新增rust ffi (#77)

* 引入cargo

* 取消对Cargo.lock的跟踪

* 解决vscode报错问题

* new: rust的代码能够调用c语言的printk_color

* 1、将原本run.sh的工作拆解，变为几个不同的make命令
2、在docker镜像中编译rust

* 更改workflow

* update workflow

* new: 解决workflow无法通过编译的问题

kernel/src/driver/keyboard/ps2_keyboard.c

@@ -0,0 +1,220 @@
+#include "ps2_keyboard.h"
+#include <driver/interrupt/apic/apic.h>
+#include <mm/mm.h>
+#include <mm/slab.h>
+#include <common/printk.h>
+#include <filesystem/VFS/VFS.h>
+#include <filesystem/devfs/devfs.h>
+#include <common/wait_queue.h>
+#include <common/spinlock.h>
+#include <common/kfifo.h>
+
+// 键盘输入缓冲区
+static struct kfifo_t kb_buf;
+
+// 缓冲区等待队列
+static wait_queue_node_t ps2_keyboard_wait_queue;
+
+// 缓冲区读写锁
+static spinlock_t ps2_kb_buf_rw_lock;
+
+/**
+ * @brief 重置ps2键盘输入缓冲区
+ *
+ * @param kbp 缓冲区对象指针
+ */
+static void ps2_keyboard_reset_buffer(struct kfifo_t *kbp)
+{
+    kfifo_reset(kbp);
+}
+struct apic_IO_APIC_RTE_entry entry;
+
+hardware_intr_controller ps2_keyboard_intr_controller =
+    {
+        .enable = apic_ioapic_enable,
+        .disable = apic_ioapic_disable,
+        .install = apic_ioapic_install,
+        .uninstall = apic_ioapic_uninstall,
+        .ack = apic_ioapic_edge_ack,
+
+};
+
+/**
+ * @brief 打开键盘文件
+ *
+ * @param inode 所在的inode
+ * @param filp 文件指针
+ * @return long
+ */
+long ps2_keyboard_open(struct vfs_index_node_t *inode, struct vfs_file_t *filp)
+{
+    filp->private_data = &kb_buf;
+    ps2_keyboard_reset_buffer(&kb_buf);
+    return 0;
+}
+
+/**
+ * @brief 关闭键盘文件
+ *
+ * @param inode 所在的inode
+ * @param filp 文件指针
+ * @return long
+ */
+long ps2_keyboard_close(struct vfs_index_node_t *inode, struct vfs_file_t *filp)
+{
+    filp->private_data = NULL;
+    ps2_keyboard_reset_buffer(&kb_buf);
+    return 0;
+}
+
+/**
+ * @brief 键盘io控制接口
+ *
+ * @param inode 所在的inode
+ * @param filp 键盘文件指针
+ * @param cmd 命令
+ * @param arg 参数
+ * @return long
+ */
+long ps2_keyboard_ioctl(struct vfs_index_node_t *inode, struct vfs_file_t *filp, uint64_t cmd, uint64_t arg)
+{
+    switch (cmd)
+    {
+    case KEYBOARD_CMD_RESET_BUFFER:
+        ps2_keyboard_reset_buffer(&kb_buf);
+        break;
+
+    default:
+        break;
+    }
+    return 0;
+}
+
+/**
+ * @brief 读取键盘文件的操作接口
+ *
+ * @param filp 文件指针
+ * @param buf 输出缓冲区
+ * @param count 要读取的字节数
+ * @param position 读取的位置
+ * @return long 读取的字节数
+ */
+long ps2_keyboard_read(struct vfs_file_t *filp, char *buf, int64_t count, long *position)
+{
+    // 缓冲区为空则等待
+    if (kfifo_empty(&kb_buf))
+        wait_queue_sleep_on(&ps2_keyboard_wait_queue);
+
+    count = (count > kb_buf.size) ? kb_buf.size : count;
+    return kfifo_out(&kb_buf, buf, count);
+}
+
+/**
+ * @brief 键盘文件写入接口（无作用，空）
+ *
+ * @param filp
+ * @param buf
+ * @param count
+ * @param position
+ * @return long
+ */
