rabbit-slide-hasumikin-RubyKaigi2025 2025.04.17.0

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+MicroRuby.md

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+# MicroRuby
+
+subtitle
+: True Microcontroller Ruby
+
+author
+:   hasumikin
+
+content-source
+:   RubyKaigi 2025
+
+date
+:   17th April 2025
+
+allotted-time
+:   30m
+
+theme
+:   theme
+
+# Three Proposals for RubyKaigi 2025
+
+- MicroRuby (this talk)
+- PicoRuby.wasm
+- Keyboard
+
+# Contents
+\\n
+{:.center}
+{::tag name="x-large"}Part1: DISCUSSION{:/tag}
+{::tag name="x-large"}Part2: IMPLEMENTATION{:/tag}
+{::tag name="x-large"}Part3: HARD WORK{:/tag}
+
+# Acknowledgement
+
+{:.center}
+\\n\\n
+This project is developed under the support of the Ruby Association Grant 2024 with Matz advisory
+
+# A Sequel of the Grant 2021
+![](images/ep2.png){:
+  relative_height="100"
+}
+
+# chapter
+
+Part1: DISCUSSION
+
+## properties
+hide-title
+:   true
+
+# mruby for Microcontroller
+- People make mruby(/c) applications with their embed-programming skills
+- But, no friendly microcontroller framework unlike MicroPython and PicoRuby (R2P2)
+
+{:.center}
+{::tag name="xx-large"}*Guess why?*{:/tag}
+
+# mruby for Microcontroller
+- Making a MicroPython-like ecosystem is hard
+- It requires skills of integrating Embedded systems and Ruby
+
+{:.center}
+{::tag name="xx-large"}*One Problem Found*{:/tag}
+
+# One Problem Found
+
+\\n
+
+```text
+"I'm clumsy and can't do electronics"
+```
+![](images/matz.jpg){: width="400" }
+
+# One Problem Found
+
+\\n
+
+```text
+🤔(Why he makes mruby then?)
+```
+![](images/hasumi.jpg){: width="400" }
+
+# One Problem Found
+
+\\n
+
+```text
+"Anyway, let me do it💪"
+```
+![](images/hasumi.jpg){: width="400" }
+
+# PicoRuby and MicroRuby👀
+```text
+|          | PicoRuby |    MicroRuby     |
+==========================================
+| Compiler |     picoruby-compiler       |
+------------------------------------------
+|    VM    | mruby/c  |      mruby       |
+------------------------------------------
+|   Gems   | Picogems | Picogems + Mgems |
+```
+
+# diff mruby..mruby/c (Features)
+
+```text
+|                               |          mruby            | mruby/c  |
+========================================================================
+| Standard Libraries            | Enough                    | Less     |
+| Singleton Method              | Yes                       | No       |
+| Module features               | Yes                       | Limited  |
+| Method Visibility             | Yes (version 3.4+) [new!] | No       |
+| Meta-Programming              | Yes                       | Less     |
+| Able to Call Ruby Method in C | Yes                       | No       |
+| RVALUE Boxing                 | Word or NaN               | No       |
+| Presym [*]                    | Yes                       | No       |
+------------------------------------------------------------------------
+| Garbage Collector             | Tri-color Incremental GC  | Refcount |
+| Library Management            | Mrbgem + Rake             | No       |
+------------------------------------------------------------------------
+| Built-in Task Scheduler [*]   | No                        | Yes      |
+| Footprint (in general)        | Bigger                    | Smaller  |
+
+                          [*] mentioned later
+```
+
+# In Short,
+
+{:.center}
+\\n
+{::tag name="xx-large"}mruby's Footprint is Bigger than mruby/c{:/tag}
+
+# Three Years Ago
+![](images/ep2-2.png){: relative_height="100" }
+
+# Is mruby Footprint Too Big to Use??
+
+{:.center}
+\\n\\n
+{::tag name="xx-large"}TBH, I am not sure😇{:/tag}
+
+# A Confession
+
+{:.center}
+\\n\\n
+{::tag name="x-large"}`Hello, World!` is not what we want to do in the real world{:/tag}
+
+# What Comsumes RAM in Ruby?
+- Stack and heap objects in C functions
+- Ruby objects and data in object
+  - data: String, Bignum, and CDATA, etc.
