[microTVM] Project API Arduino support (apache#8708)

* ProjectAPI Arduino support

* Compile and run integration tests

* Add support for other Arduino boards

* Unit tests for project generation

* AOT support

* Arduino RPC server

* Incorporate ProjectAPI changes

Add Arduino tests to CI

* Copyright notices

* Fix Andrew's PR comments

* Additional PR comments

PR comments and Python 3.6 support

Linting fix

Re-add test onnx file

Test Arduino cli bug workaround

Support new hardware targets

Temporary fix for tests

Formatting issue

Spelling fix

Add test case for exact FQBN matching

* Add unit tests from apps directory to task_python_microtvm.sh

apps/microtvm/arduino/example_project/project.ino

@@ -0,0 +1,30 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements.  See the NOTICE file
+ * distributed with this work for additional information
+ * regarding copyright ownership.  The ASF licenses this file
+ * to you 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 "src/model.h"
+
+void setup() {
+  TVMInitialize();
+  // If desired, initialize the RNG with random noise
+  // randomSeed(analogRead(0));
+}
+
+void loop() {
+  //TVMExecute(input_data, output_data);
+}

apps/microtvm/arduino/example_project/src/model.c

@@ -0,0 +1,94 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements.  See the NOTICE file
+ * distributed with this work for additional information
+ * regarding copyright ownership.  The ASF licenses this file
+ * to you 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 "model.h"
+
+#include "Arduino.h"
+#include "standalone_crt/include/tvm/runtime/crt/internal/aot_executor/aot_executor.h"
+#include "standalone_crt/include/tvm/runtime/crt/stack_allocator.h"
+
+// AOT memory array
+static uint8_t g_aot_memory[WORKSPACE_SIZE];
+extern tvm_model_t tvmgen_default_network;
+tvm_workspace_t app_workspace;
+
+// Blink code for debugging purposes
+void TVMPlatformAbort(tvm_crt_error_t error) {
+  TVMLogf("TVMPlatformAbort: 0x%08x\n", error);
+  for (;;) {
+#ifdef LED_BUILTIN
+    digitalWrite(LED_BUILTIN, HIGH);
+    delay(250);
+    digitalWrite(LED_BUILTIN, LOW);
+    delay(250);
+    digitalWrite(LED_BUILTIN, HIGH);
+    delay(250);
+    digitalWrite(LED_BUILTIN, LOW);
+    delay(750);
+#endif
+  }
+}
+
+void TVMLogf(const char* msg, ...) {}
+
+tvm_crt_error_t TVMPlatformMemoryAllocate(size_t num_bytes, DLDevice dev, void** out_ptr) {
+  return StackMemoryManager_Allocate(&app_workspace, num_bytes, out_ptr);
+}
+
+tvm_crt_error_t TVMPlatformMemoryFree(void* ptr, DLDevice dev) {
+  return StackMemoryManager_Free(&app_workspace, ptr);
+}
+
+unsigned long g_utvm_start_time_micros;
+int g_utvm_timer_running = 0;
+
+tvm_crt_error_t TVMPlatformTimerStart() {
+  if (g_utvm_timer_running) {
+    return kTvmErrorPlatformTimerBadState;
+  }
+  g_utvm_timer_running = 1;
+  g_utvm_start_time_micros = micros();
+  return kTvmErrorNoError;
+}
+
+tvm_crt_error_t TVMPlatformTimerStop(double* elapsed_time_seconds) {
+  if (!g_utvm_timer_running) {
+    return kTvmErrorPlatformTimerBadState;
+  }
+  g_utvm_timer_running = 0;
+  unsigned long g_utvm_stop_time = micros() - g_utvm_start_time_micros;
+  *elapsed_time_seconds = ((double)g_utvm_stop_time) / 1e6;
+  return kTvmErrorNoError;
+}
+
+tvm_crt_error_t TVMPlatformGenerateRandom(uint8_t* buffer, size_t num_bytes) {
+  for (size_t i = 0; i < num_bytes; i++) {
+    buffer[i] = rand();
+  }
+  return kTvmErrorNoError;
+}
+
+void TVMInitialize() { StackMemoryManager_Init(&app_workspace, g_aot_memory, WORKSPACE_SIZE); }
+
+void TVMExecute(void* input_data, void* output_data) {
+  int ret_val = tvmgen_default_run_model(input_data, output_data);
+  if (ret_val != 0) {
+    TVMPlatformAbort(kTvmErrorPlatformCheckFailure);
+  }
+}

apps/microtvm/arduino/example_project/src/model.h

@@ -0,0 +1,40 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements.  See the NOTICE file
+ * distributed with this work for additional information
+ * regarding copyright ownership.  The ASF licenses this file
+ * to you 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.
+ */
+
+#define WORKSPACE_SIZE $workspace_size_bytes
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void TVMInitialize();
+
+/* TODO template this function signature with the input and output
+ * data types and sizes. For example:
+ *
+ * void TVMExecute(uint8_t input_data[9216], uint8_t output_data[3]);
+ *
+ * Note this can only be done once MLF has JSON metadata describing
+ * inputs and outputs.
+ */
+void TVMExecute(void* input_data, void* output_data);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif

apps/microtvm/arduino/example_project/src/standalone_crt/crt_config/crt_config.h

@@ -0,0 +1,55 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements.  See the NOTICE file
+ * distributed with this work for additional information
+ * regarding copyright ownership.  The ASF licenses this file
+ * to you 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.
+ */
+
+/*!
+ * \brief CRT configuration for the host-linked CRT.
+ */
+#ifndef TVM_RUNTIME_MICRO_CRT_CONFIG_H_
+#define TVM_RUNTIME_MICRO_CRT_CONFIG_H_
+
+/*! Log level of the CRT runtime */
+#define TVM_CRT_LOG_LEVEL TVM_CRT_LOG_LEVEL_DEBUG
+
+/*! Support low-level debugging in MISRA-C runtime */
+#define TVM_CRT_DEBUG 0
+
+/*! Maximum supported dimension in NDArray */
+#define TVM_CRT_MAX_NDIM 6
+/*! Maximum supported arguments in generated functions */
+#define TVM_CRT_MAX_ARGS 10
+/*! Maximum supported string length in dltype, e.g. "int8", "int16", "float32" */
+#define TVM_CRT_MAX_STRLEN_DLTYPE 10
+/*! Maximum supported string length in function names */
+#define TVM_CRT_MAX_STRLEN_FUNCTION_NAME 80
+
+/*! Maximum number of registered modules. */
+#define TVM_CRT_MAX_REGISTERED_MODULES 2
+
+/*! Size of the global function registry, in bytes. */
+#define TVM_CRT_GLOBAL_FUNC_REGISTRY_SIZE_BYTES 512
+
+/*! Maximum packet size, in bytes, including the length header. */
+#define TVM_CRT_MAX_PACKET_SIZE_BYTES 8 * 1024
+
+/*! \brief Maximum length of a PackedFunc function name. */
+#define TVM_CRT_MAX_FUNCTION_NAME_LENGTH_BYTES 30
+
+// #define TVM_CRT_FRAMER_ENABLE_LOGS
+
+#endif  // TVM_RUNTIME_MICRO_CRT_CONFIG_H_

apps/microtvm/arduino/host_driven/project.ino

@@ -0,0 +1,53 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements.  See the NOTICE file
+ * distributed with this work for additional information
+ * regarding copyright ownership.  The ASF licenses this file
+ * to you 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 "src/standalone_crt/include/tvm/runtime/crt/microtvm_rpc_server.h"
+#include "src/standalone_crt/include/tvm/runtime/crt/logging.h"
+microtvm_rpc_server_t server;
+
+// Called by TVM to write serial data to the UART.
+ssize_t write_serial(void* unused_context, const uint8_t* data, size_t size) {
+  Serial.write(data, size);
+  return size;
+}
+
+void setup() {
+  server = MicroTVMRpcServerInit(write_serial, NULL);
+  TVMLogf("microTVM Arduino runtime - running");
+  Serial.begin(115200);
+
+  // If desired, initialize the RNG with random noise
+  // randomSeed(analogRead(0));
+}
+
+void loop() {
+  // Read at most 128 bytes at a time to prevent stack blowup
+  int to_read = min(Serial.available(), 128);
+
+  uint8_t data[to_read];
+  size_t bytes_remaining = Serial.readBytes((char*) data, to_read);
+  uint8_t* arr_ptr = data;
+  while (bytes_remaining > 0) {
+    // Pass the received bytes to the RPC server.
+    tvm_crt_error_t err = MicroTVMRpcServerLoop(server, &arr_ptr, &bytes_remaining);
+    if (err != kTvmErrorNoError && err != kTvmErrorFramingShortPacket) {
+      TVMPlatformAbort(err);
+    }
+  }
+}

apps/microtvm/arduino/host_driven/src/model_support.c

@@ -0,0 +1,75 @@
+/*
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements.  See the NOTICE file
+ * distributed with this work for additional information
+ * regarding copyright ownership.  The ASF licenses this file
+ * to you 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 "standalone_crt/include/tvm/runtime/crt/internal/aot_executor/aot_executor.h"
+#include "stdarg.h"
+
+// Blink code for debugging purposes
+void TVMPlatformAbort(tvm_crt_error_t error) {
+  TVMLogf("TVMPlatformAbort: 0x%08x\n", error);
+  for (;;)
+    ;
+}
+
+size_t TVMPlatformFormatMessage(char* out_buf, size_t out_buf_size_bytes, const char* fmt,
+                                va_list args) {
+  return vsnprintf(out_buf, out_buf_size_bytes, fmt, args);
+}
+
+tvm_crt_error_t TVMPlatformMemoryAllocate(size_t num_bytes, DLDevice dev, void** out_ptr) {
+  if (num_bytes == 0) {
+    num_bytes = sizeof(int);
+  }
+  *out_ptr = malloc(num_bytes);
+  return (*out_ptr == NULL) ? kTvmErrorPlatformNoMemory : kTvmErrorNoError;
+}
+
+tvm_crt_error_t TVMPlatformMemoryFree(void* ptr, DLDevice dev) {
+  free(ptr);
+  return kTvmErrorNoError;
+}
+
+unsigned long g_utvm_start_time_micros;
+int g_utvm_timer_running = 0;
+
+tvm_crt_error_t TVMPlatformTimerStart() {
+  if (g_utvm_timer_running) {
+    return kTvmErrorPlatformTimerBadState;
+  }
+  g_utvm_timer_running = 1;
+  g_utvm_start_time_micros = micros();
+  return kTvmErrorNoError;
+}
+
+tvm_crt_error_t TVMPlatformTimerStop(double* elapsed_time_seconds) {
+  if (!g_utvm_timer_running) {
+    return kTvmErrorPlatformTimerBadState;
+  }
+  g_utvm_timer_running = 0;
+  unsigned long g_utvm_stop_time = micros() - g_utvm_start_time_micros;
+  *elapsed_time_seconds = ((double)g_utvm_stop_time) / 1e6;
+  return kTvmErrorNoError;
+}
+
+tvm_crt_error_t TVMPlatformGenerateRandom(uint8_t* buffer, size_t num_bytes) {
+  for (size_t i = 0; i < num_bytes; i++) {
+    buffer[i] = rand();
+  }
+  return kTvmErrorNoError;
+}