+long ps2_keyboard_write(struct vfs_file_t *filp, char *buf, int64_t count, long *position)
+{
+    return 0;
+}
+/**
+ * @brief ps2键盘驱动的虚拟文件接口
+ *
+ */
+struct vfs_file_operations_t ps2_keyboard_fops =
+    {
+        .open = ps2_keyboard_open,
+        .close = ps2_keyboard_close,
+        .ioctl = ps2_keyboard_ioctl,
+        .read = ps2_keyboard_read,
+        .write = ps2_keyboard_write,
+};
+
+/**
+ * @brief 键盘中断处理函数（中断上半部）
+ *  将数据存入缓冲区
+ * @param irq_num 中断向量号
+ * @param param 参数
+ * @param regs 寄存器信息
+ */
+void ps2_keyboard_handler(ul irq_num, ul buf_vaddr, struct pt_regs *regs)
+{
+    unsigned char x = io_in8(PORT_PS2_KEYBOARD_DATA);
+
+    uint8_t count = kfifo_in((struct kfifo_t*)buf_vaddr, &x, sizeof(unsigned char));
+    if (count == 0)
+    {
+        kwarn("ps2 keyboard buffer full.");
+        return;
+    }
+
+    wait_queue_wakeup(&ps2_keyboard_wait_queue, PROC_UNINTERRUPTIBLE);
+}
+/**
+ * @brief 初始化键盘驱动程序的函数
+ *
+ */
+void ps2_keyboard_init()
+{
+
+    // ======= 初始化键盘循环队列缓冲区 ===========
+
+    // 初始化键盘循环队列缓冲区
+    kfifo_alloc(&kb_buf, ps2_keyboard_buffer_size, 0);
+
+    // ======== 初始化中断RTE entry ==========
+
+    entry.vector = PS2_KEYBOARD_INTR_VECTOR; // 设置中断向量号
+    entry.deliver_mode = IO_APIC_FIXED;      // 投递模式：混合
+    entry.dest_mode = DEST_PHYSICAL;         // 物理模式投递中断
+    entry.deliver_status = IDLE;
+    entry.trigger_mode = EDGE_TRIGGER; // 设置边沿触发
+    entry.polarity = POLARITY_HIGH;    // 高电平触发
+    entry.remote_IRR = IRR_RESET;
+    entry.mask = MASKED;
+    entry.reserved = 0;
+
+    entry.destination.physical.reserved1 = 0;
+    entry.destination.physical.reserved2 = 0;
+    entry.destination.physical.phy_dest = 0; // 设置投递到BSP处理器
+
+    // ======== 初始化键盘控制器，写入配置值 =========
+    wait_ps2_keyboard_write();
+    io_out8(PORT_PS2_KEYBOARD_CONTROL, PS2_KEYBOARD_COMMAND_WRITE);
+    wait_ps2_keyboard_write();
+    io_out8(PORT_PS2_KEYBOARD_DATA, PS2_KEYBOARD_PARAM_INIT);
+    wait_ps2_keyboard_write();
+
+    // 执行一百万次nop，等待键盘控制器把命令执行完毕
+    for (int i = 0; i < 1000; ++i)
+        for (int j = 0; j < 1000; ++j)
+            nop();
+
+    wait_queue_init(&ps2_keyboard_wait_queue, NULL);
+    // 初始化键盘缓冲区的读写锁
+    spin_init(&ps2_kb_buf_rw_lock);
+
+    // 注册中断处理程序
+    irq_register(PS2_KEYBOARD_INTR_VECTOR, &entry, &ps2_keyboard_handler, (ul)&kb_buf, &ps2_keyboard_intr_controller, "ps/2 keyboard");
+
+    // 先读一下键盘的数据，防止由于在键盘初始化之前，由于按键被按下从而导致接收不到中断。
+    io_in8(PORT_PS2_KEYBOARD_DATA);
+    // 将设备挂载到devfs
+    devfs_register_device(DEV_TYPE_CHAR, CHAR_DEV_STYPE_PS2_KEYBOARD, &ps2_keyboard_fops, NULL);
+    kinfo("ps/2 keyboard registered.");
+}
+
+/**
+ * @brief 键盘驱动卸载函数
+ *
+ */
+void ps2_keyboard_exit()
+{
+    irq_unregister(PS2_KEYBOARD_INTR_VECTOR);
+    kfifo_free_alloc(&kb_buf);
+}