+- Ruby call stack (callinfo)
+- *IREP*
+- *Symbol table*
+
+# IREP
+- Memory-developed object of VM code and literals
+- An IREP represents a code block
+- Code block
+  - Top-level code, class, module, def, do...end, {...}
+  - Consists of iseq, literals, nested ireps
+
+# Presym is the Key to Win
+- A unique feature of mruby
+  - Shipped with mruby 3.0 in *March 2021*
+  - CRuby and mruby/c don't have presym
+- *Symbol table* and *IREPs* are located in ROM instead of RAM
+
+# One More Key: ObjectSpace
+- Heap Page management: Each RVALUE doesn't contain meta-data and padding
+
+```text
+CRuby   : |meta-data|RVALUE|RVALUE|....................
+mruby     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+                       Single Allocation
+
+mruby/c : |meta-data+mrbc_value| |meta-data+mrbc_value|
+          ^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^
+            Single Allocation      Single Allocation
+```
+
+# Hypothesis
+- mruby's *Presym* and *Heap Paging* would be keys to small footprint especially,
+- A big MicroRuby application that bundles *many gems (IREPs)* and allocates *a lot of objects (RVALUEs)* might be effective than a PicoRuby application
+
+# hasumikin Conjecture
+
+```text
+ RAM [KB]
+  |                                           PP
+ 🍺.............................. MMMMMMMM🍻P
+  |                              M      PP :
+  |                      MMMMMMMM    PP    :
+  |                     M         PP       :
+  |            MMMMMMMMM       PP          :
+  |           M             PP             :
+  |         MM           PP                :
+  |    MMMMM          PP                   :
+  |  M  :          PP
+  |  M  :       PP       P: RAM consumption of PicoRuby(mruby/c)
+  |  M  :    PP          M: RAM consumption of MicroRuby(mruby)
+  | M   : PP            🍻: Kanpai Point
+  | M  PP                                  :
+  |MPP  :                                  :
+0 +-----^---------------------------------🍺--->App scale
+  0     Hello, World!                         [gems & objects]
+```
+
+# Kanpai🍻 Point?
+```text
+Raspberry Pi Pico (W)   : 264 KB
+Raspberry Pi Pico 2 (W) : 520 KB
+```
+
+- If the🍻point < 240 KB, MicroRuby could replace PicoRuby
+- If the🍻point < 500 KB, MicroRuby could be an alternative to PicoRuby
+
+# chapter
+
+Part2: IMPLEMENTATION
+
+## properties
+hide-title
+:   true
+
+# How to Prove MicroRuby Eligible?
+- Run a big application for microcontroller:
+- *R2P2*: Ruby Rapid Portable Platform
+- Things to do to achieve running R2P2:
+  - Integrate mruby's *presym*-build with PicoRuby
+  - Introduce *preemptive task scheduling* to mruby
+
+# Demo: R2P2
+
+```ruby
+https = Net::HTTPSClient.new("ambidata.io")
+adc = ADC.new(:temperature)
+
+now = Time.now - INTERVAL # INTERVAL = 60
+while true
+  now = Time.now
+  if last + INTERVAL <= now
+    temp = 27 - (adc.read - 0.706) / 0.001721
+    puts "#{now} / #{temp} C"
+    body = JSON.generate({
+      writeKey: WRITE_KEY,
+      data: [ { created: now.to_i, time: 1, d1: temp } ]
+    })
+    HEADERS["Content-Length"] = body.length
+    https.post(PATH, HEADERS, body)
+    last = now
+  end
+  sleep_ms 100
+end
+```
+
+# What We're Gonna Do Is To
+
+{:.center}
+{::tag name="xx-large"}\\nImplement
+Task Scheduler
+for mruby{:/tag}
+
+# Preemptive Task and Fiber
+- Preemptive Task model:
+  - Shares control impartially by interrupt
+- Fiber model:
+  - Yields control only to an adjoining Fiber
+- R2P2, a kind of OS, could be implemented on top of the preemptive task scheduling
+
+# mruby Has Fiber
+- One fiber corresponds to an `mrb_context`
+- `mrb_context` can be also used to manage task
+- We can introduce task scheduling by taking advantage of `mrb_context`
+
+# Task Scheduler Concept (Pseudo Code)
+
+```ruby
+while true
+  $mrb.tick += 1
+  if ($mrb.current_task.timeslice -= 1) == 0 # timeslice 10 to 0
+    $mrb.switch = true
+  end
+  sleep_ms 1
+end
+#--------------- 👆IRQ and 👇mruby run parallel ---------------#
+task_queue = TaskQueue.new # Array-like object
+task_queue << task1 << task2 # << task3 ...
