Merge pull request #343 from nasa/integration-candidate

PSP Integration candidate: Caelum-rc4+dev9

.github/workflows/codeql-build.yml

@@ -7,7 +7,7 @@ on:
 jobs:
   codeql:
     name: Codeql
-    uses: nasa/cFS/.github/workflows/codeql-build.yml@main
+    uses: nasa/cFS/.github/workflows/codeql-reusable.yml@main
     with: 
-      make-prep: 'make prep'
-      make: 'make psp-pc-linux && make native/default_cpu1/psp/unit-test-coverage/ && make native/default_cpu1/psp/ut-stubs/'
+      component-path: psp
+      make: 'make -C build/native/default_cpu1/psp'

README.md

@@ -9,6 +9,14 @@ This is a collection of APIs abstracting platform specific functionality to be l
 
 ## Version History
 
+
+### Development Build: v1.6.0-rc4+34
+
+- Update codeql workflow for reusable updates
+- Add cpu affinity example
+- Update RTEMS CMake Platform File
+- See <https://github.com/nasa/PSP/pull/343> and <https://github.com/nasa/cFS/pull/471>
+
 ### Development Build: v1.6.0-rc4+dev21
 
 - Standardize version.h

cmake/Modules/Platform/RTEMS.cmake

@@ -24,45 +24,54 @@ set(CMAKE_SHARED_LIBRARY_CXX_FLAGS "")
 set(CMAKE_SHARED_MODULE_C_FLAGS "")
 set(CMAKE_SHARED_MODULE_CXX_FLAGS "")
 
-# Set the CMAKE_EXE_EXPORTS_C_FLAG which is for executables
-# using dynamic loading/linking
-set(CMAKE_EXE_EXPORTS_C_FLAG "-Wl,--export-dynamic")
-
-
 # Include the system specs directly within the COMPILE_OBJECT definitions
 # This way it does not need to be done via CMAKE_C_FLAGS and it simplifies
 # the process in general.
-set(RTEMS_SYS_SPECS_FLAGS    "-B${RTEMS_TARGET_PATH}/${RTEMS_BSP}/lib -specs bsp_specs -qrtems")
+# Note that the specs vary between RTEMS 5, RTEMS 6, and the Gaisler RCC version of RTEMS 5
+#  These differences are accounted for in the toolchain file in the RTEMS_BSP_SPECS macro
+set(RTEMS_SYS_SPECS_FLAGS    "-B${RTEMS_TARGET_PATH}/${RTEMS_BSP}/lib ${RTEMS_BSP_SPECS_FLAGS} -qrtems")
 
 # Basic command templates for compiling C and C++ code
 set(CMAKE_C_COMPILE_OBJECT   "<CMAKE_C_COMPILER>   <DEFINES> ${RTEMS_SYS_SPECS_FLAGS} ${RTEMS_BSP_C_FLAGS}   <INCLUDES> <FLAGS> -o <OBJECT> -c <SOURCE>")
 set(CMAKE_CXX_COMPILE_OBJECT "<CMAKE_CXX_COMPILER> <DEFINES> ${RTEMS_SYS_SPECS_FLAGS} ${RTEMS_BSP_CXX_FLAGS} <INCLUDES> <FLAGS> -o <OBJECT> -c <SOURCE>")
 
-
 # This creates a simple relocatable object file, not a shared library
 set(CMAKE_SHARED_OBJECT_LINKER_FLAGS -r)
 set(CMAKE_C_CREATE_SHARED_MODULE "<CMAKE_LINKER> <LINK_FLAGS> -o <TARGET> ${CMAKE_SHARED_OBJECT_LINKER_FLAGS} <OBJECTS> <LINK_LIBRARIES>")
 set(CMAKE_CXX_CREATE_SHARED_MODULE ${CMAKE_C_CREATE_SHARED_MODULE})
 set(CMAKE_C_CREATE_SHARED_LIBRARY ${CMAKE_C_CREATE_SHARED_MODULE})
 set(CMAKE_CXX_CREATE_SHARED_LIBRARY ${CMAKE_C_CREATE_SHARED_MODULE})
 
