Add support for Rust backed camkes components

camkes/templates/Makefile

@@ -116,6 +116,19 @@ endif
 
 /*- endfor -*/
 
+# Rust rules for camkes components that use rust.
+/*- for i in instances if not i.type.hardware -*/
+.PHONY: /*? i.type.name ?*/_rust
+/*? i.type.name ?*/_rust:
+	@echo " [RS] /*? i.type.name ?*/_rust"
+	# cd $(SOURCE_DIR)/components//*? i.type.name ?*/ && RUST_TARGET_PATH=${STAGE_DIR}/common/ RUST_BACKTRACE=1 \
+	cd $(/*? i.type.name ?*/_RUST) && RUST_TARGET_PATH=${STAGE_DIR}/common/ RUST_BACKTRACE=1 \
+	CARGO_HOME="${PWD}" RUSTFLAGS="--sysroot=${PWD}/sysroot" cargo build --lib $(RUST_CARGO_FLAGS) --manifest-path $(/*? i.type.name ?*/_RUST)/Cargo.toml --target=$(RUST_CUSTOM_TARGET)
+	echo cp $(/*? i.type.name ?*/_RUST)/target/${RUST_CUSTOM_TARGET}/${RUST_RELEASE_MODE}/$(/*? i.type.name ?*/_RUST:%=lib%.a) $(/*? i.type.name ?*/_RUST:%=%.a)
+	$(Q) cp $(/*? i.type.name ?*/_RUST)/target/${RUST_CUSTOM_TARGET}/${RUST_RELEASE_MODE}/lib*.a $(/*? i.type.name ?*/_RUST:%=%.a)
+
+/*- endfor -*/
+
 # Library dependencies required by glue code.
 /*- for i in instances -*/
 /*? i.name ?*/_instance_LIBS += ${/*? i.type.name ?*/_LIBS} ${CAMKES_CORE_LIBS}
@@ -402,16 +415,22 @@ define /*? i.name ?*/_buildrump
 endef
 /*- endif -*/
 
+ifdef /*? i.type.name ?*/_RUST
+/*? i.type.name ?*/_CARGO_TARGET=/*? i.type.name ?*/_rust
+endif
+
 /*? i.name ?*/.instance.bin: $(/*? i.name ?*/_CFILES:%.c=%.o) \
                              $(/*? i.name ?*/_CXXFILES:%.cxx=%.o) \
                              $(/*? i.name ?*/_ASMFILES:%.S=%.o) \
+                             $(/*? i.type.name ?*/_CARGO_TARGET) \
                              $(/*? i.name ?*/_OFILES) \
                              /*- if rump_config -*/ $(/*? i.name ?*/_rumpbin) /*- endif -*/ \
                              /*- if rump_config -*/ $(INTERMEDIATE_BASEFILE) /*- endif -*/ \
                              $(/*? i.name ?*/_instance_LIBS:%=lib%.a) \
                              $(abspath ${BUILD_DIR})/ld//*? i.name ?*//generated/linker.lds
 	@echo " [LD] $(notdir $@)"
-	${Q}${/*? i.name ?*/_CC} $(CRTOBJFILES) $(filter %.o,$^) $(FINOBJFILES) ${/*? i.name ?*/_instance_LDFLAGS} -o $@
+	@echo " [RUST_MAIN_OBJECT] $(/*? i.type.name ?*/_RUST:%=%.a)"
+	${Q}${/*? i.name ?*/_CC} $(CRTOBJFILES) $(filter %.o,$^) $(filter %.a,$^) $(/*? i.type.name ?*/_RUST:%=%.a) $(FINOBJFILES) ${/*? i.name ?*/_instance_LDFLAGS} -o $@
 	$(/*? i.name ?*/_buildrump)
 
 /*- set p = Perspective(group=i.address_space) -*/

camkesrust/Cargo.toml

@@ -0,0 +1,22 @@
+#
+# Copyright 2018, Data61
+# Commonwealth Scientific and Industrial Research Organisation (CSIRO)
+# ABN 41 687 119 230.
+#
+# This software may be distributed and modified according to the terms of
+# the BSD 2-Clause license. Note that NO WARRANTY is provided.
+# See "LICENSE_BSD2.txt" for details.
+#
+# @TAG(DATA61_BSD)
+#
+
+[package]
+name = "camkesrust"
+version = "0.1.0"
+authors = ["Kent McLeod <Kent.Mcleod@data61.csiro.au>"]
+
+[dependencies]
+
+[replace]
+"libc:0.2.40" = { git = 'https://github.com/GaloisInc/rs_liblibc.git' }
+

