NSH will now run files from the file system; Add logic to unload and clean-up after running a task from a file system; Extensions to builtin apps from Mike Smith

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@5529 42af7a65-404d-4744-a932-0658087f49c3

ChangeLog

@@ -3967,4 +3967,8 @@
 	  file system.
 	* configs/sim/nsh: Convert to use kconfig-frontends configuration
 	  tool.
+	* binfmt/binfmt_schedunload.c:  Add logic based on SIGCHLD to
+	  automatically unload and clean-up after running a task that
+	  was loaded into memory.
+	* binfmt/libbuiltin: Extensions from Mike Smith
 

arch/arm/include/stm32/chip.h

@@ -183,9 +183,43 @@
 #  define STM32_NRNG                     0   /* No random number generator (RNG) */
 #  define STM32_NDCMI                    0   /* No digital camera interface (DCMI) */
 
+/* STM32 F103 Medium Density Family *************************************************/
+/* STM32F103RB is in the Medium-density performance line and is provided in 64 pin
+ * packages with 128K Flash, USB, CAN, 7 timers, 2 ADCs, 9 com. interfaces
+ */
+
+#elif defined(CONFIG_ARCH_CHIP_STM32F103RBT6)
+# define CONFIG_STM32_STM32F10XX         1   /* STM32F10xxx family */
+# undef  CONFIG_STM32_LOWDENSITY             /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 16/32 Kbytes */
+# define CONFIG_STM32_MEDIUMDENSITY      1   /* STM32F100x, STM32F101x, STM32F102x and STM32F103x w/ 64/128 Kbytes */
+# undef  CONFIG_STM32_HIGHDENSITY            /* STM32F100x, STM32F101x, and STM32F103x w/ 256/512 Kbytes */
+# undef  CONFIG_STM32_VALUELINE              /* STM32F100x */
+# undef  CONFIG_STM32_CONNECTIVITYLINE       /* STM32F105x and STM32F107x */
+# undef  CONFIG_STM32_STM32F20XX             /* STM32F205x and STM32F207x */
+# undef  CONFIG_STM32_STM32F40XX             /* STM32F405xx and STM32407xx families */
+# define STM32_NFSMC                     0   /* FSMC */
+# define STM32_NATIM                     1   /* One advanced timer TIM1 */
+# define STM32_NGTIM                     3   /* General timers TIM2,3,4 */
+# define STM32_NBTIM                     0   /* Two basic timers TIM6 and TIM7 */
+# define STM32_NDMA                      1   /* DMA1 */
+# define STM32_NSPI                      2   /* SPI1-2 */
+# define STM32_NI2S                      0   /* No I2S (?) */
+# define STM32_NUSART                    3   /* USART1-3 */
+# define STM32_NI2C                      2   /* I2C1-2 */
+# define STM32_NCAN                      1   /* bxCAN1 */
+# define STM32_NSDIO                     0   /* No SDIO */
+# define STM32_NUSBOTG                   0   /* No USB OTG FS/HS */
+# define STM32_NGPIO                     51  /* GPIOA-E */
+# define STM32_NADC                      2   /* ADC1-2 */
+# define STM32_NDAC                      0   /* No DAC */
+# define STM32_NCRC                      1   /* CRC */
+# define STM32_NTHERNET                  0   /* No ethernet */
+# define STM32_NRNG                      0   /* No random number generator (RNG) */
+# define STM32_NDCMI                     0   /* No digital camera interface (DCMI) */
+
 /* STM32 F103 High Density Family ***************************************************/
-/* STM32F103RC, STM32F103RD, and STM32F103RE are all provided in 64 pin packages and differ
+/* STM32F103RC, STM32F103RD, and STM32F103RE are all provided in 64 pin packages and
- * only in the available FLASH and SRAM.
+ * differ only in the available FLASH and SRAM.
  */
 
