Merge pull request #482 from nasa/integration-candidate

Integration Candidate 2020-05-20

Author: astrogeco

CMakeLists.txt

@@ -30,11 +30,6 @@
 #
 # This also exports the following variables:
 #
-#   OSAL_BSP_STAGING_INSTALL_DIR : the location of the staging directory
-#				   for the selected OSAL BSP.  This can be used in
-#                  post-build rules or "install()" commands to stage
-#				   binary or data files for execution.
-#
 #  UT_COVERAGE_COMPILE_FLAGS : Compiler flags that must be used to
 #                  instrument code for coverage testing
 #  UT_COVERAGE_LINK_FLAGS : Linker flags that must be used to
@@ -48,6 +43,15 @@
 cmake_minimum_required(VERSION 2.8.12)
 project(OSAL C)
 
+# The "OSAL_EXT_SOURCE_DIR" cache variable may be set to a path
+# on the host containing extra OS/BSP implementations which are not
+# part of the open source release.
+# CAUTION: The API between the OSAL and the low level implementation and/or BSP
+# is not stabilized, and may change with every OSAL release.  No attempt is made
+# to provide backward compatibility with to external sources. 
+set(OSAL_EXT_SOURCE_DIR "$ENV{OSAL_EXT_SOURCE_DIR}" 
+    CACHE PATH "External source directory to check for additional OS/BSP implementations")
+    
 # Read the default compile-time configuration, and update with
 # any mission/project specific options in the OSAL_CONFIGURATION_FILE
 include("${OSAL_SOURCE_DIR}/default_config.cmake")
@@ -104,15 +108,20 @@ add_subdirectory(ut_assert)
 # OSAL_SYSTEM_BSPTYPE indicate which of the BSP packages
 # to build.  These is required and must be defined. Confirm that this exists
 # and error out now if it does not.
-if (NOT DEFINED OSAL_SYSTEM_BSPTYPE OR
-    NOT IS_DIRECTORY "${OSAL_SOURCE_DIR}/src/bsp/${OSAL_SYSTEM_BSPTYPE}")
-  # It is an error if the indicated BSPTYPE does not correspond to a subdirectory
-  # If this is not caught here then a more obfuscated error will occur later.
-  message("Error: \"${OSAL_SYSTEM_BSPTYPE}\" is not a valid BSP type")
+if (NOT DEFINED OSAL_SYSTEM_BSPTYPE)
   message(FATAL_ERROR "OSAL_SYSTEM_BSPTYPE must be set to the appropriate BSP")
 endif ()
+if (OSAL_EXT_SOURCE_DIR AND IS_DIRECTORY "${OSAL_EXT_SOURCE_DIR}/${OSAL_SYSTEM_BSPTYPE}")
+    set(OSAL_BSP_SOURCE_DIR "${OSAL_EXT_SOURCE_DIR}/${OSAL_SYSTEM_BSPTYPE}")
+elseif(IS_DIRECTORY "${OSAL_SOURCE_DIR}/src/bsp/${OSAL_SYSTEM_BSPTYPE}")
+    set(OSAL_BSP_SOURCE_DIR "${OSAL_SOURCE_DIR}/src/bsp/${OSAL_SYSTEM_BSPTYPE}")
+else()
+  # It is an error if the indicated BSPTYPE does not correspond to a subdirectory
+  # If this is not caught here then a more obfuscated error will occur later.
+  message(FATAL_ERROR "Error: No source directory found for \"${OSAL_SYSTEM_BSPTYPE}\" BSP type")
+endif()
 
-message(STATUS "BSP Selection: ${OSAL_SYSTEM_BSPTYPE}")
+message(STATUS "BSP Selection: ${OSAL_SYSTEM_BSPTYPE} at ${OSAL_BSP_SOURCE_DIR}")
 
