NASA Docket No. GSC-19,200-1, and identified as "cFS Draco"

Batch update of latest cFS software release

Author: jphickey

.gitignore

@@ -1,2 +1,13 @@
 build
 Makefile
+
+# Ignore macOS generated files types
+.DS_Store
+.DS_Store?
+._*
+.Spotlight-V100
+.Trashes
+ehthumbs.db
+Thumbs.db
+.fuse_hidden*
+

CMakeLists.txt

@@ -88,7 +88,7 @@
 # OSAL resources.
 #
 ######################################################################
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 # Set the policy dictating use of target_link_libraries across directories
 # Either OLD or NEW should work here but setting it to something avoids a
@@ -355,6 +355,7 @@ set(OSAL_SRCLIST
     src/os/shared/src/osapi-network.c
     src/os/shared/src/osapi-printf.c
     src/os/shared/src/osapi-queue.c
+    src/os/shared/src/osapi-rwlock.c
     src/os/shared/src/osapi-select.c
     src/os/shared/src/osapi-shell.c
     src/os/shared/src/osapi-sockets.c
@@ -370,7 +371,6 @@ if (OSAL_CONFIG_DEBUG_PRINTF)
     )
 endif (OSAL_CONFIG_DEBUG_PRINTF)
 
-
 # Define the external "osal" static library target
 # This is a combination of the generic parts with the low level
 # system-specific parts
@@ -419,7 +419,7 @@ if (ENABLE_UNIT_TESTS)
       target_link_libraries(${TGTNAME} PUBLIC ut_assert osal)
       add_test(${TGTNAME} ${TGTNAME})
       foreach(TGT ${INSTALL_TARGET_LIST})
-        install(TARGETS ${TGTNAME} DESTINATION ${TGT}/${UT_INSTALL_SUBDIR})
+        install(TARGETS ${TGTNAME} DESTINATION ${TGT})
       endforeach()
 
     endfunction(add_osal_ut_exe)

default_config.cmake

@@ -206,6 +206,33 @@ set(OSAL_CONFIG_CONSOLE_ASYNC                   TRUE
     CACHE BOOL "Controls spawning of a separate utility task for OS_printf"
 )
 
+#
+# OS_CONFIG_RWLOCK
+# ----------------------------------
+#
+# Controls whether the readers-writer lock object is included in the compilation
+# process of the OSAL.
+#
+# If set FALSE, the relevant source and header files will be excluded in the compilation
+# of OSAL, such that the object is still registered with the Object ID system
+# but its associated functions won't be defined or declared.
+#
+# If set TRUE, the relevant source and header files will be included in the compilation
+# of OSAL, and all it's associated functions will be callable.
+#
+# When this is TRUE (default), it gives the ability to create a readers-writer lock as
+# an alternative to synchronization with mutexes for data structures that are read-heavy.
+# It allows for either an infinite number of readers to be accessing a data structure or 
+# a single writer.
+#
+# This option is available since some platforms may not support readers-writer locks, so
+# any use of a readers-writer lock should also create an implementation using solely 
+# mutexes.
+#
+set(OSAL_CONFIG_RWLOCK                          TRUE
+    CACHE BOOL "Controls the inclusion of readers-writer lock objects in the code"
+)
+
 #############################################
 # Resource Limits for the OS API
 #############################################
@@ -238,6 +265,11 @@ set(OSAL_CONFIG_MAX_MUTEXES             20
     CACHE STRING "Maximum Number of Mutexes to support"
 )
 
+# The maximum number of rwlocks to support
+set(OSAL_CONFIG_MAX_RWLOCKS             20
+    CACHE STRING "Maximum Number of RwLocks to support"
+)
+
 # The maximum number of condition variables to support
 set(OSAL_CONFIG_MAX_CONDVARS             4
     CACHE STRING "Maximum Number of Condition Variables to support"

docs/src/CMakeLists.txt

@@ -28,7 +28,6 @@
 # in a standalone build environment.
 #
 
-cmake_minimum_required(VERSION 3.5)
 project(OSAL_DOCS NONE)
 