 #elif defined(CONFIG_ARCH_CHIP_STM32F103RET6)

binfmt/binfmt_exec.c

@@ -43,6 +43,7 @@
 #include <debug.h>
 #include <errno.h>
 
+#include <nuttx/kmalloc.h>
 #include <nuttx/binfmt/binfmt.h>
 
 #include "binfmt_internal.h"
@@ -97,6 +98,7 @@ int exec(FAR const char *filename, FAR const char **argv,
 #ifdef CONFIG_SCHED_ONEXIT
   FAR struct binary_s *bin;
   int errorcode;
+  int pid;
   int ret;
 
   /* Allocate the load information */
@@ -131,8 +133,8 @@ int exec(FAR const char *filename, FAR const char **argv,
 
   /* Then start the module */
 
-  ret = exec_module(bin);
+  pid = exec_module(bin);
-  if (ret < 0)
+  if (pid < 0)
     {
       bdbg("ERROR: Failed to execute program '%s'\n", filename);
       sched_unlock();
@@ -145,14 +147,14 @@ int exec(FAR const char *filename, FAR const char **argv,
    * when the task exists.
    */
 
-  ret = schedul_unload(ret, bin);
+  ret = schedule_unload(pid, bin);
   if (ret < 0)
     {
       bdbg("ERROR: Failed to schedul unload '%s'\n", filename);
     }
 
   sched_unlock();
-  return ret;
+  return pid;
 #else
   struct binary_s bin;
   int ret;

binfmt/binfmt_loadmodule.c

@@ -84,6 +84,7 @@
 static int load_default_priority(FAR struct binary_s *bin)
 {
   struct sched_param param;
+  int ret;
 
   /* Get the priority of this thread */
 
@@ -97,6 +98,7 @@ static int load_default_priority(FAR struct binary_s *bin)
   /* Save that as the priority of child thread */
 
   bin->priority = param.sched_priority;
+  return ret;
 }
 
 /****************************************************************************
@@ -180,7 +182,7 @@ int load_module(FAR struct binary_s *bin)
     {
       /* Set the default priority of the new program. */
 
-      ret = load_default_priority(bin)
+      ret = load_default_priority(bin);
       if (ret < 0)
         {
           /* The errno is already set in this case */