 
 # The BSP library is a separate target from OSAL and can be used
@@ -121,7 +130,7 @@ message(STATUS "BSP Selection: ${OSAL_SYSTEM_BSPTYPE}")
 #
 # The Implementation-Specific BSP subdirectory should define
 # an OBJECT target named "osal_${OSAL_SYSTEM_BSPTYPE}_impl"
-add_subdirectory(src/bsp/${OSAL_SYSTEM_BSPTYPE} ${OSAL_SYSTEM_BSPTYPE}_impl)
+add_subdirectory(${OSAL_BSP_SOURCE_DIR} ${OSAL_SYSTEM_BSPTYPE}_impl)
 target_include_directories(osal_${OSAL_SYSTEM_BSPTYPE}_impl PRIVATE
     ${OSAL_SOURCE_DIR}/src/bsp/shared/inc
 )
@@ -161,13 +170,22 @@ if (OSAL_BSP_INCLUDE_DIRECTORIES)
     include_directories(${OSAL_BSP_INCLUDE_DIRECTORIES})
 endif (OSAL_BSP_INCLUDE_DIRECTORIES)
 
+set(BSP_SRCLIST 
+    src/bsp/shared/src/osapi-bsp.c
+    src/bsp/shared/src/bsp_default_app_run.c
+    src/bsp/shared/src/bsp_default_app_startup.c
+    src/bsp/shared/src/bsp_default_symtab.c
+)
+
+if (NOT OMIT_DEPRECATED)
+    list(APPEND BSP_SRCLIST
+        src/bsp/shared/src/bsp_default_voltab.c
+    )
+endif (NOT OMIT_DEPRECATED)
 
 # Define the external "osal_bsp" static library target
 add_library(osal_bsp STATIC
-	src/bsp/shared/src/osapi-bsp.c
-	src/bsp/shared/src/bsp_default_app_run.c
-	src/bsp/shared/src/bsp_default_app_startup.c
-	src/bsp/shared/src/bsp_default_symtab.c
+    ${BSP_SRCLIST}
     $<TARGET_OBJECTS:osal_${OSAL_SYSTEM_BSPTYPE}_impl>
 )
 
@@ -187,19 +205,25 @@ target_include_directories(osal_bsp PRIVATE
 
 # OSAL_SYSTEM_OSTYPE indicates which of the OS packages
 # to build.  If not defined, this may be inferred by the BSP type.
-if (NOT DEFINED OSAL_SYSTEM_OSTYPE OR
-    NOT IS_DIRECTORY "${OSAL_SOURCE_DIR}/src/os/${OSAL_SYSTEM_OSTYPE}")
-  # It is an error if the indicated OSTYPE does not correspond to a subdirectory
-  # If this is not caught here then a more obfuscated error will occur later.
-  message("Error: \"${OSAL_SYSTEM_OSTYPE}\" is not a valid OS type")
+if (NOT DEFINED OSAL_SYSTEM_OSTYPE)
   message(FATAL_ERROR "OSAL_SYSTEM_OSTYPE must be set to the appropriate OS")
 endif ()
+if (OSAL_EXT_SOURCE_DIR AND IS_DIRECTORY "${OSAL_EXT_SOURCE_DIR}/${OSAL_SYSTEM_OSTYPE}")
+    set(OSAL_OS_SOURCE_DIR "${OSAL_EXT_SOURCE_DIR}/${OSAL_SYSTEM_OSTYPE}")
+elseif(IS_DIRECTORY "${OSAL_SOURCE_DIR}/src/os/${OSAL_SYSTEM_OSTYPE}")
+    set(OSAL_OS_SOURCE_DIR "${OSAL_SOURCE_DIR}/src/os/${OSAL_SYSTEM_OSTYPE}")
+else()
+  # It is an error if the indicated OSTYPE does not correspond to a subdirectory
+  # If this is not caught here then a more obfuscated error will occur later.
+  message(FATAL_ERROR  "Error: No source directory found for \"${OSAL_SYSTEM_OSTYPE}\" OS type")
+endif()
 
-message(STATUS "OSAL Selection: ${OSAL_SYSTEM_OSTYPE}")
+
+message(STATUS "OSAL Selection: ${OSAL_SYSTEM_OSTYPE} at ${OSAL_OS_SOURCE_DIR}")
 
 # The implementation-specific OSAL subdirectory should define
 # an OBJECT target named "osal_${OSAL_SYSTEM_OSTYPE}_impl"
-add_subdirectory(src/os/${OSAL_SYSTEM_OSTYPE} ${OSAL_SYSTEM_OSTYPE}_impl)
+add_subdirectory(${OSAL_OS_SOURCE_DIR} ${OSAL_SYSTEM_OSTYPE}_impl)
 