-# Additional link flags for entry point and relocation address
-# RTEMS uses "Init" rather than "main" as its entry point
-# This flag ensures that the Init symbol is not dropped at link time.
-set(RTEMS_SYS_LINKFLAGS "-u Init")
-if (RTEMS_RELOCADDR)
-    set(RTEMS_SYS_LINKFLAGS "${RTEMS_SYS_LINKFLAGS} -Wl,-Ttext,${RTEMS_RELOCADDR}")
-endif (RTEMS_RELOCADDR)
-
-# The link procedure to support dynamic loading using the RTEMS dlopen()
-# First create a "prelink" executable using a typical link procedure
-# Then run "rtems-syms" and re-link the output into a final executable
-set(CMAKE_C_LINK_EXECUTABLE
-    "<CMAKE_C_COMPILER> ${RTEMS_SYS_SPECS_FLAGS} ${RTEMS_BSP_C_FLAGS} <FLAGS> ${RTEMS_SYS_LINKFLAGS} -o <TARGET>-prelink <OBJECTS> <CMAKE_C_LINK_FLAGS> <LINK_FLAGS> <LINK_LIBRARIES>"
-    "${RTEMS_TOOLS_PREFIX}/bin/rtems-syms -v -e -c ${RTEMS_BSP_C_FLAGS} -C <CMAKE_C_COMPILER> -o <TARGET>-dl-sym.o <TARGET>-prelink"
-    "<CMAKE_C_COMPILER> ${RTEMS_SYS_SPECS_FLAGS} ${RTEMS_BSP_C_FLAGS} <FLAGS> ${RTEMS_SYS_LINKFLAGS} -o <TARGET> <TARGET>-dl-sym.o <OBJECTS> <CMAKE_C_LINK_FLAGS> <LINK_FLAGS> <LINK_LIBRARIES>")
-
-set(RTEMS_TARGET_PATH
+# If RTEMS_DYNAMIC_LOAD is defined in the toolchain file, the executable will be a loadable object
+#  similar to vxWorks. This allows the system to be built, then loaded on an RTEMS runtime image using
+#  the RTEMS dynamic loader
+# If RTEMS_DYNAMIC_LOAD is not defined, then a traditional linked executable will be created.
+if(RTEMS_DYNAMIC_LOAD)
+   # Dynamic load is just a shared library
+   set(CMAKE_C_LINK_EXECUTABLE "<CMAKE_LINKER> <LINK_FLAGS> -o <TARGET> ${CMAKE_SHARED_OBJECT_LINKER_FLAGS} <OBJECTS> <LINK_LIBRARIES>")
+else()
+   # Set the CMAKE_EXE_EXPORTS_C_FLAG which is for executables
+   # using dynamic loading/linking
+   set(CMAKE_EXE_EXPORTS_C_FLAG "-Wl,--export-dynamic")
+
+   # Additional link flags for entry point and relocation address
+   # RTEMS uses "Init" rather than "main" as its entry point
+   # This flag ensures that the Init symbol is not dropped at link time.
+   set(RTEMS_SYS_LINKFLAGS "-u Init")
+   if (RTEMS_RELOCADDR)
+       set(RTEMS_SYS_LINKFLAGS "${RTEMS_SYS_LINKFLAGS} -Wl,-Ttext,${RTEMS_RELOCADDR}")
+   endif (RTEMS_RELOCADDR)
+
+   # The link procedure to support dynamic loading using the RTEMS dlopen()
+   # First create a "prelink" executable using a typical link procedure
+   # Then run "rtems-syms" and re-link the output into a final executable
+   set(CMAKE_C_LINK_EXECUTABLE
+       "<CMAKE_C_COMPILER> ${RTEMS_SYS_SPECS_FLAGS} ${RTEMS_BSP_C_FLAGS} <FLAGS> ${RTEMS_SYS_LINKFLAGS} -o <TARGET>-prelink <OBJECTS> <CMAKE_C_LINK_FLAGS> <LINK_FLAGS> <LINK_LIBRARIES>"
+       "${RTEMS_TOOLS_PREFIX}/bin/rtems-syms -v -e -c ${RTEMS_BSP_C_FLAGS} -C <CMAKE_C_COMPILER> -o <TARGET>-dl-sym.o <TARGET>-prelink"
+       "<CMAKE_C_COMPILER> ${RTEMS_SYS_SPECS_FLAGS} ${RTEMS_BSP_C_FLAGS} <FLAGS> ${RTEMS_SYS_LINKFLAGS} -o <TARGET> <TARGET>-dl-sym.o <OBJECTS> <CMAKE_C_LINK_FLAGS> <LINK_FLAGS> <LINK_LIBRARIES>")
+endif(RTEMS_DYNAMIC_LOAD)
+
+SET(RTEMS_TARGET_PATH
     "${RTEMS_BSP_PREFIX}/${CMAKE_SYSTEM_PROCESSOR}-rtems${CMAKE_SYSTEM_VERSION}")
 