 # List of dox files to include -

osconfig.h.in

@@ -71,6 +71,13 @@
   */
 #define OS_MAX_MUTEXES                  @OSAL_CONFIG_MAX_MUTEXES@
 
+ /**
+  * \brief The maximum number of rwlocks to support
+  *
+  * Based on the OSAL_CONFIG_MAX_RWLOCKS configuration option
+  */
+#define OS_MAX_RWLOCKS                  @OSAL_CONFIG_MAX_RWLOCKS@
+
 /**
   * \brief The maximum number of condition variables to support
   *

src/bsp/generic-qnx/CMakeLists.txt

@@ -0,0 +1,52 @@
+######################################################################
+#
+# CMAKE build recipe for QNX Board Support Package (BSP)
+#
+######################################################################
+
+# This basic implementation library should be generic enough to use
+# on any QNX based processor board.
+add_library(osal_generic-qnx_impl OBJECT
+	src/bsp_start.c
+	src/bsp_console.c
+)
+
+# OSAL needs conformance to at least POSIX.1c (aka POSIX 1995) - this includes all the
+# real-time support and threading extensions.
+#
+# When compiling against glibc, using "_XOPEN_SOURCE=600" enables the X/Open 6 standard.
+# XPG6 includes all necessary XPG5, POSIX.1c features as well as SUSv2/UNIX98 extensions.
+# This OSAL implementation uses clock_nanosleep(), mq_timedreceive(), and
+# mq_timedsend() which are enhancements added in the XPG6 standard.
+#
+# See http://www.gnu.org/software/libc/manual/html_node/Feature-Test-Macros.html
+# for a more detailed description of the feature test macros and available values
+target_compile_definitions(osal_public_api INTERFACE
+    _XOPEN_SOURCE=600
+)
+
+# QNX system libraries required for the final link of applications using OSAL
+if (QNX_SDP_VERSION EQUAL 800)
+target_link_libraries(osal_public_api INTERFACE
+    socket unwind unwind-nto unwind-generic
+)
+elseif (QNX_SDP_VERSION EQUAL 710) 
+target_link_libraries(osal_public_api INTERFACE
+    socket backtrace
+)
+endif()
+
+# This BSP only works with "qnx" OS layer.
+# Confirming this reduces risk of accidental misconfiguration
+set_property(TARGET osal_generic-qnx_impl PROPERTY OSAL_EXPECTED_OSTYPE "qnx")
+
+# Configure the ut_coverage_compile and ut_coverage_link for enabling coverage
+# testing on this platform.
+if (NOT CMAKE_CROSSCOMPILING AND ENABLE_UNIT_TESTS)
+  # Support for other compilers/coverage tools could be added here.
+  # for now only the GNU "gcov" will be enabled
+  if (CMAKE_C_COMPILER_ID STREQUAL GNU)
+    target_compile_options(ut_coverage_compile INTERFACE -pg -ftest-coverage -fprofile-arcs)
+    target_link_libraries(ut_coverage_link INTERFACE gcov)
+  endif()
+endif()

src/bsp/generic-qnx/build_options.cmake

@@ -0,0 +1,18 @@
+##########################################################################
+#
+# Build options for "generic-qnx" BSP
+#
+##########################################################################
+
+# C flags that should be used when (re-) compiling code for unit testing.
+# Note: --coverage is just a shortcut for "-ftest-coverage" and "-fprofile-arcs"
+# This also does not work well when cross compiling since paths to the _compile_ dir
+# are baked into the executables, so they will not be there when copied to the target
+# Note - although GCC understands the same flags for compile and link here, this may
+# not be true on all platforms so the compile and link flags are specified separately.
+if (NOT CMAKE_CROSSCOMPILING AND NOT OSAL_OMIT_DEPRECATED)
+  # The variables here (UT_COVERAGE_COMPILE_FLAGS/LINK_FLAGS) should be phased out, prefer
+  # to use the interface libraries (ut_coverage_compile/link) instead, which are more flexible.
+  set(UT_COVERAGE_COMPILE_FLAGS -pg --coverage)
+  set(UT_COVERAGE_LINK_FLAGS    -pg --coverage)
+endif()

