keira: add Lua garbage collection

keira: add buzzer sounds to asteroids
lib: allocate images in PSRAM
buzzer: fix deadlocks

firmware/keira/sdcard/asteroids/asteroids.lua

@@ -68,6 +68,67 @@ end
 PRESS_START = resources.load_image(ROOT .. "press_start.bmp")
 YOU_ARE_DEAD = resources.load_image(ROOT .. "game_over.bmp")
 
+-- Buzzer sound for shooting.
+-- First element of each item is frequency, second is note size.
+SHOOT_SOUND = {
+    {880, 8},
+    {784, 8},
+    {698, 8},
+    {659, 8},
+    {587, 8},
+    {523, 8},
+    {440, 8},
+    {392, 8},
+    {349, 8},
+    {330, 8},
+    {294, 8},
+    {262, 8},
+}
+
+BOOM_SOUND = {
+    { 440, 8 },
+    { 392, 8 },
+    { 349, 8 },
+    { 330, 8 },
+    { 294, 8 },
+    { 262, 8 },
+    { 220, 8 },
+    { 196, 8 },
+    { 175, 8 },
+    { 165, 8 },
+    { 147, 8 },
+    { 131, 8 },
+    { 123, 8 },
+    { 110, 8 },
+    { 98, 8 },
+    { 88, 8 },
+}
+
+-- Low-pitch (100-200 Hz) noise.
+DEATH_SOUND = {
+    { 200, 8 },
+    { 100, 8 },
+    { 150, 8 },
+    { 200, 8 },
+    { 100, 8 },
+    { 150, 8 },
+    { 100, 8 },
+    { 150, 8 },
+    { 100, 8 },
+    { 150, 8 },
+    { 50, 8 },
+    { 100, 8 },
+    { 50, 8 },
+    { 100, 8 },
+    { 50, 8 },
+    { 100, 8 },
+    { 50, 8 },
+    { 100, 8 },
+    { 50, 8 },
+    { 100, 8 },
+    { 50, 8 },
+}
+
 -------------------------------------------------------------------------------
 -- Ігрові класи
 -------------------------------------------------------------------------------
@@ -397,6 +458,7 @@ function lilka.update(delta)
                 bullet.speed_x = ship.speed_x / 2 + display.width * dir_x
                 bullet.speed_y = ship.speed_y / 2 + display.width * dir_y
                 table.insert(bullets, bullet)
+                buzzer.play_melody(SHOOT_SOUND, 400)
             end
 
             -- Вихід з гри
@@ -443,6 +505,7 @@ function lilka.update(delta)
                         -- Якщо куля влучила в астероїд, то вони обидвоє вмирають
                         asteroid:kill()
                         bullet:kill()
+                        buzzer.play_melody(BOOM_SOUND, 400)
                     end
                 end
                 if math.dist(asteroid.x, asteroid.y, ship.x, ship.y) < (asteroid.sprite.width / 3 + ship.width / 2) then
@@ -452,6 +515,7 @@ function lilka.update(delta)
                         asteroid:kill()
                         ship:kill()
                         game_state = STATES.GAME_OVER
+                        buzzer.play_melody(DEATH_SOUND, 400)
                     end
                 end
             end

firmware/keira/src/app.cpp

@@ -21,7 +21,7 @@ App::App(const char* name, uint16_t x, uint16_t y, uint16_t w, uint16_t h) : nam
 
 void App::start() {
     Serial.println("Starting app " + String(name));
-    xTaskCreate(_run, name, 32768, this, 1, &taskHandle);
+    xTaskCreate(_run, name, 8192, this, 1, &taskHandle);
 }
 