binfmt/binfmt_schedunload.c

@@ -0,0 +1,333 @@
+/****************************************************************************
+ * binfmt/binfmt_schedunload.c
+ *
+ *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sched.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/binfmt/binfmt.h>
+
+#include "binfmt_internal.h"
+
+#if !defined(CONFIG_BINFMT_DISABLE) && defined(CONFIG_SCHED_HAVE_PARENT)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+FAR struct binary_s *g_unloadhead;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: unload_list_add
+ *
+ * Description:
+ *   If CONFIG_SCHED_HAVE_PARENT is defined then schedul_unload() will
+ *   manage instances of struct binary_s allocated with kmalloc.  It
+ *   will keep the binary data in a link list and when SIGCHLD is received
+ *   (meaning that the task has exit'ed, schedul_unload() will find the
+ *   data, unload the module, and free the structure.
+ *
+ *   This function will add one structure to the linked list
+ *
+ * Input Parameter:
+ *   pid - The task ID of the child task
+ *   bin - This structure must have been allocated with kmalloc() and must
+ *         persist until the task unloads
+
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+static void unload_list_add(pid_t pid, FAR struct binary_s *bin)
+{
+  irqstate_t flags;
+
+  /* Save the PID in the structure so that we recover it later */
+
+  bin->pid = pid;
+
+  /* Disable deliver of any signals while we muck with the list.  The graceful
+   * way to do this would be block delivery of SIGCHLD would be with
+   * sigprocmask.  Here we do it the quick'n'dirty way by just disabling
+   * interrupts.
+   */
+
+  flags = irqsave();
+  bin->flink = g_unloadhead;
+  g_unloadhead = bin;
+  irqrestore(flags);
+}
+
+/****************************************************************************
+ * Name: unload_list_remove
+ *
+ * Description:
+ *   If CONFIG_SCHED_HAVE_PARENT is defined then schedul_unload() will
+ *   manage instances of struct binary_s allocated with kmalloc.  It
+ *   will keep the binary data in a link list and when SIGCHLD is received
+ *   (meaning that the task has exit'ed, schedul_unload() will find the
+ *   data, unload the module, and free the structure.
+ *
+ *   This function will remove one structure to the linked list
+ *
+ * Input Parameter:
+ *   pid - The task ID of the child task
+ *
+ * Returned Value:
+ *   On success, the load structure is returned.  NULL is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+static FAR struct binary_s *unload_list_remove(pid_t pid)
+{
+  FAR struct binary_s *curr;
+  FAR struct binary_s *prev;
+
+  /* Note the asymmetry.  We do not have to disable interrupts here because
+   * the main thread cannot run while we are in the interrupt handler.  Here,
+   * it should be sufficient to disable pre-emption so that no other thread
+   * can run.
+   */
+
+  sched_lock();
+
+  /* Find the structure in the unload list with the matching PID */
+
+  for (prev = NULL, curr = g_unloadhead;
+       curr && (curr->pid != pid);
+       prev = curr, curr = curr->flink);
+
+  /* Did we find it?  It must be there. Hmmm.. we should probably ASSERT if
+   * we do not!
+   */
+
+  if (curr)
+    {
+      /* Was there another entry before this one? */
+
+      if (prev)
+        {
+          /* Yes.. remove the current entry from after the previous entry */
+
+          prev->flink = curr->flink;
+        }
+      else
+        {
+          /* No.. remove the current entry from the head of the list */
+
+          g_unloadhead = curr->flink;
+        }
+
+      /* Nullify the forward link ... superstitious */
+
+      curr->flink = NULL;
+    }
+
+  sched_unlock();
+  return curr;
+}
+
+/****************************************************************************
+ * Name: unload_callback
+ *
+ * Description:
+ *   If CONFIG_SCHED_HAVE_PARENT is defined, this function may be called to
+ *   automatically unload the module when task exits.  It assumes that
+ *   bin was allocated with kmalloc() or friends and will also automatically
+ *   free the structure with kfree() when the task exists.
+ *
+ * Input Parameter:
+ *   pid - The ID of the task that just exited
+ *   arg - A reference to the load structure cast to FAR void *
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+static void unload_callback(int signo, siginfo_t *info, void *ucontext)
+{
+  FAR struct binary_s *bin;
+  int ret;
+
+  /* Sanity checking */
+
+  if (!info || signo != SIGCHLD)
+    {
+      blldbg("ERROR:Bad signal callback: signo=%d info=%p\n", signo, callback);
+      return;
+    }
+
+  /* Get the load information for this pid */
+
+  bin = unload_list_remove(info->si_pid);
+  if (!bin)
+    {
+      blldbg("ERROR: Could not find load info for PID=%d\n", info->si_pid);
+      return;
+    }
+
+  /* Unload the module */
+
+  ret = unload_module(bin);
+  if (ret < 0)
+    {
+      blldbg("ERROR: unload_module failed: %d\n", get_errno());
+    }
+
+  /* Free the load structure */
+
+  kfree(bin);
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: schedule_unload
+ *
+ * Description:
+ *   If CONFIG_SCHED_HAVE_PARENT is defined, this function may be called by
+ *   the parent of the the newly created task to automatically unload the
+ *   module when the task exits.  This assumes that (1) the caller is the
+ *   parent of the created task, (2) that bin was allocated with kmalloc()
+ *   or friends.  It will also automatically free the structure with kfree()
+ *   after unloading the module.
+ *
+ * Input Parameter:
+ *   pid - The task ID of the child task
+ *   bin - This structure must have been allocated with kmalloc() and must
+ *         persist until the task unloads
+ *
+ * Returned Value:
+ *   This is an end-user function, so it follows the normal convention:
+ *   It returns 0 (OK) if the callback was successfully scheduled. On
+ *   failure, it returns -1 (ERROR) and sets errno appropriately.
+ *
+ *   On failures, the 'bin' structure will not be deallocated and the
+ *   module not not be unloaded.
+ *
+ ****************************************************************************/
+
+int schedule_unload(pid_t pid, FAR struct binary_s *bin)
+{
+  struct sigaction act;
+  struct sigaction oact;
+  sigset_t sigset;
+  irqstate_t flags;
+  int errorcode;
+  int ret;
+
+  /* Make sure that SIGCHLD is unmasked */
+
+  (void)sigemptyset(&sigset);
+  (void)sigaddset(&sigset, SIGCHLD);
+  ret = sigprocmask(SIG_UNBLOCK, &sigset, NULL);
+  if (ret != OK)
+    {
+      /* The errno value will get trashed by the following debug output */
+
+      errorcode = get_errno();
+      bvdbg("ERROR: sigprocmask failed: %d\n", ret);
+      goto errout;
+    }
+
+  /* Add the structure to the list.  We want to do this *before* connecting
+   * the signal handler.  This does, however, make error recovery more
+   * complex if sigaction() fails below because then we have to remove the
+   * unload structure for the list in an unexpected context.
+   */
+
+  unload_list_add(pid, bin);
+
+  /* Register the SIGCHLD handler */
+
+  act.sa_sigaction = unload_callback;
+  act.sa_flags     = SA_SIGINFO;
+
+  (void)sigfillset(&act.sa_mask);
+  (void)sigdelset(&act.sa_mask, SIGCHLD);
+
+  ret = sigaction(SIGCHLD, &act, &oact);
+  if (ret != OK)
+    {
+      /* The errno value will get trashed by the following debug output */
+
+      errorcode = get_errno();
+      bvdbg("ERROR: sigaction failed: %d\n" , ret);
+
+      /* Emergency removal from the list */
+
+      flags = irqsave();
+      if (unload_list_remove(pid) != bin)
+        {
+          blldbg("ERROR: Failed to remove structure\n");
+        }
+      
+      goto errout;
+    }
+
+  return OK;
+
+errout:
+  set_errno(errorcode);
+  return ERROR;
+}
+
+#endif /* !CONFIG_BINFMT_DISABLE && CONFIG_SCHED_HAVE_PARENT */
+

