cfe2cos, the mega-merge

.gitignore

@@ -10,6 +10,7 @@
 *.sw*
 *#
 .#*
+**/.DS_Store
 .fn_dependencies
 .fn_exports
 .exported_interfaces
@@ -28,6 +29,7 @@ GPATH
 GRTAGS
 GSYMS
 GTAGS
+tools/.vagrant
 .vagrant
 .clang_complete
 Vagrantfile

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "src/components/lib/ps"]
 	path = src/components/lib/ps
 	url = https://github.com/gwsystems/ps.git
+[submodule "src/extern/cFE"]
+	path = src/extern/cFE
+	url = https://github.com/Others/cFE.git

src/Makefile

@@ -1,9 +1,27 @@
 MAKEFLAGS=--no-print-directory --section-alignment 0x1000 -I$(PWD)
 #$(info Make flags $(MAKEFLAGS))
 
+.PHONY: default all extern comps plat init_extern
 default: | all cp
 
-all: comps plat
+all: | extern comps plat
+
+extern:
+	$(info )
+	$(info ***********************************************)
+	$(info *********** Building External Libs ************)
+	$(info ***********************************************)
+	$(info )
+	$(shell cd extern && python make.py >&2)
+
+init_extern:
+	$(info )
+	$(info ***********************************************)
+	$(info ********** Setting up External Libs ***********)
+	$(info ***********************************************)
+	$(info )
+	bash -c 'cd extern/cFE/; source setvars.sh; cd ../..; make -C extern/cFE/build/cpu1 config'
+	$(shell cd extern && python make.py -p >&2)
 
 comps:
 	$(info )
@@ -36,8 +54,12 @@ distclean: clean
 	$(MAKE) $(MAKEFLAGS) -C components distclean
 	@rm -f `pwd`/../transfer/*
 
-init:
+init: | ensure_config init_extern init_composite
+
+ensure_config:
 	test -f PLATFORM_ID || $(MAKE) $(MAKEFLAGS) config
+
+init_composite:
 	$(MAKE) $(MAKEFLAGS) -C components init
 	$(MAKE) $(MAKEFLAGS) PLATFORM=$(shell cat PLATFORM_ID) -C platform init
 

src/components/Makefile.comp

@@ -4,7 +4,8 @@ IMPLDIR=$(CDIR)/implementation/
 INTERDIR=$(CDIR)/interface/
 LIBDIR=$(CDIR)/lib/
 MANDITORY_LIB=cos_manditory.o
-CINC=-I./ -I$(CDIR)/include/ -I$(SHAREDINC) -I$(CDIR)/lib/ck/include -I$(CDIR)/lib/ps/ -I$(CDIR)/lib/libcxx/include
+# FIXME: Point the cFE includes at the actual cFE
+CINC=-I./ -I$(CDIR)/include/ -I$(SHAREDINC) -I$(CDIR)/lib/ck/include -I$(CDIR)/lib/ps/ -I$(CDIR)/lib/libcxx/include -I$(CDIR)/implementation/no_interface/cFE_booter/gen
 
 MUSLDIR=$(CDIR)/lib/musl-1.1.11
 MUSLBIN=$(MUSLDIR)/bin

src/components/implementation/no_interface/cFE_booter/.gitignore

@@ -0,0 +1,3 @@
+gen
+test
+*.d.[0-9]*

src/components/implementation/no_interface/cFE_booter/Makefile

@@ -0,0 +1,12 @@
+# C_OBJS=cFE_entrypoint.o cFE_stub.o osapi.o osfiles.o osloader.o osqueue.o ostask.o ostimer.o osnetwork.o psp.o scheddev/sl.c scheddev/sl_mod_fprr.c
+ASM_OBJS=
+COMPONENT=cFE_booter.o
+INTERFACES=cFE
+DEPENDENCIES=capmgr
+IF_LIB:=./composite_cFE.o ./cFE_fs.o $(wildcard test/*.o)
+ADDITIONAL_LIBS=-lcobj_format -lcos_kernel_api -lcos_defkernel_api -lsl_capmgr -lsl_sched -lheap -lsl_lock
+
+include ../../Makefile.subsubdir
+CFLAGS += -I./gen -I ./test/shared $(CPPFLAGS)
+
+MANDITORY_LIB=simple_stklib.o