camkesrust/src/lib.rs

@@ -0,0 +1,23 @@
+//
+// Copyright 2018, Data61
+// Commonwealth Scientific and Industrial Research Organisation (CSIRO)
+// ABN 41 687 119 230.
+//
+// This software may be distributed and modified according to the terms of
+// the BSD 2-Clause license. Note that NO WARRANTY is provided.
+// See "LICENSE_BSD2.txt" for details.
+//
+// @TAG(DATA61_BSD)
+//
+#![no_std]
+#![feature(libc)]
+#![feature(alloc)]
+#![feature(const_fn)]
+
+extern crate libc;
+extern crate alloc;
+
+pub use mutex::*;
+
+mod mutex;
+

camkesrust/src/mutex.rs

@@ -0,0 +1,187 @@
+//
+// Copyright 2018, Data61
+// Commonwealth Scientific and Industrial Research Organisation (CSIRO)
+// ABN 41 687 119 230.
+//
+// This software may be distributed and modified according to the terms of
+// the BSD 2-Clause license. Note that NO WARRANTY is provided.
+// See "LICENSE_BSD2.txt" for details.
+//
+// @TAG(DATA61_BSD)
+//
+use core::ops::{Drop, Deref, DerefMut};
+use core::cell::UnsafeCell;
+
+use libc::c_void;
+
+extern "C"
+{
+    /// These functions are provided by libsel4camkes: <camkes/sync.h>
+    /// They provide an allocation and locking interface for mutexes backed by seL4 Notification objects.
+    /// These functions are not thread safe and must be handled as such.
+
+    /// Allocate a new mutex. Returns 0 on success, -1 on failure
+    fn camkes_mutex_new(allocator: *mut c_void, mutex: *mut*mut c_void) -> isize;
+
+    /// Acquire lock to mutex. Cannot be called if lock is held by current thread.
+    fn camkes_mutex_lock(mutex: *mut c_void) -> isize;
+
+    /// Release lock to mutex. Can only be called if current thread holds lock.
+    fn camkes_mutex_unlock(mutex: *mut c_void) -> isize;
+
+    /// Releases mutex back to allocator.
+    fn camkes_mutex_free(allocator: *mut c_void, mutex: *mut c_void) -> isize;
+
+    /// Initialises allocator.
+    fn init_default_allocator_heap(allocator: *mut*mut c_void) -> isize;
+}
+
+// Reference to allocator returned by initial call to `init_default_allocator_heap`.
+// We bootstrap a Mutex to store the allocator in so that subsequent calls to it are
+// synchronised.  It cannot be used until `init_allocator` has been called.
+static mut ALLOCATOR: Mutex<*mut c_void> = Mutex::uninitialized(0 as *mut c_void);
+
+
+
+/// Mutual Exclusion provided by mutex_pool in libsel4camkes c library.
+pub struct Mutex<T: ?Sized>
+{
+    lock: *mut c_void,
+    data: UnsafeCell<T>,
+}
+
+
+pub struct MutexGuard<'a, T: ?Sized + 'a>
+{
+    lock: *mut c_void,
+    data: &'a mut T,
+}
+
+// Same unsafe impls as `std::sync::Mutex`
+unsafe impl<T: ?Sized + Send> Sync for Mutex<T> {}
+unsafe impl<T: ?Sized + Send> Send for Mutex<T> {}
+
+impl<T> Mutex<T>
+{
+
+    /// This function needs to be called in a single threaded environment such as the
+    /// Camkes `pre_init` function.  If you are using lazy_static! then this needs to
+    /// be called before any of the lazy initialisation occurs.
+    ///
+    /// TODO: This could potentially be moved to a `lazy_static!` macro that initialises ALLOCATOR
+    pub unsafe fn init_allocator() -> Result<(),()>
+    {
+
+        // Initialise allocator in underlying c library
+        let mut alloc = 0 as *mut c_void;
+        match init_default_allocator_heap(&mut alloc) {
+            0 => (),
+            _ => panic!{"Could not allocate default allocator"},
+        }
+
+        // Use allocator to create initial mutex for future accesses to the allocator
+        // by calls to `Mutex::new(T)`.
+        let mut mtx = 0 as *mut c_void;
+        match camkes_mutex_new(alloc, &mut mtx) {
+            0 => (),
+            _ => panic!{"Could not allocate inital mutex for allocator."},
+        }
+
+        // Save reference to allocator in static mut. The mutex should ensure accesses
+        // are thread safe.
+        ALLOCATOR = Mutex{
+            lock:mtx,
+            data:UnsafeCell::new(alloc)
+        };
+        Ok(())
+    }
+
+    /// const initialiser for bootstrapping ALLOCATOR.
+    const fn uninitialized(user_data: T) -> Mutex<T> {
+        Mutex { lock: 0 as *mut c_void, data: UnsafeCell::new(user_data) }
+    }
+
+    /// Create a new Mutex around data T. Returns an error code passed from the underlying
+    /// library if error.
+    pub fn new(user_data: T) -> Result<Mutex<T>, isize>
+    {
+
+        let mut mtx = 0 as *mut c_void;
+        unsafe {
+            let alloc = ALLOCATOR.lock();
+            match camkes_mutex_new(*alloc, &mut mtx) {
+                0 => (),
+                i => return Err(i),
+            }
+        };
+        Ok(Mutex
+        {
+            lock: mtx,
+            data: UnsafeCell::new(user_data),
+        })
+    }
+
+
+    /// Consumes this mutex, returning the underlying data.
+    pub fn into_inner(self) -> T
+    {
+        // We know statically that there are no outstanding references to
+        // `self` so there's no need to lock.
+        let Mutex { data, lock } = self;
+        unsafe {
+            let alloc = ALLOCATOR.lock();
+            match camkes_mutex_free(*alloc, lock) {
+                0 => (),
+                _ => panic!{"Failed to free mutex"}
+            }
+        };
+        data.into_inner()
+    }
+}
+
+impl<T: ?Sized> Mutex<T>
+{
+
+    /// Acquire lock. camkes_mutex_lock is blocking until the lock is acquired.
+    /// There is no way to timeout on a lock request.
+    pub fn lock(&self) -> MutexGuard<T>
+    {
+        unsafe {
+            match camkes_mutex_lock(self.lock) {
+                0 => (),
+                _ => panic!{"lock returned error"},
+            }
+        };
+        MutexGuard
+        {
+            lock: self.lock,
+            data: unsafe { &mut *self.data.get() },
+        }
+    }
+}
+
+// Implement some standard Deref coercions
+impl<'a, T: ?Sized> Deref for MutexGuard<'a, T>
+{
+    type Target = T;
+    fn deref<'b>(&'b self) -> &'b T { &*self.data }
+}
+
+impl<'a, T: ?Sized> DerefMut for MutexGuard<'a, T>
+{
+    fn deref_mut<'b>(&'b mut self) -> &'b mut T { &mut *self.data }
+}
+
+impl<'a, T: ?Sized> Drop for MutexGuard<'a, T>
+{
+    /// The dropping of the MutexGuard will release the lock it was created from.
+    fn drop(&mut self)
+    {
+        unsafe{
+            match camkes_mutex_unlock(self.lock) {
+                0 => (),
+                _ => panic!{"Failed to release lock"},
+            }
+        };
+    }
+}

