[ext] Add modm:etl module

Co-authored-by: Niklas Hauser <[email protected]>

.gitmodules

@@ -34,3 +34,6 @@
 [submodule "ext/lvgl/lvgl"]
 	path = ext/lvgl/lvgl
 	url = https://github.com/modm-ext/lvgl-partial.git
+[submodule "ext/etlcpp/etl"]
+	path = ext/etlcpp/etl
+	url = https://github.com/modm-ext/etl-partial.git

README.md

@@ -69,6 +69,7 @@ git clone --recurse-submodules --jobs 8 https://github.com/modm-io/modm.git
 - Integration of useful third-party software:
 	- [FreeRTOS][] and [FreeRTOS+TCP][].
 	- [CMSIS][] and [CMSIS-DSP][].
+	- [ETL][].
 	- [TinyUSB][].
 	- [FatFS][].
 	- [ROSserial][].
@@ -766,6 +767,7 @@ and [many more contributors][contributors].
 [CMSIS]:           https://www.keil.com/pack/doc/CMSIS/General/html/index.html
 [CMSIS-DSP]:       https://www.keil.com/pack/doc/CMSIS/DSP/html/index.html
 [TinyUSB]:         https://github.com/hathach/tinyusb
+[ETL]:             https://www.etlcpp.com
 [FatFS]:           http://elm-chan.org/fsw/ff/00index_e.html
 [ROSserial]:       https://wiki.ros.org/rosserial
 [CrashCatcher]:    https://github.com/adamgreen/CrashCatcher

ext/etlcpp/error_handler.h

@@ -0,0 +1,68 @@
+/******************************************************************************
+The MIT License(MIT)
+
+Embedded Template Library.
+https://github.com/ETLCPP/etl
+https://www.etlcpp.com
+
+Copyright(c) 2021 Niklas Hauser
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files(the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions :
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+******************************************************************************/
+
+#ifndef ETL_ERROR_HANDLER_EXTERNAL_INCLUDED
+#define ETL_ERROR_HANDLER_EXTERNAL_INCLUDED
+
+/* Include the original header from ETL */
+#include "error_handler_internal.h"
+
+/* Only redefine errors if necessary */
+#if !defined(ETL_NO_CHECKS) && !defined(ETL_THROW_EXCEPTIONS) && !defined(ETL_LOG_ERRORS)
+
+/* Undefine the error handlers */
+#undef ETL_ASSERT
+#undef ETL_ASSERT_AND_RETURN
+#undef ETL_ASSERT_AND_RETURN_VALUE
+#undef ETL_ALWAYS_ASSERT
+#undef ETL_ALWAYS_ASSERT_AND_RETURN
+#undef ETL_ALWAYS_ASSERT_AND_RETURN_VALUE
+#undef ETL_ERROR
+
+/* Define the error handlers to use modm_assert */
+#include <modm/architecture/interface/assert.h>
+
+#define ETL_ASSERT(b, e)                         {         modm_assert((b), "etl", (e)); }
+#define ETL_ASSERT_AND_RETURN(b, e)              { if (not modm_assert_continue_ignore((b), "etl", (e))) return; }
+#define ETL_ASSERT_AND_RETURN_VALUE(b, e, v)     { if (not modm_assert_continue_ignore((b), "etl", (e))) return (v); }
+
+#define ETL_ALWAYS_ASSERT(e)                     ETL_ASSERT(false, e)
+#define ETL_ALWAYS_ASSERT_AND_RETURN(e)          ETL_ASSERT_AND_RETURN(false, e)
+#define ETL_ALWAYS_ASSERT_AND_RETURN_VALUE(e, v) ETL_ASSERT_AND_RETURN_VALUE(false, e, v)
+
+#include <modm/architecture/utils.hpp>
+
+#if defined(ETL_VERBOSE_ERRORS)
+  #define ETL_ERROR(e) (__FILE__ ":" MODM_STRINGIFY(__LINE__) " -> \"" MODM_STRINGIFY(e) "\"")
+#else
+  #define ETL_ERROR(e) (MODM_STRINGIFY(__LINE__) " -> \"" MODM_STRINGIFY(e) "\"")
+#endif
+
+#endif /* ETL_NO_CHECKS */
+
+#endif /* ETL_ERROR_HANDLER_EXTERNAL_INCLUDED */

