Eclipse S-CORE on Elektrobit corbos Linux for Safety Applications

.bazelrc

@@ -16,7 +16,7 @@ common --@score_baselibs//score/mw/log/detail/flags:KUse_Stub_Implementation_Onl
 common --@score_baselibs//score/mw/log/flags:KRemote_Logging=False
 common --@score_baselibs//score/json:base_library=nlohmann
 common --//score/mw/com/flags:tracing_library=stub
-common --extra_toolchains=@gcc_toolchain//:host_gcc_12
+common --extra_toolchains=@gcc_toolchain//:aarch64_gcc_13
 build --incompatible_strict_action_env
 test --test_output=errors
 build --experimental_retain_test_configuration_across_testonly #https://github.com/bazelbuild/bazel/issues/6842
@@ -28,6 +28,8 @@ test --sandbox_tmpfs_path=/tmp
 # Tests require to be run in a sandbox. Otherwise some will be flaky.
 test --nosandbox_default_allow_network
 
+build:aarch64 --platforms=@score_toolchains_gcc//platforms:aarch64-linux
+
 common --registry=https://raw.githubusercontent.com/eclipse-score/bazel_registry/refs/heads/main/
 common --registry=https://bcr.bazel.build
 

.vscode/tasks.json

@@ -0,0 +1,25 @@
+{
+  // See https://go.microsoft.com/fwlink/?LinkId=733558
+  // for the documentation about the tasks.json format
+  "version": "2.0.0",
+  "tasks": [
+        {
+            "label": "Run fastdev image",
+            "type": "shell",
+            "command": "${workspaceFolder}/run_qemu.sh bazel-bin/score/mw/com/example/ipc_bridge_hi_wrapper/deb-qemuarm64-modified/",
+            "problemMatcher": []
+        },
+        {
+            "label": "Upload application binaries to fastedev image",
+            "type": "shell",
+            "command": "cd ${workspaceFolder} && bazel build --config=aarch64 --spawn_strategy=local //score/mw/com/example/ipc_bridge_hi_wrapper:upload",
+            "problemMatcher": []
+        },
+        {
+            "label": "Run example application in fastedev image",
+            "type": "shell",
+            "command": "cd ${workspaceFolder} && bazel build --config=aarch64 --spawn_strategy=local //score/mw/com/example/ipc_bridge_hi_wrapper:run_example && code ./bazel-bin/score/mw/com/example/ipc_bridge_hi_wrapper/qemu_run.log && code ./bazel-bin/score/mw/com/example/ipc_bridge_hi_wrapper/ssh_run.log",
+            "problemMatcher": []
+        }
+    ]
+}

MODULE.bazel

@@ -13,18 +13,22 @@
 module(name = "communication")
 
 bazel_dep(name = "platforms", version = "0.0.11")
-
-bazel_dep(name = "score_toolchains_gcc", version = "0.4", dev_dependency = True)
+bazel_dep(name = "score_toolchains_gcc", version = "0.4", dev_dependency=True)
+git_override(
+   module_name = "score_toolchains_gcc",
+   remote = "https://github.com/Elektrobit/eclipse-score_toolchains_gcc.git",
+   commit = "fb009e490b9b8f28805d587f50d0bf6d885f3414",
+)
 
 gcc = use_extension(
     "@score_toolchains_gcc//extentions:gcc.bzl",
     "gcc",
     dev_dependency = True,
 )
 gcc.toolchain(
-    sha256 = "457f5f20f57528033cb840d708b507050d711ae93e009388847e113b11bf3600",
-    strip_prefix = "x86_64-unknown-linux-gnu",
-    url = "https://github.com/eclipse-score/toolchains_gcc_packages/releases/download/0.0.1/x86_64-unknown-linux-gnu_gcc12.tar.gz",
+    url = "https://linux.elektrobit.com/tmp/score/fastdev-sdk-ubuntu-ebcl-deb-qemu-arm64.tar.xz",
+    sha256 = "cf8d277a2b95bbdad3e177c488fa77d01723510690a911218ef33747574d78fe",
+    strip_prefix = "fastdev-sdk-ubuntu-ebcl-deb-qemuarm64",
 )
 