src/components/implementation/no_interface/cFE_booter/cFE_emu_support.c

@@ -0,0 +1,117 @@
+#include <stdio.h>
+
+#include <cos_component.h>
+#include <cos_debug.h>
+#include <cos_types.h>
+
+#include <memmgr.h>
+
+#include <cfe_error.h>
+
+#include <cFE_emu.h>
+
+union shared_region *shared_regions[16];
+
+int
+emu_backend_request_memory(spdid_t client)
+{
+	vaddr_t our_addr = 0;
+	int     id       = memmgr_shared_page_alloc(&our_addr);
+	assert(our_addr);
+	shared_regions[client] = (void *)our_addr;
+	return id;
+}
+
+int32
+emu_CFE_EVS_Register(spdid_t client)
+{
+	union shared_region *s = shared_regions[client];
+	return CFE_EVS_Register(s->cfe_evs_register.filters, s->cfe_evs_register.NumEventFilters,
+	                        s->cfe_evs_register.FilterScheme);
+}
+
+int32
+emu_CFE_SB_CreatePipe(spdid_t client)
+{
+	union shared_region *s = shared_regions[client];
+	return CFE_SB_CreatePipe(&s->cfe_sb_createPipe.PipeId, s->cfe_sb_createPipe.Depth,
+	                         s->cfe_sb_createPipe.PipeName);
+}
+
+void
+emu_CFE_SB_InitMsg(spdid_t client)
+{
+	union shared_region *s = shared_regions[client];
+	CFE_SB_InitMsg(s->cfe_sb_initMsg.MsgBuffer, s->cfe_sb_initMsg.MsgId, s->cfe_sb_initMsg.Length,
+	               s->cfe_sb_initMsg.Clear);
+}
+
+int32
+emu_CFE_EVS_SendEvent(spdid_t client)
+{
+	union shared_region *s = shared_regions[client];
+	return CFE_EVS_SendEvent(s->cfe_evs_sendEvent.EventID, s->cfe_evs_sendEvent.EventType, "%s",
+	                         s->cfe_evs_sendEvent.Msg);
+}
+
+int32
+emu_CFE_ES_RunLoop(spdid_t client)
+{
+	union shared_region *s = shared_regions[client];
+	return CFE_ES_RunLoop(&s->cfe_es_runLoop.RunStatus);
+}
+
+int32
+emu_CFE_SB_RcvMsg(spdid_t client)
+{
+	union shared_region *s = shared_regions[client];
+
+	CFE_SB_MsgPtr_t BufPtr;
+	int32           result = CFE_SB_RcvMsg(&BufPtr, s->cfe_sb_rcvMsg.PipeId, s->cfe_sb_rcvMsg.TimeOut);
+
+	/* We want to save the message contents to the shared region
+	 * But we need to be sure there is something to copy, so we check the call was successful
+	 */
+	if (result == CFE_SUCCESS) {
+		int len = CFE_SB_GetTotalMsgLength(BufPtr);
+		assert(len <= EMU_BUF_SIZE);
+		memcpy(s->cfe_sb_rcvMsg.Msg, (char *)BufPtr, len);
+	}
+	return result;
+}
+
+uint16
+emu_CFE_SB_GetTotalMsgLength(spdid_t client)
+{
+	union shared_region *s = shared_regions[client];
+	return CFE_SB_GetTotalMsgLength(&s->cfe_sb_getMsgLen.Msg);
+}
+
+int32
+emu_CFE_SB_SendMsg(spdid_t client)
+{
+	union shared_region *s = shared_regions[client];
+	return CFE_SB_SendMsg((CFE_SB_MsgPtr_t)s->cfe_sb_msg.Msg);
+}
+
+uint16
+emu_CFE_SB_GetCmdCode(spdid_t client)
+{
+	union shared_region *s = shared_regions[client];
+	return CFE_SB_GetCmdCode((CFE_SB_MsgPtr_t)s->cfe_sb_msg.Msg);
+}
+
+CFE_SB_MsgId_t
+emu_CFE_SB_GetMsgId(spdid_t client)
+{
+	union shared_region *s = shared_regions[client];
+	return CFE_SB_GetMsgId((CFE_SB_MsgPtr_t)s->cfe_sb_msg.Msg);
+}
+
+
+void
+emu_CFE_SB_TimeStampMsg(spdid_t client)
+{
+	union shared_region *s = shared_regions[client];
+	CFE_SB_TimeStampMsg((CFE_SB_MsgPtr_t)s->cfe_sb_msg.Msg);
+}