 void App::_run(void* data) {

firmware/keira/src/apps/lua/lualilka_buzzer.cpp

@@ -0,0 +1,66 @@
+#include <csetjmp>
+
+#include "lualilka_buzzer.h"
+
+extern jmp_buf stopjmp;
+
+int lualilka_buzzer_play(lua_State* L) {
+    // Takes 1 or 2 args: frequency or frequency and duration
+    int n = lua_gettop(L);
+    if (n < 1 || n > 2) {
+        return luaL_error(L, "Очікується 1 або 2 аргументи, отримано %d", n);
+    }
+    int freq = luaL_checkinteger(L, 1);
+    if (n == 1) {
+        lilka::buzzer.play(freq);
+    } else {
+        int duration = luaL_checkinteger(L, 2);
+        lilka::buzzer.play(freq, duration);
+    }
+    return 0;
+}
+
+int lualilka_buzzer_playMelody(lua_State* L) {
+    // Takes 2 arg: table of tones and tempo. Each tone is a table of 2 elements: frequency and duration
+    // Convert them to array of arrays
+    int n = lua_gettop(L);
+    if (n != 2) {
+        return luaL_error(L, "Очікується 2 аргументи, отримано %d", n);
+    }
+    luaL_checktype(L, 1, LUA_TTABLE);
+    luaL_checktype(L, 2, LUA_TNUMBER);
+    int size = luaL_len(L, 1);
+    int tempo = luaL_checkinteger(L, 2);
+    lilka::Tone melody[size];
+    for (int i = 0; i < size; i++) {
+        lua_geti(L, 1, i + 1);
+        luaL_checktype(L, -1, LUA_TTABLE);
+        lua_rawgeti(L, -1, 1);
+        lua_rawgeti(L, -2, 2);
+        melody[i].frequency = luaL_checkinteger(L, -2);
+        melody[i].size = luaL_checkinteger(L, -1);
+        lua_pop(L, 3);
+    }
+    lua_pop(L, 2);
+    lilka::buzzer.playMelody(melody, size, tempo);
+    return 0;
+}
+
+int lualilka_buzzer_stop(lua_State* L) {
+    lilka::buzzer.stop();
+    return 0;
+}
+
+static const luaL_Reg lualilka_buzzer[] = {
+    {"play", lualilka_buzzer_play},
+    {"play_melody", lualilka_buzzer_playMelody},
+    {"stop", lualilka_buzzer_stop},
+    {NULL, NULL},
+};
+
+int lualilka_buzzer_register(lua_State* L) {
+    // Create global "buzzer" table that contains all buzzer functions
+    luaL_newlib(L, lualilka_buzzer);
+    lua_setglobal(L, "buzzer");
+    return 0;
+}

firmware/keira/src/apps/lua/lualilka_buzzer.h

@@ -0,0 +1,6 @@
+#pragma once
+
+#include <lua.hpp>
+#include <lilka.h>
+
+int lualilka_buzzer_register(lua_State* L);

firmware/keira/src/apps/lua/lualilka_display.cpp

@@ -4,6 +4,7 @@
 Arduino_GFX* getDrawable(lua_State* L) {
     lua_getfield(L, LUA_REGISTRYINDEX, "app");
     const App* app = static_cast<App*>(lua_touserdata(L, -1));
+    lua_pop(L, 1);
     return app->canvas;
 }
 

firmware/keira/src/apps/lua/luarunner.cpp

@@ -13,6 +13,7 @@
 #include "lualilka_geometry.h"
 #include "lualilka_gpio.h"
 #include "lualilka_util.h"
+#include "lualilka_buzzer.h"
 #include "lualilka_state.h"
 
 jmp_buf stopjmp;
@@ -30,7 +31,7 @@ bool pushLilka(lua_State* L) {
 
 bool callInit(lua_State* L) {
     // Calls the "init" function of the "lilka" table.
-    // Returns false if the function doesn't exist and pops "lilka" from the stack.
+    // Returns false if the function doesn't exist. Keeps "lilka" on the stack.
     lua_getfield(L, -1, "init");
     if (!lua_isfunction(L, -1)) {
         lua_pop(L, 1);
@@ -53,7 +54,7 @@ bool callUpdate(lua_State* L, uint32_t delta) {
     // Returns false if the function doesn't exist and pops "lilka" from the stack.
     lua_getfield(L, -1, "update");
     if (!lua_isfunction(L, -1)) {
-        lua_pop(L, 1);
+        lua_pop(L, 2);
         return false;
     }
     lua_pushnumber(L, ((float)delta) / 1000.0);
@@ -75,7 +76,7 @@ bool callDraw(lua_State* L) {
     // Returns false if the function doesn't exist and pops "lilka" from the stack.
     lua_getfield(L, -1, "draw");
     if (!lua_isfunction(L, -1)) {
-        lua_pop(L, 1);
+        lua_pop(L, 2);
         return false;
     }
     int retCode = lua_pcall(L, 0, 0, 0);
@@ -133,6 +134,7 @@ void AbstractLuaRunnerApp::luaSetup(const char* dir) {
     lualilka_geometry_register(L);
     lualilka_gpio_register(L);
     lualilka_util_register(L);
+    lualilka_buzzer_register(L);
 
     // lilka::serial_log("lua: init canvas");
     // lilka::Canvas* canvas = new lilka::Canvas();
@@ -224,9 +226,12 @@ int AbstractLuaRunnerApp::execute() {
             lua_pop(L, 1);
             queueDraw();
 