 # TODO to be moved to toolchain. https://github.com/eclipse-score/toolchains_gcc/issues/11
@@ -119,12 +123,12 @@ bazel_dep(name = "rules_doxygen", version = "2.5.0")
 bazel_dep(name = "score_baselibs", version = "0.2.0")
 git_override(
     module_name = "score_baselibs",
-    commit = "de5bb275ee9957433b3587582ac07d3eeb98dd6a",
+    commit = "e9dc2036cbdee3dce0ce51543eb34ea405326f7c",
     patch_strip = 1,
     patches = [
         "//:wait_free_stack_fix.patch",
     ],
-    remote = "https://github.com/eclipse-score/baselibs.git",
+    remote = "https://github.com/Elektrobit/eclipse-score_baselibs.git",
 )
 
 # Doxygen extension for documentation generation

README.md

@@ -141,4 +141,4 @@ We welcome contributions! See our [Contributing Guide](CONTRIBUTING.md) for deta
 
 ---
 
-**Note**: This is an open-source project under the Eclipse Foundation. It implements automotive-grade communication middleware suitable for safety-critical applications.
+**Note**: This is an open-source project under the Eclipse Foundation. It implements automotive-grade communication middleware suitable for safety-critical applications.

run_qemu.sh

@@ -0,0 +1,33 @@
+#!/bin/bash
+
+set -xu
+
+if [ -z "$1" ]; then
+    echo "Usage: $0 <basefolder>"
+    exit 1
+fi
+BASEFOLDER=$1
+IMAGE="${BASEFOLDER}/fastdev-ubuntu-ebcl-deb-qemuarm64.wic"
+KERNEL="${BASEFOLDER}/fastdev-ubuntu-ebcl-deb-qemuarm64-vmlinux"
+if [ ! -d "${BASEFOLDER}" ] || [ ! -f "${IMAGE}" ] || [ ! -f "${KERNEL}" ] ; then
+    echo "Run \"bazel build --config=aarch64 --spawn_strategy=local //score/mw/com/example/ipc_bridge_hi_wrapper:fastdev-image\" first to fetch the image"
+fi
+
+MACHINE="virt,virtualization=true,gic-version=3"
+CPU="cortex-a53"
+SMP="8"
+MEM="4G"
+KERNEL_ARGS=("-append" "root=/dev/vda1 sdk_enable lisa_syscall_whitelist=2026 rw sharedmem.enable_sharedmem=0 init=/usr/bin/ebclfsa-cflinit")
+DISK_ARGS="-device virtio-blk-device,drive=vd0 -drive if=none,format=raw,file=${IMAGE},id=vd0"
+NETWORK_ARGS="-netdev user,id=net0,net=192.168.7.0/24,dhcpstart=192.168.7.2,dns=192.168.7.3,host=192.168.7.5,hostfwd=tcp::2222-:22,hostfwd=tcp::3333-:3333 -device virtio-net-device,netdev=net0 "
+
+if ! command -v qemu-system-aarch64 > /dev/null; then
+    echo "Please install qemu-system-aarch64"
+    exit 1
+fi
+
+chmod +w ${IMAGE}
+
+exec qemu-system-aarch64 -m "${MEM}" -machine "${MACHINE}" -cpu "${CPU}" \
+    -smp "${SMP}" -kernel "${KERNEL}" "${KERNEL_ARGS[@]}" ${DISK_ARGS} \
+    ${NETWORK_ARGS} -nographic ${@:2}

score/mw/com/example/ipc_bridge/BUILD

@@ -30,6 +30,9 @@ cc_binary(
         "@score_baselibs//score/language/futurecpp",
         "@score_baselibs//score/mw/log",
     ],
+    visibility = [
+        "//visibility:public", # platform_only
+    ],
 )
 