+while true ##########################################
+  task_queue.find_next.run do |task|                #
+    while true ##############################       # Task
+      execute_iseq(task.current_iseq.shift) # VM    # scheduler
+      break if $mrb,switch || task.raised?  # loop  # loop
+end end end                                         #
+```
+
+# Tick Counter
+
+```c
+// Called every 1 ms
+void mrb_tick(mrb_state *mrb)
+{
+  tick_++;
+  ...
+  current_task->timeslice--;
+             // ^^^^^^^^^ starts from 10
+  if (current_task->timeslice == 0) {
+    mrb->task.switching = TRUE;
+  }
+  ...
+}
+```
+
+# mruby VM Loop (Original)
+
+```c
+mrb_value mrb_vm_exec(...)
+{
+  while (1) {
+    insn = BYTECODE_DECODER(*ci->pc);
+    switch (insn) {
+      case OP_MOVE: { regs[a] = regs[b]; break; }
+      case OP_xxxx: { ...; break; }
+        ...
+      case OP_STOP: { return regs[irep->nlocals]; }
+    }
+  }
+}
+```
+
+# mruby VM Loop (Hacked)
+
+```c
+mrb_value mrb_vm_exec(...)
+{
+  while (1) {
+    insn = BYTECODE_DECODER(*ci->pc);
+    switch (insn) {
+      case OP_MOVE: { regs[a] = regs[b]; break; }
+      case OP_xxxx: { ...; break; }
+        ...
+      case OP_STOP: { return regs[irep->nlocals]; }
+    }
+    if (mrb->task.switching || mrb->exc) {  // new
+      return mrb_nil_value();               // new
+    }                                       // new
+  }
+}
+```
+
+# Task Scheduler Wraps VM Loop
+
+```c
+mrb_value mrb_tasks_run(mrb_state *mrb)
+{
+  while (1) { // Task scheduler loop
+    ...
+    // VM loop entry point
+    mrb_vm_exec(mrb, mrb->c->ci->proc, mrb->c->ci->pc);
+    ...
+    current_task->state = TASKSTATE_READY;
+    hal_disable_irq();
+    q_delete_task(mrb, current_task);
+    q_insert_task(mrb, current_task);
+    hal_enable_irq();
+    ...
+    continue;
+  }
+}
+```
+
+# Mark Contexts in GC Root Scan Phase
+
+```c
+/* mruby/src/gc.c */
+static void
+root_scan_phase(mrb_state *mrb, mrb_gc *gc)
+{
+  ...
+  if (mrb->c_list) {
+    for (int i = 0; i < mrb->c_list_len; i++) {
+      mark_context(mrb, mrb->c_list[i]);
+    }
+  }
+  ...
+}
+```
+
+# chapter
+
+Part3: HARD WORK
+
+## properties
+hide-title
+:   true
+
+# Port Picogems for MicroRuby
+```text
+mruby-compiler2 - mruby compiler using a universal parser
+picoruby-adc - ADC class / General peripherals
+picoruby-base16 - Base16 for PicoRuby
+picoruby-base64 - Base64 for PicoRuby
+picoruby-bin-microruby - (microruby|picoruby) command
+picoruby-bin-r2p2 - R2P2 executable for POSIX
+picoruby-cyw43 - CYW43 class
+picoruby-editor - Library for editor-like application
+picoruby-env - ENV
+picoruby-filesystem-fat - FAT filesystem
+picoruby-gpio - GPIO class / General peripherals
+picoruby-i2c - I2C class / General peripherals
+picoruby-io-console - IO class
+picoruby-machine - Machine class
+picoruby-mbedtls - Mbed-TLS porting for PicoRuby
+picoruby-net - Network functionality for PicoRuby
+picoruby-picorubyvm - PicoRubyVM class
+picoruby-pwm - PWM class / General peripherals
+picoruby-rng - Random Number Generator for PicoRuby
+picoruby-sandbox - Sandbox class for shell and picoirb
+picoruby-shell - PicoRuby Shell library
+picoruby-spi - SPI class / General peripherals
+picoruby-uart - UART class / General peripherals
+picoruby-vfs - Virtual-File-System-like wrapper for filesystems
+picoruby-vim - vim-like text editor
+picoruby-watchdog - Watchdog class
+```
+
+# Hard Work (as of 13 April)
+
+```sh
+# mruby/mruby
+$> git diff --stat master
+ include/mruby.h | 22 ++++++++++++++++++++++
+ src/gc.c        |  8 ++++++++
+ src/vm.c        | 30 +++++++++++++++++++++++++++++-
+ 3 files changed, 59 insertions(+), 1 deletion(-)
+
+# picoruby/picoruby
+$> git diff --shortstat master
+ 237 files changed, 12621 insertions(+), 5445 deletions(-)
+```
+
+# R2P2 on MicroRuby 🎉
+
+![](images/MicroRuby.png){:
+  relative_height="100"
+}
+
+# How to Compare RAM Consumption?