libsel4camkes/Kbuild

@@ -11,4 +11,4 @@
 #
 
 libs-y += libsel4camkes
-libsel4camkes: libsel4 $(libc) common libutils libplatsupport libsel4utils libsel4muslcsys
+libsel4camkes: libsel4 $(libc) common libutils libplatsupport libsel4utils libsel4muslcsys libsel4sync

libsel4camkes/include/camkes/sync.h

@@ -0,0 +1,53 @@
+/*
+ * Copyright 2018, Data61
+ * Commonwealth Scientific and Industrial Research Organisation (CSIRO)
+ * ABN 41 687 119 230.
+ *
+ * This software may be distributed and modified according to the terms of
+ * the BSD 2-Clause license. Note that NO WARRANTY is provided.
+ * See "LICENSE_BSD2.txt" for details.
+ *
+ * @TAG(DATA61_BSD)
+ */
+
+#pragma once
+
+/* This file defines a simple mutex interface that is intended
+ * to be backed by a notification_pool implemented by the Camkes runtime.
+ * It doesn't use static inline functions like other libsel4* interfaces
+ * in order to allow this interface to be used over a FFI.
+ */
+
+/* Allocates a mutex. Returns -1 on failure, 0 on success */
+typedef int (*alloc_mutex_fn)(void * cookie, void **mutex);
+/* Frees a mutex. Returns -1 on failure, 0 on success */
+typedef int (*free_mutex_fn)(void * cookie, void *mutex);
+
+/* Interface struct for allocating mutexs */
+typedef struct {
+	void * cookie;
+	alloc_mutex_fn alloc;
+	free_mutex_fn free;
+} camkes_mutex_allocator;
+
+/* Creates a new mutex from the allocator */
+int camkes_mutex_new(camkes_mutex_allocator *allocator, void **mutex);
+
+/* Acquire mutex. Undefined behavior if caller already holds mutex. */
+int camkes_mutex_lock(void *mutex);
+
+/* Release mutex. Undefined behavior if caller tries to release mutex they do not hold. */
+int camkes_mutex_unlock(void *mutex);
+
+/* Frees a mutex */
+int camkes_mutex_free(camkes_mutex_allocator *allocator, void *mutex);
+
+/* Initialises a default allocator that uses camkes/alloc.h to allocate mutexes from a
+ * camkes seL4Notification pool. The maximum number of mutexes must be defined at build time.
+ * If a mutex is freed, it can be allocated again.
+ */
+int init_default_allocator(camkes_mutex_allocator *allocator);
+
+/* Initialises the default allocator but will call malloc internally to do this. */
+int init_default_allocator_heap(camkes_mutex_allocator **allocator);
+