Runtime
+    Environment (CHRE).
+  name: chre
+tests:
+  sample.modules.chre:
+    tags: introduction
+    harness: console
+    harness_config:
+      type: multi_line
+      ordered: false
+      regex:
+      - "Hello CHRE!"
+      - "\\[.*\\] .*<inf> chre: EventLoop start.*"
+      - "\\[.*\\] .*<dbg> chre: startNanoapp: Instance ID 1 assigned to app ID 0x0000000000000001.*"
+      - "EchoApp::nanoappStart\\(\\)"
+      - "EchoApp::nanoappHandleEvent\\(sender_instance_id=0, event_type=1, event_data@\\(nil\\)\\)"
+      - "Event \\(1\\) complete!"
+      - "EchoApp::nanoappEnd\\(\\)"
+      - "\\[.*\\] .*<inf> chre: Exiting EventLoop.*"
+    integration_platforms:
+    - native_posix
+    filter: not CONFIG_MINIMAL_LIBC

samples/modules/chre/src/echoapp.cpp

@@ -0,0 +1,43 @@
+/* Copyright (c) 2021 Google LLC
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <cinttypes>
+#include <sys/printk.h>
+
+#include "chre_api/chre/event.h"
+#include "chre/core/event_loop_manager.h"
+#include "chre/platform/static_nanoapp_init.h"
+#include "chre/util/system/napp_permissions.h"
+
+namespace
+{
+constexpr const uint64_t kAppId = 1;
+constexpr const uint32_t kAppVersion = 1;
+
+chre::Nanoapp *nanoapp = nullptr;
+
+bool nanoappStart(void)
+{
+	printk("EchoApp::nanoappStart()\n");
+	nanoapp = chre::EventLoopManagerSingleton ::get()->getEventLoop().getCurrentNanoapp();
+	nanoapp->registerForBroadcastEvent(CHRE_EVENT_MESSAGE_FROM_HOST);
+	return true;
+}
+
+void nanoappHandleEvent(uint32_t sender_instance_id, uint16_t event_type, const void *event_data)
+{
+	printk("EchoApp::nanoappHandleEvent(sender_instance_id=%u, event_type=%u, event_data@%p)\n",
+	       sender_instance_id, event_type, event_data);
+}
+
+void nanoappEnd()
+{
+	nanoapp->unregisterForBroadcastEvent(0);
+	nanoapp = nullptr;
+	printk("EchoApp::nanoappEnd()\n");
+}
+
+} /* anonymous namespace */
+
+CHRE_STATIC_NANOAPP_INIT(EchoApp, kAppId, kAppVersion, chre::NanoappPermissions::CHRE_PERMS_NONE);

samples/modules/chre/src/main.cpp

@@ -0,0 +1,47 @@
+/* Copyright (c) 2021 Google LLC
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr.h>
+#include <sys/printk.h>
+
+#include "apps.hpp"
+#include "chre/core/event_loop_manager.h"
+#include "chre/target_platform/init.h"
+
+inline const char *boolToString(bool cond)
+{
+	return cond ? "SUCCESS" : "FAIL";
+}
+
+void main(void)
+{
+	auto echo_app = chre::initializeStaticNanoappEchoApp();
+	auto& eventLoop = chre::EventLoopManagerSingleton::get()->getEventLoop();
+	uint32_t instanceId;
+
+	if (chre::zephyr::init()) {
+		printk("Failed to initialize!\n");
+		return;
+	}
+
+	printk("Hello CHRE!\n");
+
+	k_msleep(500);
+	printk("Starting EchoApp... %s\n", boolToString(eventLoop.startNanoapp(echo_app)));
+	printk("Nanoapp count=%u\n", eventLoop.getNanoappCount());
+	printk("Finding instance ID... %s\n", boolToString(eventLoop.findNanoappInstanceIdByAppId(1, &instanceId)));
+	printk("Nanoapp count=%u\n", eventLoop.getNanoappCount());
+	printk("Instance ID: %u\n", instanceId);
+
+	printk("Sending event %u...\n", eventLoop.getNanoappCount());
+	eventLoop.postEventOrDie(CHRE_EVENT_MESSAGE_FROM_HOST, nullptr, [](uint16_t eventType, void *eventData) {
+		printk("Event (%u) complete!\n", eventType);
+	});
+
+	k_sleep(K_MSEC(500));
+	printk("Ending EchoApp... %s\n",
+	       boolToString(eventLoop.unloadNanoapp(instanceId, false)));
+	chre::zephyr::deinit();
+	printk("Goodbye!\n");
+}

west.yml

@@ -28,6 +28,9 @@ manifest:
     - name: canopennode
       revision: 53d3415c14d60f8f4bfca54bfbc5d5a667d7e724
       path: modules/lib/canopennode
+    - name: chre
+      revision: 0edfe2c2ec656afb910cfab8ed59a5ffd59b87c8
+      path: modules/lib/chre
     - name: civetweb
       revision: 094aeb41bb93e9199d24d665ee43e9e05d6d7b1c
       path: modules/lib/civetweb