src/components/implementation/no_interface/cFE_booter/cFE_entrypoint.c

@@ -0,0 +1,157 @@
+#include <string.h>
+
+#include "cFE_util.h"
+#include "ostask.h"
+
+#include "gen/cfe_psp.h"
+#include "gen/common_types.h"
+#include "gen/osapi.h"
+
+#ifdef UNIT_TESTS
+#include "test/shared/ut_main_composite.h"
+#endif
+
+/* This is based on an old build technique, so we can ignore this warning.
+ * But I'm leaving it in, just in case we ever switch to cmake
+ */
+
+/*
+ * cfe_platform_cfg.h needed for CFE_ES_NONVOL_STARTUP_FILE, CFE_CPU_ID/CPU_NAME/SPACECRAFT_ID
+ *
+ *  - this should NOT be included here -
+ *
+ * it is only for compatibility with the old makefiles.  Including this makes the PSP build
+ * ONLY compatible with a CFE build using this exact same CFE platform config.
+ */
+
+#include "gen/cfe_platform_cfg.h"
+
+extern void CFE_ES_Main(uint32 StartType, uint32 StartSubtype, uint32 ModeId, const char *StartFilePath);
+extern void CFE_TIME_Local1HzISR(void);
+
+#define CFE_ES_MAIN_FUNCTION CFE_ES_Main
+#define CFE_TIME_1HZ_FUNCTION CFE_TIME_Local1HzISR
+
+/*
+ * The classic build does not support static modules,
+ * so stub the ModuleInit() function out right here
+ */
+void
+CFE_PSP_ModuleInit(void)
+{
+}
+
+// "Magic" constants
+#define CFE_PSP_CPU_NAME_LENGTH 32
+#define CFE_PSP_RESET_NAME_LENGTH 10
+
+/*
+ * Structure for the Command line parameters
+ * Stolen from the Linux psp_start function...
+ */
+struct CFE_PSP_CommandData_t {
+	char ResetType[CFE_PSP_RESET_NAME_LENGTH]; /* Reset type can be "PO" for Power on or "PR" for Processor Reset */
+
+	uint32 SubType; /* Reset Sub Type ( 1 - 5 )  */
+
+	char CpuName[CFE_PSP_CPU_NAME_LENGTH]; /* CPU Name */
+
+	uint32 CpuId; /* CPU ID */
+
+	uint32 SpacecraftId; /* Spacecraft ID */
+};
+
+void
+command_line_set_defaults(struct CFE_PSP_CommandData_t *args)
+{
+	strncpy(args->ResetType, "PO", 2);
+	args->SubType      = 1;
+	args->CpuId        = 1;
+	args->SpacecraftId = CFE_SPACECRAFT_ID;
+}
+
+// This must be global so that cos_init_delegate can read it
+// TODO: Consider passing cos_init_delegate this data instead
+uint32                       reset_type;
+struct CFE_PSP_CommandData_t args;
+
+// This is the delegate function called by the scheduler
+void
+cos_init_delegate(void *data)
+{
+	OS_printf("CFE_PSP: Doing PSP setup...\n");
+
+#ifdef UNIT_TESTS
+	OS_printf("Beginning unit tests\n");
+	Composite_UT_oscore();
+	Composite_UT_osfile();
+	Composite_UT_osfilesys();
+	Composite_UT_osloader();
+	Composite_UT_osnetwork();
+	Composite_UT_ostimer();
+	OS_printf("End unit tests\n");
+#endif
+
+	/*
+	** Initialize the statically linked modules (if any)
+	** This is only applicable to CMake build - classic build
+	** does not have the logic to selectively include/exclude modules
+	**
+	** This is useless until we support cmake
+	*/
+	CFE_PSP_ModuleInit();
+
+	/*
+	** Initialize the reserved memory
+	*/
+	CFE_PSP_InitProcessorReservedMemory(reset_type);
+
+	OS_printf("CFE_PSP: PSP setup successful!\n");
+
+	OS_printf("CFE_PSP: Starting the cFE proper...\n");
+	/*
+	** Call cFE entry point.
+	*/
+	CFE_ES_MAIN_FUNCTION(reset_type, args.SubType, 1, CFE_ES_NONVOL_STARTUP_FILE);
+
+	OS_printf("CFE_PSP: cFE started, main thread sleeping\n");
+
+	/*
+	** Let the main thread sleep.
+	**
+	** OS_IdleLoop() will wait forever and return if
+	** someone calls OS_ApplicationShutdown(TRUE)
+	*/
+	OS_IdleLoop();
+
+	PANIC("Application was shutdown!");
+}
+
+void
+cos_init(void)
+{
+	command_line_set_defaults(&args);
+
+	/*
+	** Set the reset type
+	*/
+	if (strncmp("PR", args.ResetType, 2) == 0) {
+		reset_type = CFE_PSP_RST_TYPE_PROCESSOR;
+		OS_printf("CFE_PSP: Starting the cFE with a PROCESSOR reset.\n");
+	} else {
+		reset_type = CFE_PSP_RST_TYPE_POWERON;
+		OS_printf("CFE_PSP: Starting the cFE with a POWER ON reset.\n");
+	}
+
+	CFE_PSP_SpacecraftId = args.SpacecraftId;
+	CFE_PSP_CpuId        = args.CpuId;
+	/*
+	** Initialize the OS API
+	*/
+	OS_printf("CFE_PSP: Initializing the OS API...\n");
+	OS_API_Init();
+	OS_printf("CFE_PSP: The the OS API was successfully initialized!\n");
+
+	OS_printf("CFE_PSP: Delegating to scheduler setup... \n");
+	OS_SchedulerStart(&cos_init_delegate);
+}