 # The "shared" directory contains internal components which
 # are referenced in implementation OSAL modules, but should _NOT_
@@ -290,8 +314,8 @@ endif(OSAL_BSP_INCLUDE_DIRECTORIES)
 # fine-tune the library for this particular build.  This is included
 # AFTER The basic targets are defined, so it may set properties
 # on the defined targets and/or use target-specific commands.
-include("${OSAL_SOURCE_DIR}/src/bsp/${OSAL_SYSTEM_BSPTYPE}/build_options.cmake" OPTIONAL)
-include("${OSAL_SOURCE_DIR}/src/os/${OSAL_SYSTEM_OSTYPE}/build_options.cmake" OPTIONAL)
+include("${OSAL_BSP_SOURCE_DIR}/build_options.cmake" OPTIONAL)
+include("${OSAL_OS_SOURCE_DIR}/build_options.cmake" OPTIONAL)
 
 #
 # UNIT TEST SUPPORT
@@ -337,10 +361,6 @@ endif (ENABLE_UNIT_TESTS)
 # This is conditional to avoid warnings in a standalone build.
 get_directory_property(HAS_PARENT PARENT_DIRECTORY)
 if (HAS_PARENT)
-    # export the "OSAL_BSP_STAGING_INSTALL_DIR" to the parent build, so this can be
-    # used in "install" commands as necessary for the files needed at runtime
-    set(OSAL_BSP_STAGING_INSTALL_DIR "${OSAL_BSP_STAGING_INSTALL_DIR}" PARENT_SCOPE)
-
     # Export the UT coverage compiler/linker flags to the parent build.
     # These flags are based on the target system type and should be used
     # when building code intended for coverage analysis.

README.md

@@ -16,6 +16,22 @@ This distribution contains:
 
 ## Version History
 
+### Development Build: 5.0.18
+
+- Add functional tests for `OS_IdentifyObject`, `OS_ConvertToArrayIndex` and `OS_ForEachObject` functions.
+- Fix doxygen warnings
+- Unit test cases which use `OS_statfs` and run on an `RTEMS IMFS` volume will be skipped and categorized as "NA" due to `OS_ERR_NOT_IMPLEMENTED` response, rather than a failure.
+- The device_name field was using the wrong length, it should be of `OS_FS_DEV_NAME_LEN` Also correct another length check on the local path name.
+- For RTEMS, will not shutdown the kernel if test abort occurs.
+- Unit tests work on RTEMS without BSP preallocating ramdisks
+- If `OSAL_EXT_SOURCE_DIR` cache variable is set, this location will be checked first for a BSP/OS implementation layer.
+- Implement `OS_GetResourceName()` and `OS_ForEachObjectOfType()`, which are new functions that allow for additional query capabilities. No impact to current behavior as the FSW does not currently use any of these new APIs.
+- A functional test enhancement to `bin-sem-test` which replicates the specific conditions for the observed bug to occur. Deletes the task calling `OS_BinSemTake()` and then attempts to use the semaphore after this. 
+- Employ a `pthread` "cleanup handler" to handle the situation where a task is canceled during the `pthread_cond_wait()` call. This ensures that the `mutex` is unlocked as part of the cleanup, so other tasks may continue using the semaphore.    
+- Change all initial `mutex` locking to be a finite "timed" wait rather than an infinite wait. In all cases, the condition variable is only held for brief periods of time and should be readily available. If a task blocks for a long time, this considers the mutex "broken" and aborts, thereby avoiding deadlock. This is a "contingency" fix in that if an exception or signal or other unknown/unhandled async event occurs that leaves the mutex permanently locked.
+- Adds the mutex to protect the timer callback `timecb` resource table.
+- See <https://github.com/nasa/osal/pull/482>
+
 ### Development Build: 5.0.17
 
 -  `OS_QueueCreate()` will return an error code if the depth parameter is larger than the configured `OS_MAX_QUEUE_DEPTH`. 

osconfig.h.in

@@ -248,5 +248,12 @@
   */
 #define OS_MAX_CONSOLES                 1
 
+/**
+  * \brief The system-specific file extension used on loadable module files 
+  *
+  * Fixed value based on system selection, not user configurable.
+  */
+#define OS_MODULE_FILE_EXTENSION        "@CMAKE_SHARED_LIBRARY_SUFFIX@"
+
 