ext/etlcpp/module.lb

@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright (c) 2021, Raphael Lehmann
+# Copyright (c) 2021, Niklas Hauser
+#
+# This file is part of the modm project.
+#
+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at http://mozilla.org/MPL/2.0/.
+# -----------------------------------------------------------------------------
+
+def init(module):
+    module.name = ":etl"
+    module.description = """
+# Embedded Template Library (ETL)
+
+ETL is a MIT licensed template library which augments the STL with embedded
+friendly containers and algorithms.
+
+- https://www.etlcpp.com/
+- https://github.com/ETLCPP/etl
+
+
+## Configuration
+
+This module pre-configures ETL by adding these macros:
+
+- `ETL_TARGET_OS_FREERTOS`: if built together with the `modm:freertos` module.
+
+To add your own configuration you can [create a `<etl_profile.h>` file][config]
+which will automatically be included by ETL.
+
+
+## Debugging ETL
+
+This module reroutes ETLs assertions to `modm_assert` but only for the default
+configuration. Defining any of `ETL_NO_CHECKS`, `ETL_THROW_EXCEPTIONS` or
+`ETL_LOG_ERRORS` will use original ETL mechanism.
+
+Make sure you have implemented the `modm_abandon` handler! See the
+`modm:architecture:assert` module for details.
+
+An ETL assertion failure in release mode is fairly cryptic:
+
+```
+Assertion 'etl' failed!
+Abandoning...
+```
+
+If you run this again in debug mode, you'll note a much more detailed assertion
+description:
+
+```
+Assertion 'etl' failed!
+  modm/ext/etl/etl/ipool.h:369 -> "pool_no_allocation"
+Abandoning...
+```
+
+[config]: https://www.etlcpp.com/setup.html
+"""
+
+def prepare(module, options):
+    module.depends(":architecture:assert")
+    return True
+
+def build(env):
+    env.collect(":build:path.include", "modm/ext/etl")
+    env.outbasepath = "modm/ext/etl"
+    env.substitutions = {"with_freertos": env.has_module(":freertos")}
+
+    # Ignore the preconfigured profiles (but keep determine_ headers)
+    env.copy("etl/include/etl/", dest="etl/", ignore=env.ignore_paths(
+             "*/etl/include/etl/profiles/[a-ce-z]*", "*/doxygen.h",
+             "*/error_handler.h", "*/platform.h"))
+    # Rename the original header files
+    env.copy("etl/include/etl/error_handler.h", dest="etl/error_handler_internal.h")
+    env.copy("etl/include/etl/platform.h", dest="etl/platform_internal.h")
+    # So that we can replace them with ours but not need to reproduce them
+    env.copy("error_handler.h", dest="etl/error_handler.h")
+    env.template("platform.h.in", dest="etl/platform.h")

ext/etlcpp/platform.h.in

@@ -0,0 +1,45 @@
+/******************************************************************************
+The MIT License(MIT)
+
+Embedded Template Library.
+https://github.com/ETLCPP/etl
+https://www.etlcpp.com
+
+Copyright(c) 2021 Niklas Hauser
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files(the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions :
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+******************************************************************************/
+
+#ifndef ETL_PLATFORM_EXTERNAL_INCLUDED
+#define ETL_PLATFORM_EXTERNAL_INCLUDED
+
+/* Map modm's debug macro to ETL's debug macro */
+#ifdef MODM_DEBUG_BUILD
+#define ETL_DEBUG
+#define ETL_VERBOSE_ERRORS
+#endif
+
+/* Default modm settings */
+%% if with_freertos
+#define ETL_TARGET_OS_FREERTOS
+%% endif
+
+#include "platform_internal.h"
+
+#endif /* ETL_PLATFORM_EXTERNAL_INCLUDED */