+            lua_gc(L, LUA_GCCOLLECT, 0); // TODO: Use LUA_GCSTEP?
+
             // display.renderCanvas(canvas);
 
-            // Calculate time spent in update
+            // Calculate time spent in update & gargage collection
+            // TODO: Split time spent in update, time spent in draw, time spent in GC?
             uint32_t elapsed = millis() - now;
             // If we're too fast, delay to keep 30 FPS
             if (elapsed < perfectDelta) {
@@ -467,6 +472,7 @@ void LuaReplApp::run() {
         }
 
         int retCode = luaL_loadstring(L, input.c_str()) || execute();
+        lua_gc(L, LUA_GCCOLLECT, 0); // TODO: Use LUA_GCSTEP?
 
         if (retCode) {
             const char* err = lua_tostring(L, -1);

sdk/lib/lilka/src/lilka/buzzer.cpp

@@ -20,6 +20,7 @@ void Buzzer::begin() {
     serial_err("Buzzer is not supported on this board");
     return;
 #else
+    _stop();
     pinMode(LILKA_BUZZER, OUTPUT);
 #endif
 }
@@ -55,17 +56,24 @@ void Buzzer::playMelody(const Tone* melody, uint32_t length, uint32_t tempo) {
     xSemaphoreTake(buzzerMutex, portMAX_DELAY);
     _stop();
     currentMelody = static_cast<Tone*>(realloc(currentMelody, length * sizeof(Tone)));
+    // delete[] currentMelody;
+    // currentMelody = new Tone[length];
     memcpy(currentMelody, melody, length * sizeof(Tone));
     currentMelodyLength = length;
     currentMelodyTempo = tempo;
-    xTaskCreate(melodyTask, "melodyTask", 2048, this, 1, &melodyTaskHandle);
+    // Serial.println("Melody task starting, length: " + String(length) + ", tempo: " + String(tempo) + ", first note frequency: " + String(melody[0].frequency));
+    if (xTaskCreate(melodyTask, "melodyTask", 2048, this, 1, &melodyTaskHandle) != pdPASS) {
+        serial_err("Failed to create melody task (not enough memory?)");
+    }
     xSemaphoreGive(buzzerMutex);
 #endif
 }
 
 void Buzzer::melodyTask(void* arg) {
     Buzzer* buzzer = static_cast<Buzzer*>(arg);
+    // Serial.println("Melody task started");
     for (uint32_t i = 0; i < buzzer->currentMelodyLength; i++) {
+        // Serial.println("Playing note " + String(i) + " with frequency " + String(buzzer->currentMelody[i].frequency));
         xSemaphoreTake(buzzer->buzzerMutex, portMAX_DELAY);
         Tone currentTone = buzzer->currentMelody[i];
         if (currentTone.size == 0) {
@@ -82,11 +90,9 @@ void Buzzer::melodyTask(void* arg) {
         }
         xSemaphoreGive(buzzer->buzzerMutex);
         vTaskDelay(duration / portTICK_PERIOD_MS);
-        if (i == buzzer->currentMelodyLength - 1) {
-            noTone(LILKA_BUZZER);
-        }
     }
-    buzzer->stop();
+    noTone(LILKA_BUZZER);
+    vTaskSuspend(NULL);
 }
 
 void Buzzer::stop() {
@@ -100,11 +106,15 @@ void Buzzer::stop() {
 }
 
 void Buzzer::_stop() {
-    if (melodyTaskHandle != NULL) {
-        vTaskDelete(melodyTaskHandle);
+    // TODO: This is not thread-safe
+    noTone(LILKA_BUZZER);
+    TaskHandle_t handle = melodyTaskHandle;
+    if (handle != NULL) {
         melodyTaskHandle = NULL;
+        // This can be called from within the task,
+        // so we postpone the deletion of the task till the end of the function to avoid a deadlock
+        vTaskDelete(handle);
     }
-    noTone(LILKA_BUZZER);
 }
 
 void Buzzer::playDoom() {

sdk/lib/lilka/src/lilka/display.cpp

@@ -160,7 +160,8 @@ int16_t Canvas::y() {
 
 Image::Image(uint32_t width, uint32_t height, int32_t transparentColor) :
     width(width), height(height), transparentColor(transparentColor) {
-    pixels = new uint16_t[width * height];
+    // Allocate pixels in PSRAM
+    pixels = static_cast<uint16_t*>(ps_malloc(width * height * sizeof(uint16_t)));
 }
 
 Image::~Image() {