binfmt/builtin.c

@@ -98,11 +98,11 @@ static int builtin_loadbinary(struct binary_s *binp)
 
   /* Open the binary file for reading (only) */
 
-  fd = open(filename, O_RDONLY);
+  fd = open(binp->filename, O_RDONLY);
   if (fd < 0)
     {
       int errval = errno;
-      bdbg("ERROR: Failed to open binary %s: %d\n", filename, errval);
+      bdbg("ERROR: Failed to open binary %s: %d\n", binp->filename, errval);
       return -errval;
     }
 

binfmt/libbuiltin/libbuiltin_getname.c

@@ -83,13 +83,13 @@
 
 FAR const char *builtin_getname(int index)
 {
-  struct builtin_s *b;
+  FAR const struct builtin_s *builtin;
 
-  b = builtin_for_index(index);
+  builtin = builtin_for_index(index);
 
-  if (b != NULL)
+  if (builtin != NULL)
     {
-      return b->name;
+      return builtin->name;
     }
 
   return NULL;

binfmt/libbuiltin/libbuiltin_isavail.c

@@ -87,12 +87,12 @@
 
 int builtin_isavail(FAR const char *appname)
 {
-  FAR const char *n;
+  FAR const char *name;
   int i;
 
-  for (i = 0; n = builtin_getname(i); i++)
+  for (i = 0; (name = builtin_getname(i)); i++)
     {
-      if (!strncmp(n, appname, NAME_MAX))
+      if (!strncmp(name, appname, NAME_MAX))
         {
           return i;
         }