src/bsp/generic-qnx/src/bsp_console.c

@@ -0,0 +1,124 @@
+/************************************************************************
+ * NASA Docket No. GSC-18,719-1, and identified as “core Flight System: Bootes”
+ *
+ * Copyright (c) 2020 United States Government as represented by the
+ * Administrator of the National Aeronautics and Space Administration.
+ * All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may
+ * not use this file except in compliance with the License. You may obtain
+ * a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ ************************************************************************/
+
+/*
+ * File:  bsp_console.c
+ *
+ * Purpose:
+ *   OSAL BSP debug console abstraction
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/wait.h>
+
+#include "generic_qnx_bsp_internal.h"
+#include "bsp-impl.h"
+
+/*----------------------------------------------------------------
+   OS_BSP_ExecTput()
+
+   Helper function: Use the system "tput" utility to set the given
+   console capability.
+
+   This uses a fork/exec to invoke the external command which outputs
+   the control sequence directly to the controlling terminal.
+
+   It is assumed that this will only be used during debug/testing.
+   Otherwise it would be preferable to cache the control strings to
+   avoid repetitive fork/exec operations.
+ ------------------------------------------------------------------*/
+static void OS_BSP_ExecTput(const char *cap, const char *param)
+{
+    pid_t cpid;
+    int   status;
+
+    cpid = fork();
+    if (cpid < 0)
+    {
+        return;
+    }
+    if (cpid == 0)
+    {
+        execlp("tput", "tput", cap, param, NULL);
+        exit(EXIT_FAILURE);
+    }
+    waitpid(cpid, &status, 0);
+}
+
+/****************************************************************************************
+                    BSP CONSOLE IMPLEMENTATION FUNCTIONS
+ ****************************************************************************************/
+
+/*----------------------------------------------------------------
+   OS_BSP_ConsoleOutput_Impl
+   See full description in header
+ ------------------------------------------------------------------*/
+void OS_BSP_ConsoleOutput_Impl(const char *Str, size_t DataLen)
+{
+    ssize_t WriteLen;
+
+    while (DataLen > 0)
+    {
+        /* writes the raw data directly to STDOUT_FILENO (unbuffered) */
+        WriteLen = write(STDOUT_FILENO, Str, DataLen);
+        if (WriteLen <= 0)
+        {
+            /* no recourse if this fails, just stop. */
+            break;
+        }
+        Str += WriteLen;
+        DataLen -= WriteLen;
+    }
+}
+
+/*----------------------------------------------------------------
+   OS_BSP_ConsoleSetMode_Impl() definition
+   See full description in header
+ ------------------------------------------------------------------*/
+void OS_BSP_ConsoleSetMode_Impl(uint32 ModeBits)
+{
+    char param[32];
+
+    if (OS_BSP_GenericQnxGlobal.EnableTermControl)
+    {
+        if (ModeBits == OS_BSP_CONSOLEMODE_NORMAL)
+        {
+            OS_BSP_ExecTput("sgr0", NULL);
+        }
+        else
+        {
+            if ((ModeBits & OS_BSP_CONSOLEMODE_HIGHLIGHT) == 0)
+            {
+                /* no highlight (standout) text */
+                OS_BSP_ExecTput("rmso", NULL);
+            }
+            else
+            {
+                /* set highlight (standout) text */
+                OS_BSP_ExecTput("smso", NULL);
+            }
+
+            snprintf(param, sizeof(param), "%d", OS_BSP_CONSOLEMODE_TO_ANSICOLOR(ModeBits));
+            OS_BSP_ExecTput("setaf", param);
+        }
+    }
+}