+- Finally, R2P2 on MicroRuby works
+- Now we want to compare the RAM consumption on *microcontroller*
+- We no longer use glibc's allocator and valgrind
+
+# How to Compare RAM Consumption?
+```text
+|         | Default Allocator | Algorithm |
+===========================================
+|  mruby  |   Libc (newlib)   | dlmalloc  |
+-------------------------------------------
+| mruby/c |     Built-in      |   TLSF    |
+```
+
+- Not fair to compare different allocators
+- newlib doesn't have a measure method
+- Might as well make a TLSF (Two-Level Segregated Fit) allocator for mruby?
+
+
+# Make an Allocator
+
+![](images/estalloc.png){:
+  relative_height="100"
+}
+
+# ESTALLOC
+- https://github.com/picoruby/estalloc
+- Derived from mruby/c's built-in allocator
+  - Originally only supports 4-byte alignment
+- Improved to support alignment options:\\n 4-byte and 8-byte
+
+# Let's See
+
+![](images/memory_statistics.png){:
+  relative_height="74"
+}
+
+```text
+( 165716 - (2237 * 24) ) / 1024 ~= 109 KB
+  ^^^^^^    ^^^^   ^^              ^^^^^^
+Allocated   Free  sizeof(RVALUE)  Actual Used
+```
+
+# R2P2 RAM Consumption
+```text
+| R2P2 on PicoRuby (initial)     |  49 KB |
+| R2P2 on PicoRuby (gems loaded) |  78 KB |
+-------------------------------------------
+| R2P2 on MicroRuby (presymed)   | 109 KB |
+```
+
+- PicoRuby will use more RAM by adding gems
+
+# hasumikin Conjecture
+
+```text
+ RAM [KB]
+  |                                           PP
+ 🍺.............................. MMMMMMMM🍻P
+  |                              M      PP :
+  |                      MMMMMMMM    PP    :
+  |                     M    :    PP       :
+  |            MMMMMMMMM     : PP          :
+  |           M             PP             :
+  |         MM           PP  :             :  P: PicoRuby
+  |    MMMMM          PP     :             :  M: MicroRuby
+  |  M  :          PP        :             :
+  |  M  :       PP           :             :
+  |  M  :    PP              :             :
+  | M   : PP                 :             :
+  | M  PP                    :             :
+  |MPP  :                    :             :
+0 +-----^--------------------^------------🍺--->App scale
+  0  Hello, World!     R2P2 (at init)    ?🤔?
+```
+
+# Practicality
+```text
+|                |  RAM  | PicoRuby | MicroRuby |
+=================================================
+| Raspi Pico     | 264KB |    ✅    |    ✅     |
+| Raspi Pico W   | 264KB |    ✅    |    ❌     |
+| Raspi Pico 2   | 520KB |    ✅    |    ✅     |
+| Raspi Pico 2 W | 520KB |    ✅    |    ✅     |
+```
+
+- `W` : WiFi and BLE module
+  - You need to share RAM for these stacks like MbedTLS and LwIP
+
+# Released!!! (with Bugs)
+
+![](images/r2p2_release.png){:
+  relative_height="100"
+}
+
+# chapter
+
+{:.center}
+{::tag name="xx-large"}🍻🍻🍻🍻🍻🍻{:/tag}
+
+## properties
+hide-title
+: true
+
+# Wrap Up
+- R2P2 on MicroRuby runs within a reasonable size of RAM🍻
+- (Soon) You can easily write IoT apps with almost full-spec Ruby🎊
+
+# What If PicoRuby Introduces Presym?