configs/sim/nsh/defconfig

@@ -130,7 +130,8 @@ CONFIG_SDCLONE_DISABLE=y
 # CONFIG_SCHED_WORKQUEUE is not set
 CONFIG_SCHED_WAITPID=y
 # CONFIG_SCHED_ATEXIT is not set
-# CONFIG_SCHED_ONEXIT is not set
+CONFIG_SCHED_ONEXIT=y
+CONFIG_SCHED_ONEXIT_MAX=1
 CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_DISABLE_OS_API=y
 # CONFIG_DISABLE_CLOCK is not set
@@ -259,7 +260,8 @@ CONFIG_MM_REGIONS=1
 # Binary Formats
 #
 # CONFIG_BINFMT_DISABLE is not set
-# CONFIG_BINFMT_EXEPATH is not set
+CONFIG_BINFMT_EXEPATH=y
+CONFIG_PATH_INITIAL="/bin"
 # CONFIG_NXFLAT is not set
 # CONFIG_ELF is not set
 CONFIG_BUILTIN=y
@@ -284,7 +286,10 @@ CONFIG_LIB_HOMEDIR="/"
 # CONFIG_EOL_IS_LF is not set
 # CONFIG_EOL_IS_BOTH_CRLF is not set
 CONFIG_EOL_IS_EITHER_CRLF=y
-# CONFIG_LIBC_EXECFUNCS is not set
+CONFIG_LIBC_EXECFUNCS=y
+CONFIG_EXECFUNCS_SYMTAB="g_symtab"
+CONFIG_EXECFUNCS_NSYMBOLS=0
+CONFIG_POSIX_SPAWN_STACKSIZE=1024
 # CONFIG_LIBC_STRERROR is not set
 # CONFIG_LIBC_PERROR_STDOUT is not set
 CONFIG_ARCH_LOWPUTC=y
@@ -410,6 +415,7 @@ CONFIG_EXAMPLES_NSH=y
 #
 CONFIG_NSH_LIBRARY=y
 CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILE_APPS=y
 
 #
 # Disable Individual commands

include/nuttx/binfmt/binfmt.h

@@ -265,7 +265,7 @@ int exec_module(FAR const struct binary_s *bin);
  ****************************************************************************/
 
 #ifdef CONFIG_SCHED_HAVE_PARENT
-int schedule_unload(pid_t pid, FAR const struct binary_s *bin);
+int schedule_unload(pid_t pid, FAR struct binary_s *bin);
 #endif
 
 /****************************************************************************

include/nuttx/binfmt/builtin.h

@@ -77,6 +77,36 @@ extern "C" {
  * Public Functions
  ****************************************************************************/
 
+/****************************************************************************
+ * Name: builtin_initialize
+ *
+ * Description:
+ *   Builtin support is built unconditionally.  However, it order to
+ *   use this binary format, this function must be called during system
+ *   format in order to register the builtin binary format.
+ *
+ * Returned Value:
+ *   This is a NuttX internal function so it follows the convention that
+ *   0 (OK) is returned on success and a negated errno is returned on
+ *   failure.
+ *
+ ****************************************************************************/
+
+int builtin_initialize(void);
+
+/****************************************************************************
+ * Name: builtin_uninitialize
+ *
+ * Description:
+ *   Unregister the builtin binary loader
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void builtin_uninitialize(void);
+
 /****************************************************************************
  * Utility Functions Provided to Applications by binfmt/libbuiltin
  ****************************************************************************/

libc/spawn/lib_ps.c

@@ -247,7 +247,7 @@ static int ps_exec(FAR pid_t *pidp, FAR const char *path,
 
 errout:
   sched_unlock();
-  return OK;
+  return ret;
 }
 
 /****************************************************************************

tools/mkconfig.c

@@ -116,7 +116,7 @@ int main(int argc, char **argv, char **envp)
   printf(" * configured (at present, NXFLAT is the only supported binary.\n");
   printf(" * format).\n");
   printf(" */\n\n");
-  printf("#if !defined(CONFIG_NXFLAT) && !defined(CONFIG_ELF)\n");
+  printf("#if !defined(CONFIG_NXFLAT) && !defined(CONFIG_ELF) && !defined(CONFIG_BUILTIN)\n");
   printf("# undef CONFIG_BINFMT_DISABLE\n");
   printf("# define CONFIG_BINFMT_DISABLE 1\n");
   printf("#endif\n\n");