 set(RTEMS_TOOLS_PATH

fsw/mcp750-vxworks/inc/psp_version.h

@@ -27,7 +27,7 @@
 /*
  * Development Build Macro Definitions
  */
-#define CFE_PSP_IMPL_BUILD_NUMBER   21
+#define CFE_PSP_IMPL_BUILD_NUMBER   34
 #define CFE_PSP_IMPL_BUILD_BASELINE "v1.6.0-rc4"
 
 /*

fsw/pc-linux/inc/psp_version.h

@@ -27,7 +27,7 @@
 /*
  * Development Build Macro Definitions
  */
-#define CFE_PSP_IMPL_BUILD_NUMBER   21
+#define CFE_PSP_IMPL_BUILD_NUMBER   34
 #define CFE_PSP_IMPL_BUILD_BASELINE "v1.6.0-rc4"
 
 /*

fsw/pc-linux/src/cfe_psp_start.c

@@ -151,7 +151,8 @@ static const struct option longOpts[] = {{"reset", required_argument, NULL, 'R'}
 */
 int32 CFE_PSP_OS_EventHandler(OS_Event_t event, osal_id_t object_id, void *data)
 {
-    char taskname[OS_MAX_API_NAME];
+    char      taskname[OS_MAX_API_NAME];
+    cpu_set_t cpuset;
 
     switch (event)
     {
@@ -170,6 +171,21 @@ int32 CFE_PSP_OS_EventHandler(OS_Event_t event, osal_id_t object_id, void *data)
             /* Get the name from OSAL and propagate to the pthread/system layer */
             if (OS_GetResourceName(object_id, taskname, sizeof(taskname)) == OS_SUCCESS)
             {
+                /*
+                 * Example mechanism for setting thread affinity
+                 *
+                 * Could assign based on task name, pattern within name (CFE_* on 0,
+                 * *_CN where N is desired core), round robin or whatever the requrements are.
+                 *
+                 * Just assigning all "CFE_*" tasks to core zero and let the rest float.
+                 */
+                if (strncmp(taskname, "CFE_", 4) == 0)
+                {
+                    CPU_ZERO(&cpuset);
+                    CPU_SET(0, &cpuset);
+                    pthread_setaffinity_np(pthread_self(), sizeof(cpuset), &cpuset);
+                }
+
                 /*
                  * glibc/kernel has an internal limit for this name.
                  * If the OSAL name is longer, just truncate it.

fsw/pc-rtems/inc/psp_version.h

@@ -27,7 +27,7 @@
 /*
  * Development Build Macro Definitions
  */
-#define CFE_PSP_IMPL_BUILD_NUMBER   21
+#define CFE_PSP_IMPL_BUILD_NUMBER   34
 #define CFE_PSP_IMPL_BUILD_BASELINE "v1.6.0-rc4"
 
 /*