+
+```text
+ RAM [KB]
+  |                                       M🍺
+  |                               MMMMMMMM
+  |                              M
+  |                      MMMMMMMM
+  |                     M
+  |            MMMMMMMMM           No Kanpai Anymore😭
+  |           M
+  |         MM
+  |    MMMMM                         PPPPPP🍺
+  |  M                         PPPPPP
+  |  M                   PPPPPP
+  |  M             PPPPPP
+  | M        PPPPPP
+  | M  PPPPPP
+  |MPP
+0 +-------------------------------------------->App scale
+  0                                       [gems & objects]
+```
+
+# Coming Up Title Would Be
+
+{:.center}
+\\n
+{::tag name="xx-large"}*MAKE PICORUBY*{:/tag}
+{::tag name="xx-large"}*SMALL AGAIN*{:/tag}
+{::tag name="x-small"}(not serious){:/tag}
+
+# n-Monthly Lambda Note Vol.4, No.1
+
+![](images/nmonth.png){:
+  align="right"
+  relative_height="90"
+  relative_margin_top="0"
+  relative_margin_left="5"
+}
+
+- WebAssemblyの\\n制約を越える\\n*@kateinoigakukun*
+- PicoRubyといっしょに\\n学ぶ、プログラミング\\n言語が電気回路を動かす\\n仕組み @hasumikin
+
+{:.center}
+*Autograph Session Right after This Talk! @.bookstore on the 2nd floor*
+
+# Rubyではじめる電子工作
+
+![](images/hachi.png){:
+  align="right"
+  relative_height="98"
+  relative_margin_left="7"
+  relative_margin_top="-3"
+}
+
+- 副題: ラジコンを作ろう\\n*@hachi*
+- n月刊ラムダノート\\n（前頁）が理論編なら\\nこちらが実践編
+- {::tag name="large"}*Only at RubyKaigi :\\nGet Both Books!*{:/tag}
+
+# chapter
+
+🍊THANK YOU🍊
+
+## properties
+hide-title
+: true

data/README.md

@@ -0,0 +1,32 @@
+# MicroRuby: True Microcontroller Ruby
+
+Presentation slide for RubyKaigi 2025
+
+## For author
+
+### Show
+
+```
+rake
+```
+
+# Publish
+
+```
+rake publish
+```
+
+## For viewers
+
+### Install
+
+```
+gem install rabbit-slide-hasumikin-RubyKaigi2025
+```
+
+### Show
+
+```
+rabbit rabbit-slide-hasumikin-RubyKaigi2025.gem
+```
+

data/Rakefile

@@ -0,0 +1,17 @@
+require "rabbit/task/slide"
+
+# Edit ./config.yaml to customize meta data
+
+spec = nil
+Rabbit::Task::Slide.new do |task|
+  spec = task.spec
+  # spec.files += Dir.glob("doc/**/*.*")
+  # spec.files -= Dir.glob("private/**/*.*")
+  # spec.add_runtime_dependency("rabbit-theme-YOUR-THEME")
+end
+
+desc "Tag #{spec.version}"
+task :tag do
+  sh("git", "tag", "-a", spec.version.to_s, "-m", "Publish #{spec.version}")
+  sh("git", "push", "--tags")
+end

data/config.yaml

@@ -0,0 +1,24 @@
+---
+id: RubyKaigi2025
+base_name: MicroRuby
+tags:
+  - MicroRuby
+  - PicoRuby
+  - mruby
+presentation_date: '2025-04-17'
+presentation_start_time: 
+presentation_end_time: 
+version: 2025.04.17.0
+licenses: ["MIT"]
+slideshare_id: 
+speaker_deck_id: 
+ustream_id: 
+vimeo_id: 
+youtube_id: 
+author:
+  markup_language: :md
+  name: HASUMI Hitoshi
+  email: hasumikin@gmail.com
+  rubygems_user: hasumikin
+  slideshare_user: 
+  speaker_deck_user: