Lib.rs

Rust interface to interact with operating systems based on μITRON and its derivatives.

Kernel Selection

This crate exposes a Cargo feature for each supported RTOS kernel implementation. The following ones are supported:

• asp3: TOPPERS/ASP3
  • Additional features supported: dcre (dynamic object creation), rstr_task (restricted tasks), messagebuf (message buffers), ovrhdr (overrun handlers), subprio (task subpriorities)
• solid_asp3: TOPPERS/ASP3 with SOLID extensions
  • Additional features supported: dcre (dynamic object creation), messagebuf (message buffers), pi_mutex (priority inheritance), exd_tsk (exit and delete the calling task)
• fmp3: TOPPERS/FMP3
  • Additional features supported: systim_local (processor-local kernel ticks)
• solid_fmp3: TOPPERS/FMP3 with SOLID extensions
  • Additional features supported: dcre (dynamic object creation), systim_local (processor-local kernel ticks), exd_tsk (exit and delete the calling task)
• none (default): Stub implementation that exposes all functions but always panics

It's an error to enable more than one of these features. It's unsafe to specify an incorrect kernel because the ABIs differ between kernels. This crate assumes it's inherently safe to call the specified kernel's API functions (provided the usage is correct). Specifying unsupported features for a given kernel might result in a compiler or linker error¹.

Items are cfg-gated according to the selected kernel's supported feature set so that the uses of non-existent features are detected at compile time.

Cargo Features

In addition to the kernel selection features described above, this package supports the following Cargo features:

• nightly enables nightly-only features. Currently, this feature enables the use of doc_cfg and exposes itron::time::timeout!.
• unstable enables unstable (in terms of API stability), experimental features that may be changed or removed in the future.

API Design

This section is relevant only when the unstable feature is enabled.

Object ID Wrappers

Kernel object IDs are encapsulated in opaque wrappers, which can be constructed either by calling the creation methods or by converting from raw object IDs. Although interacting with arbitrary kernel objects do not exhibit memory unsafety by itself, conversion from raw object IDs has to go through unsafe calls because the created wrappers could be used to interfere with other code's usage of such objects, breaking its assumptions, possibly violating memory safety. Deleting unowned objects is unsafe as well because such objects could be still in use by their actual owners, and the actual owners would touch supposedly-unrelated objects if the IDs were reused. This system, which we call external object safety, is related to I/O safety from a Rust RFC being proposed at the point of writing.

It's allowed to get an object ID wrapper for the current task of the current processor. However, the wrapper created in this way must not outlive the originating task.

Kernel Assumed to be Operational

It's assumed that this crate's functions are called while the kernel is operational (i.e., sns_ker returns FALSE). It's up to application programmers to make sure they are not called inside initialization or termination routines.

Restricted Tasks

If restricted tasks are not enabled by the rstr_task feature, the caller is assumed to be a non-restricted task. When called from a restricted task, blocking functions can return E_NOSPT , which is not handled and will cause a UB if the rstr_task feature is not enabled.