 cc_library(

score/mw/com/example/ipc_bridge_hi_wrapper/BUILD

@@ -0,0 +1,118 @@
+# *******************************************************************************
+# Copyright (c) 2025 Contributors to the Eclipse Foundation
+#
+# See the NOTICE file(s) distributed with this work for additional
+# information regarding copyright ownership.
+#
+# This program and the accompanying materials are made available under the
+# terms of the Apache License Version 2.0 which is available at
+# https://www.apache.org/licenses/LICENSE-2.0
+#
+# SPDX-License-Identifier: Apache-2.0
+# *******************************************************************************
+load("@score_baselibs//score/language/safecpp:toolchain_features.bzl", "COMPILER_WARNING_FEATURES")
+
+genrule(
+    name = "ipc_bridge_cpp_sil",
+    srcs = ["//score/mw/com/example/ipc_bridge:ipc_bridge_cpp"],
+    outs = ["ipc_bridge_cpp_sil"],
+    cmd = "cp $(SRCS) $@ && \
+     chmod ugo+w $@ && \
+     $(execpath @gcc_toolchain_gcc//:elf-enabler) $@ && \
+     chmod ugo-w $@",
+    tools = ["@gcc_toolchain_gcc//:elf-enabler"],
+)
+
+genrule(
+    name = "hi_app",
+    srcs = [
+        ":ipc_bridge_hi_wrapper",
+        ":ipc_bridge_cpp_sil"
+        ],
+    outs = ["hi_app"],
+    cmd = "cp $(location :ipc_bridge_hi_wrapper) $@ && \
+     chmod ugo+w $@ && \
+     $(execpath @gcc_toolchain_gcc//:elf-enabler) $@ && \
+     chmod ugo-w $@",
+    tools = ["@gcc_toolchain_gcc//:elf-enabler"],
+)
+
+cc_binary(
+    name = "ipc_bridge_hi_wrapper",
+    srcs = [
+        "main.cc",
+    ],
+    features = COMPILER_WARNING_FEATURES,
+    deps = [
+        "//score/mw/com/example/ipc_bridge:ipc_bridge_cpp",
+    ],
+)
+
+genrule(
+    name = "fetch-fastdev-archive",
+    srcs = [],
+    outs = ["fastdev-archive.tgz"],
+    cmd = "wget -O $@ https://linux.elektrobit.com/tmp/score/fastdev-ubuntu-ebcl-deb-qemu-arm64.tgz"
+)
+
+genrule(
+    name = "fastdev-image",
+    srcs = [":fetch-fastdev-archive"],
+    outs = [
+        "deb-qemuarm64/fastdev-ubuntu-ebcl-deb-qemuarm64.wic",
+        "deb-qemuarm64/fastdev-ubuntu-ebcl-deb-qemuarm64-vmlinux"
+    ],
+    cmd = "tar xzf $(location :fetch-fastdev-archive) -C $(RULEDIR)",
+)
+
+genrule(
+    name = "upload",
+    srcs = [
+        ":ipc_bridge_cpp_sil",
+        "//score/mw/com/example/ipc_bridge:ipc_bridge_cpp",
+        ":hi_app",
+        ":fastdev-image",
+        "mw_com_config.json",
+        "run_qemu.sh",
+        "logging.json"
+    ],
+    cmd = " \
+        mkdir -p $(RULEDIR)/deb-qemuarm64-modified &&\
+        cp $(RULEDIR)/deb-qemuarm64/* $(RULEDIR)/deb-qemuarm64-modified/ &&\
+        $(location run_qemu.sh) $(RULEDIR)/deb-qemuarm64-modified -pidfile $(RULEDIR)/qemu.pid > $(RULEDIR)/qemu_upload.log &\
+        sleep 30 ; \
+        sshpass -p linux scp -o StrictHostKeyChecking=no -P 2222 $(location :ipc_bridge_cpp_sil) root@localhost:/usr/bin &&\
+        sshpass -p linux scp -o StrictHostKeyChecking=no -P 2222 $(location //score/mw/com/example/ipc_bridge:ipc_bridge_cpp) root@localhost:/usr/bin &&\
+        sshpass -p linux scp -o StrictHostKeyChecking=no -P 2222 $(location :hi_app) root@localhost:/usr/bin &&\
+        sshpass -p linux scp -o StrictHostKeyChecking=no -P 2222 $(location mw_com_config.json) root@localhost:/etc/ &&\
+        sshpass -p linux scp -o StrictHostKeyChecking=no -P 2222 $(location logging.json) root@localhost:/etc/ &&\
+        sshpass -p linux ssh -o StrictHostKeyChecking=no -p 2222 root@localhost sync &&\
+        sshpass -p linux ssh -o StrictHostKeyChecking=no -p 2222 root@localhost crinit-ctl poweroff || true \
+        sleep 5  \
+    ",
+    outs = [
+        "qemu_upload.log",
+        "deb-qemuarm64-modified/fastdev-ubuntu-ebcl-deb-qemuarm64.wic",
+        "deb-qemuarm64-modified/fastdev-ubuntu-ebcl-deb-qemuarm64-vmlinux"
+    ],
+)
+
+genrule(
+    name = "run_example",
+    srcs = [
+        "deb-qemuarm64-modified/fastdev-ubuntu-ebcl-deb-qemuarm64.wic",
+        "deb-qemuarm64-modified/fastdev-ubuntu-ebcl-deb-qemuarm64-vmlinux",
+        "run_qemu.sh"
+    ],
+    cmd = " \
+        $(location run_qemu.sh) $(RULEDIR)/deb-qemuarm64-modified -pidfile $(RULEDIR)/qemu.pid > $(RULEDIR)/qemu_run.log &\
+        sleep 10 ; \
+        sshpass -p linux ssh -o StrictHostKeyChecking=no -p 2222 root@localhost ipc_bridge_cpp -n 10 -m send -t 200 -s /etc/mw_com_config.json > $(RULEDIR)/ssh_run.log && \
+        sshpass -p linux ssh -o StrictHostKeyChecking=no -p 2222 root@localhost crinit-ctl poweroff || true \
+        sleep 5 \
+    ",
+    outs = [
+        "qemu_run.log",
+        "ssh_run.log",
+    ],
+)

