os/posix: port of the posix implementation to macOS

.github/workflows/ci-macos.yml

@@ -0,0 +1,61 @@
+name: CI macOS
+
+on: push
+
+jobs:
+  test:
+    name: Test job
+    runs-on: macOS-latest
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          submodules: true
+
+      - name: "Run CI task"
+        run: |
+          make test
+
+      # TODO: The timer-add-api-test test is known to fail sometimes on GitHub Actions (both macOS and Linux, but macOS
+      # is more often). The current hypothesis is that the timer cannot catch up when running on the (elastic) VMs.
+      # Run tests more than once to increase the reproducibility.
+      # Revert this change when the macOS branch is ready and create a separate ticket to track this for macOS and
+      # Linux.
+      - name: "Run flaky CI task #1"
+        run: |
+          make test_flaky
+
+      - name: "Run flaky CI task #2"
+        run: |
+          make test_flaky
+
+      - name: "Run flaky CI task #3"
+        run: |
+          make test_flaky
+
+      - name: "Run flaky CI task #4"
+        run: |
+          make test_flaky
+
+      - name: "Run flaky CI task #5"
+        run: |
+          make test_flaky
+
+      - name: "Run flaky CI task #6"
+        run: |
+          make test_flaky
+
+      - name: "Run flaky CI task #7"
+        run: |
+          make test_flaky
+
+      - name: "Run flaky CI task #8"
+        run: |
+          make test_flaky
+
+      - name: "Run flaky CI task #9"
+        run: |
+          make test_flaky
+
+      - name: "Run flaky CI task #10"
+        run: |
+          make test_flaky

.github/workflows/local_unit_test.yml

@@ -8,7 +8,7 @@ jobs:
 
   Local-Unit-Test:
     runs-on: ubuntu-18.04
-    timeout-minutes: 15
+    timeout-minutes: 30
 
     steps:
       - name: Install coverage tools
@@ -26,6 +26,24 @@ jobs:
         run: make -j
 
       # Baseline lcov and run all tests
+
+      # TODO: The timer-add-api-test test is known to fail sometimes on GitHub Actions (both macOS and Linux, but macOS
+      # is more often). The current hypothesis is that the timer cannot catch up when running on the (elastic) VMs.
+      # Run tests more than once to increase the reproducibility.
+      # Revert this change when the macOS branch is ready and create a separate ticket to track this for macOS and
+      # Linux.
+      - name: Test
+        run: make test
+
+      - name: Test
+        run: make test
+
+      - name: Test
+        run: make test
+
+      - name: Test
+        run: make test
+
       - name: Test
         run: make test
 

CMakeLists.txt

@@ -43,6 +43,14 @@
 cmake_minimum_required(VERSION 2.8.12)
 project(OSAL C)
 
+# TODO: Where to integrate this?
+if (APPLE)
+    add_compile_options(
+        -Wall -Werror
+        -Wno-non-literal-null-conversion
+    )
+endif ()
+
 # The "OSAL_EXT_SOURCE_DIR" cache variable may be set to a path
 # on the host containing extra OS/BSP implementations which are not
 # part of the open source release.
@@ -144,7 +152,9 @@ if (DEFINED OSAL_EXPECTED_OSTYPE)
     elseif(NOT OSAL_SYSTEM_OSTYPE STREQUAL OSAL_EXPECTED_OSTYPE)
         # Generate a warning about the OSTYPE not being expected.
         # Not calling this a fatal error because it could possibly be intended during development
-        message(WARNING "Mismatched BSP/OS: ${OSAL_SYSTEM_BSPTYPE} implies ${OSAL_EXPECTED_OSTYPE}, but ${OSAL_SYSTEM_OSTYPE} is configured")
+
+        # TODO: How to integrate -DOSAL_SYSTEM_BSPTYPE=generic-linux -DOSAL_SYSTEM_OSTYPE=posixmacos?
+        # message(WARNING "Mismatched BSP/OS: ${OSAL_SYSTEM_BSPTYPE} implies ${OSAL_EXPECTED_OSTYPE}, but ${OSAL_SYSTEM_OSTYPE} is configured")
     endif(NOT DEFINED OSAL_SYSTEM_OSTYPE)
 endif (DEFINED OSAL_EXPECTED_OSTYPE)
 

Makefile

@@ -0,0 +1,14 @@
+
+default:
+	mkdir -p build
+	cd build && cmake -DENABLE_UNIT_TESTS=true -DCMAKE_VERBOSE_MAKEFILE=1 -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DOSAL_SYSTEM_BSPTYPE=generic-linux -DOSAL_SYSTEM_OSTYPE=posixmacos --graphviz=test.dot ..
+	# dot -Tpng build/test.dot -o build/graph.png
+	cd build && make
+
+test: default
+	cd build && CTEST_OUTPUT_ON_FAILURE=1 make test
+
+test_flaky: default
+	cd build && CTEST_OUTPUT_ON_FAILURE=1 ctest --output-on-failure -R timer-add-api-test
+	cd build && CTEST_OUTPUT_ON_FAILURE=1 ctest --output-on-failure -R queue-test
+	cd build && CTEST_OUTPUT_ON_FAILURE=1 ctest --output-on-failure -R sem-speed-test

src/bsp/generic-linux/build_options.cmake

@@ -18,6 +18,11 @@ target_link_libraries(osal_bsp
 # 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)
-  set(UT_COVERAGE_COMPILE_FLAGS -pg --coverage)
-  set(UT_COVERAGE_LINK_FLAGS    -pg --coverage)
+  if(APPLE)
+    set(UT_COVERAGE_COMPILE_FLAGS --coverage)
+    set(UT_COVERAGE_LINK_FLAGS    --coverage)
+  else()
+    set(UT_COVERAGE_COMPILE_FLAGS -pg --coverage)
+    set(UT_COVERAGE_LINK_FLAGS    -pg --coverage)
+  endif()
 endif()

src/os/inc/common_types.h

@@ -60,8 +60,10 @@ extern "C"
 ** macro to disable this.
 */
 #if defined(__GNUC__) && !defined(OSAPI_NO_SPECIAL_ATTRIBS)
-#define _EXTENSION_     __extension__
-#define OS_USED         __attribute__((used))
+#define _EXTENSION_ __extension__
+#ifndef __APPLE__
+#define OS_USED __attribute__((used))
+#endif
 #define OS_PRINTF(n, m) __attribute__((format(printf, n, m)))
 #else
 #define _EXTENSION_

src/os/posix/inc/os-impl-console.h

@@ -31,7 +31,11 @@
 #include <stdbool.h>
 #include "osconfig.h"
 #include <unistd.h>
+#ifndef __APPLE__
 #include <semaphore.h>
+#else
+#include <posix-macos-semaphore.h>
+#endif
 
 /* Console device */
 typedef struct

src/os/posix/inc/os-impl-countsem.h

@@ -29,7 +29,12 @@
 #define OS_IMPL_COUNTSEM_H
 
 #include "osconfig.h"
+
+#ifndef __APPLE__
 #include <semaphore.h>
+#else
+#include <posix-macos-semaphore.h>
+#endif
 
 typedef struct
 {

src/os/posix/inc/os-impl-timebase.h

@@ -31,6 +31,9 @@
 #include "osconfig.h"
 #include <pthread.h>
 #include <signal.h>
+#ifdef __APPLE__
+#include <posix-macos-timer.h>
+#endif
 
 typedef struct
 {

src/os/posix/inc/os-posix.h

@@ -45,7 +45,11 @@
 #include <pthread.h>
 #include <mqueue.h>
 #include <fcntl.h>
+#ifndef __APPLE__
 #include <semaphore.h>
+#else
+#include <posix-macos-semaphore.h>
+#endif
 #include <sys/types.h>
 #include <sys/signal.h>
 

src/os/posix/src/os-impl-binsem.c

@@ -36,6 +36,10 @@
 #include "os-shared-binsem.h"
 #include "os-impl-binsem.h"
 
+#ifdef __APPLE__
+#include <posix-macos-pthread.h>
+#endif
+
 /*
  * This controls the maximum time that the calling thread will wait to
  * acquire the condition mutex before returning an error.

src/os/posix/src/os-impl-filesys.c

@@ -40,7 +40,9 @@
 #include <sys/statvfs.h>
 #include <sys/stat.h>
 #include <sys/mount.h>
+#ifndef __APPLE__
 #include <sys/vfs.h>
+#endif
 
 #include "os-posix.h"
 #include "os-shared-filesys.h"

src/os/posixmacos/CMakeLists.txt

@@ -0,0 +1,109 @@
+######################################################################
+#
+# CMAKE build recipe for POSIX OSAL implementation
+#
+######################################################################
+
+# This CMake script generates targets specific to the POSIX implementation
+set(POSIX_BASE_MAIN_INCLIST_DIR ${CMAKE_SOURCE_DIR}/src/os/posix/inc)
+set(POSIX_BASE_MAIN_SRCLIST_DIR ${CMAKE_SOURCE_DIR}/src/os/posix/src)
+
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/inc)
+include_directories(${POSIX_BASE_MAIN_INCLIST_DIR})
+
+# The basic set of files which are always built
+set(POSIX_BASE_SRCLIST
+    ${POSIX_BASE_MAIN_SRCLIST_DIR}/os-impl-binsem.c
+    ${POSIX_BASE_MAIN_SRCLIST_DIR}/os-impl-common.c
+    ${POSIX_BASE_MAIN_SRCLIST_DIR}/os-impl-console.c
+    ${POSIX_BASE_MAIN_SRCLIST_DIR}/os-impl-countsem.c
+    ${POSIX_BASE_MAIN_SRCLIST_DIR}/os-impl-dirs.c
+    ${POSIX_BASE_MAIN_SRCLIST_DIR}/os-impl-errors.c
+    ${POSIX_BASE_MAIN_SRCLIST_DIR}/os-impl-files.c
+    ${POSIX_BASE_MAIN_SRCLIST_DIR}/os-impl-filesys.c
+    ${POSIX_BASE_MAIN_SRCLIST_DIR}/os-impl-heap.c
+    ${POSIX_BASE_MAIN_SRCLIST_DIR}/os-impl-idmap.c
+    ${POSIX_BASE_MAIN_SRCLIST_DIR}/os-impl-mutex.c
+    ${POSIX_BASE_MAIN_SRCLIST_DIR}/os-impl-queues.c
+    src/os-impl-tasks.c
+    src/os-impl-timebase.c
+)
+
+set(POSIX_MACOS_SRCLIST
+    src/posix-macos-addons/semaphore/posix-macos-semaphore.c
+    src/posix-macos-addons/mqueue/mq_internal_fs.c
+    src/posix-macos-addons/mqueue/mq_notify.c
+    src/posix-macos-addons/mqueue/mq_open.c
+    src/posix-macos-addons/mqueue/mq_receive.c
+    src/posix-macos-addons/mqueue/mq_timedreceive.c
+    src/posix-macos-addons/mqueue/mq_timedsend.c
+    src/posix-macos-addons/mqueue/mq_close.c
+    src/posix-macos-addons/mqueue/mq_unlink.c
+    src/posix-macos-addons/pthread/posix-macos-pthread.c
+    src/posix-macos-addons/time/posix-macos-time.c
+    src/posix-macos-addons/timer/posix-macos-timer.c
+)
+
+add_library(rt src/posix-macos-addons/stubs/rt.c)
+
+# Use portable blocks for basic I/O
+set(POSIX_IMPL_SRCLIST
+    ../portable/os-impl-posix-gettime.c
+    ../portable/os-impl-console-bsp.c
+    ../portable/os-impl-bsd-select.c
+    ../portable/os-impl-posix-io.c
+    ../portable/os-impl-posix-files.c
+    ../portable/os-impl-posix-dirs.c
+)
+
+if (OSAL_CONFIG_INCLUDE_SHELL)
+    list(APPEND POSIX_IMPL_SRCLIST
+      ${POSIX_BASE_MAIN_SRCLIST_DIR}/os-impl-shell.c
+    )
+else ()
+    list(APPEND POSIX_IMPL_SRCLIST
+       ../portable/os-impl-no-shell.c
+    )
+endif ()
+
+# If some form of module loading is configured,
+# then build the module loader
+if (OSAL_CONFIG_INCLUDE_DYNAMIC_LOADER)
+    list(APPEND POSIX_IMPL_SRCLIST
+        ${POSIX_BASE_MAIN_SRCLIST_DIR}/os-impl-loader.c
+        ../portable/os-impl-posix-dl-loader.c
+        ../portable/os-impl-posix-dl-symtab.c
+    )
+else ()
+    list(APPEND POSIX_IMPL_SRCLIST
+      ${POSIX_BASE_MAIN_SRCLIST_DIR}/os-impl-no-module.c
+        ../portable/os-impl-no-loader.c
+        ../portable/os-impl-no-symtab.c
+    )
+endif ()
+
+if (OSAL_CONFIG_INCLUDE_NETWORK)
+    list(APPEND POSIX_IMPL_SRCLIST
+        ../portable/os-impl-bsd-sockets.c   # Use BSD socket layer implementation
+        ../portable/os-impl-posix-network.c # Use POSIX-defined hostname/id implementation
+    )
+else()
+    list(APPEND POSIX_IMPL_SRCLIST
+        ../portable/os-impl-no-network.c    # non-implemented versions of all network APIs
+        ../portable/os-impl-no-sockets.c    # non-implemented versions of all socket APIs
+    )
+endif ()
+
+# Defines an OBJECT target named "osal_posix_impl" with selected source files
+add_library(osal_posixmacos_impl OBJECT
+    ${POSIX_BASE_SRCLIST}
+    ${POSIX_MACOS_SRCLIST}
+    ${POSIX_IMPL_SRCLIST}
+)
+
+target_link_libraries(osal_posixmacos_impl PUBLIC posix-macos-addons)
+
+# TODO: Defining this globally but can be made more focused.
+# /usr/include/sys/ucred.h:96:11: error: unknown type name 'u_long'; did you mean 'long'?
+#        volatile u_long         cr_ref;  /* reference count */
+target_compile_definitions(osal_posixmacos_impl PRIVATE -D_DARWIN_C_SOURCE)

src/os/posixmacos/build_options.cmake

@@ -0,0 +1,9 @@
+##########################################################################
+#
+# Build options for "posix" implementation layer
+#
+##########################################################################
+
+# this file is a placeholder for POSIX-specific compile tuning
+# currently no extra flags/definitions needed
+

src/os/posixmacos/inc/mqueue-internal.h

@@ -0,0 +1,18 @@
+#ifndef _MQUEUE_INTERNAL_H_
+#define _MQUEUE_INTERNAL_H_
+
+#include <stddef.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+    extern const size_t MQ_FS_NAME_MAX;
+    int                 mq_get_fs_pathname(const char *const pathname, char *const out_pathname);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _MQUEUE_INTERNAL_H_ */