 #endif      /* INCLUDE_OSCONFIG_H_ */

src/bsp/mcp750-vxworks/CMakeLists.txt

@@ -6,7 +6,6 @@
 
 add_library(osal_mcp750-vxworks_impl OBJECT
 	src/bsp_start.c
-	src/bsp_voltab.c
 	src/bsp_console.c
 )
 

src/bsp/mcp750-vxworks/build_options.cmake

@@ -4,8 +4,5 @@
 #
 ##########################################################################
 
-# This indicates where to stage target binaries created during the build
-set(OSAL_BSP_STAGING_INSTALL_DIR "CF:0")
-
 # The "-u" switch is required to ensure that "ldppc" pulls in the OS_BSPMain entry point
 target_link_libraries(osal_bsp -uOS_BSPMain)

src/bsp/mcp750-vxworks/src/bsp_start.c

@@ -24,6 +24,17 @@
 
 #include "mcp750_bsp_internal.h"
 
+/* ---------------------------------------------------------
+    OS_BSP_Shutdown_Impl()
+
+     Helper function to abort the running task
+   --------------------------------------------------------- */
+void OS_BSP_Shutdown_Impl(void)
+{
+    abort();
+}
+
+
 /******************************************************************************
 **  Function:  OS_BSPMain()
 **

src/bsp/mcp750-vxworks/src/bsp_voltab.c

@@ -10,7 +10,6 @@
 
 add_library(osal_pc-linux_impl OBJECT
 	src/bsp_start.c
-	src/bsp_voltab.c
 	src/bsp_console.c
 )
 

src/bsp/pc-linux/CMakeLists.txt

@@ -21,8 +21,3 @@ if (NOT CMAKE_CROSSCOMPILING)
   set(UT_COVERAGE_COMPILE_FLAGS -pg --coverage)
   set(UT_COVERAGE_LINK_FLAGS    -pg --coverage)
 endif()
-
-# This indicates where to stage target binaries created during the build
-# It should reflect the _real_ location of the persistent storage path used by
-# the BSP which is intended to be used for runtime modules or files.
-set(OSAL_BSP_STAGING_INSTALL_DIR "eeprom1")

src/bsp/pc-linux/build_options.cmake

@@ -38,41 +38,9 @@ OS_BSP_PcLinuxGlobalData_t OS_BSP_PcLinuxGlobal;
    --------------------------------------------------------- */
 void OS_BSP_Initialize(void)
 {
-    mode_t      mode;
-    uint32      i;
-    struct stat statbuf;
     FILE *fp;
     char buffer[32];
 
-    /*
-    ** Create local directories for "disk" mount points
-    **  See bsp_voltab for the values
-    **
-    ** NOTE - the voltab table is poorly designed here; values of "0" are valid
-    ** and will translate into an entry that is actually used.  In particular the
-    ** "free" flag has to be actually initialized to TRUE to say its NOT valid.
-    ** So in the case of an entry that has been zeroed out (i.e. bss section) it
-    ** will be treated as a valid entry.
-    **
-    ** Checking that the DeviceName starts with a leading slash '/' is a workaround
-    ** for this, and may be the only way to detect an entry that is uninitialized.
-    */
-    mode = S_IFDIR | S_IRWXU | S_IRWXG | S_IRWXO;
-    for (i = 0; i < NUM_TABLE_ENTRIES; ++i)
-    {
-        if (OS_VolumeTable[i].VolumeType == FS_BASED &&
-                OS_VolumeTable[i].PhysDevName[0] != 0 &&
-                OS_VolumeTable[i].DeviceName[0] == '/')
-
-        {
-            if (stat(OS_VolumeTable[i].PhysDevName, &statbuf) < 0)
-            {
-                BSP_DEBUG("Creating mount point: %s\n", OS_VolumeTable[i].PhysDevName);
-                mkdir(OS_VolumeTable[i].PhysDevName, mode);
-            }
-        }
-    }
-
     /*
      * If not running as root, check /proc/sys/fs/mqueue/msg_max
      *
@@ -132,6 +100,17 @@ int OS_BSP_GetReturnStatus(void)
     return retcode;
 }
 
+/* ---------------------------------------------------------
+    OS_BSP_Shutdown_Impl()
+
+     Helper function to abort the running task
+   --------------------------------------------------------- */
+void OS_BSP_Shutdown_Impl(void)
+{
+    abort();
+}
+
+
 /******************************************************************************
 **  Function:  main()
 **