score/mw/com/example/ipc_bridge_hi_wrapper/logging.json

@@ -0,0 +1,8 @@
+{
+  "appId": "IPBR",
+  "appDesc": "ipc_bridge",
+  "logLevel": "kInfo",
+  "logLevelThresholdConsole": "kInfo",
+  "logMode": "kRemote|kConsole",
+  "dynamicDatarouterIdentifiers" : true
+}

score/mw/com/example/ipc_bridge_hi_wrapper/main.cc

@@ -0,0 +1,38 @@
+/********************************************************************************
+ * Copyright (c) 2025 Contributors to the Eclipse Foundation
+ *
+ * See the NOTICE file(s) distributed with this work for additional
+ * information regarding copyright ownership.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Apache License Version 2.0 which is available at
+ * https://www.apache.org/licenses/LICENSE-2.0
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ ********************************************************************************/
+#include <cstring>
+#include <iostream>
+#include <unistd.h>
+
+int main() {
+    std::cout << "HI_App: Starting ipc_bridge_cpp_sil" << std::endl;
+
+    const char *c_args[] = {
+        "/usr/bin/ipc_bridge_cpp_sil",
+        "-n", "10",
+        "-m", "recv",
+        "-t", "200",
+        "-s", "/etc/mw_com_config.json",
+        nullptr
+    };
+
+    execve("/usr/bin/ipc_bridge_cpp_sil", const_cast<char* const*>(c_args), nullptr);
+
+    std::cerr << "execve failed, sleeping... Reason: " << strerror(errno)
+              << std::endl;
+    while (true) {
+      sleep(10);
+    }
+    return 0;
+}
+

score/mw/com/example/ipc_bridge_hi_wrapper/mw_com_config.json

@@ -0,0 +1 @@
+../ipc_bridge/etc/mw_com_config.json

score/mw/com/example/ipc_bridge_hi_wrapper/run_qemu.sh

@@ -0,0 +1 @@
+../../../../../run_qemu.sh