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/time/Makefile

@@ -0,0 +1,13 @@
+
+all: timer.o sleep.o
+
+CFLAGS += -I .
+
+timer.o: timer.c
+	$(CC) $(CFLAGS) -c timer.c -o timer.o
+
+sleep.o: sleep.c
+	$(CC) $(CFLAGS) -c sleep.c -o sleep.o
+
+clean:
+	echo "Done."

kernel/src/time/sleep.c

@@ -0,0 +1,86 @@
+#include "sleep.h"
+#include <common/errno.h>
+#include <time/timer.h>
+#include <process/process.h>
+#include <sched/sched.h>
+#include <mm/slab.h>
+#include <common/cpu.h>
+#include <common/glib.h>
+
+/**
+ * @brief nanosleep定时事件到期后，唤醒指定的进程
+ *
+ * @param pcb 待唤醒的进程的pcb
+ */
+void nanosleep_handler(void *pcb)
+{
+    process_wakeup((struct process_control_block *)pcb);
+}
+
+/**
+ * @brief 休眠指定时间
+ *
+ * @param rqtp 指定休眠的时间
+ * @param rmtp 返回的剩余休眠时间
+ * @return int
+ */
+int nanosleep(const struct timespec *rqtp, struct timespec *rmtp)
+{
+
+    if (rqtp->tv_nsec < 0 || rqtp->tv_nsec >= 1000000000)
+        return -EINVAL;
+
+
+    // 对于小于500us的时间，使用spin/rdtsc来进行定时
+    if (rqtp->tv_nsec < 500000)
+    {
+        uint64_t expired_tsc = rdtsc() + (((uint64_t)rqtp->tv_nsec) * Cpu_tsc_freq) / 1000000000;
+        while (rdtsc() < expired_tsc)
+            ;
+
+        if (rmtp != NULL)
+        {
+            rmtp->tv_nsec = 0;
+            rmtp->tv_sec = 0;
+        }
+        return 0;
+    }
+
+    // 增加定时任务
+    struct timer_func_list_t *sleep_task = (struct timer_func_list_t *)kmalloc(sizeof(struct timer_func_list_t), 0);
+    memset(sleep_task, 0, sizeof(struct timer_func_list_t));
+
+    timer_func_init_us(sleep_task, &nanosleep_handler, (void *)current_pcb, rqtp->tv_nsec / 1000);
+
+    timer_func_add(sleep_task);
+
+    current_pcb->state = PROC_INTERRUPTIBLE;
+    current_pcb->flags |= PF_NEED_SCHED;
+    sched();
+
+    // todo: 增加信号唤醒的功能后，设置rmtp
+
+    if (rmtp != NULL)
+    {
+        rmtp->tv_nsec = 0;
+        rmtp->tv_sec = 0;
+    }
+
+    return 0;
+}
+
+/**
+ * @brief 睡眠指定时间
+ *
+ * @param usec 微秒
+ * @return int
+ */
+int usleep(useconds_t usec)
+{
+    struct timespec ts = {
+        tv_sec : (long int)(usec / 1000000),
+        tv_nsec : (long int)(usec % 1000000) * 1000UL
+    };
+
+    return nanosleep(&ts, NULL);
+}

kernel/src/time/sleep.h

@@ -0,0 +1,23 @@
+#pragma once
+
+#include <common/glib.h>
+#include <process/ptrace.h>
+#include <common/time.h>
+
+
+/**
+ * @brief 休眠指定时间
+ * 
+ * @param rqtp 指定休眠的时间
+ * @param rmtp 返回的剩余休眠时间
+ * @return int 
+ */
+int nanosleep(const struct timespec *rqtp, struct timespec *rmtp);
+
+/**
+ * @brief 睡眠指定时间
+ *
+ * @param usec 微秒
+ * @return int
+ */
+int usleep(useconds_t usec);

kernel/src/time/timer.c

@@ -0,0 +1,178 @@
+#include "timer.h"
+#include <common/kprint.h>
+#include <driver/timers/HPET/HPET.h>
+#include <exception/softirq.h>
+#include <mm/slab.h>
+#include <process/process.h>
+#include <sched/sched.h>
+
+struct timer_func_list_t timer_func_head;
+static spinlock_t sched_lock;
+
+// 定时器循环阈值，每次最大执行20个定时器任务
+#define TIMER_RUN_CYCLE_THRESHOLD 20
+
+void test_timer()
+{
+    printk_color(ORANGE, BLACK, "(test_timer)");
+}
+
+void timer_init()
+{
+    spin_init(&sched_lock);
+
+    timer_jiffies = 0;
+    timer_func_init(&timer_func_head, NULL, NULL, -1UL);
+    register_softirq(TIMER_SIRQ, &do_timer_softirq, NULL);
+
+    struct timer_func_list_t *tmp = (struct timer_func_list_t *)kmalloc(sizeof(struct timer_func_list_t), 0);
+    timer_func_init(tmp, &test_timer, NULL, 5);
+    timer_func_add(tmp);
+
+    kdebug("timer func initialized.");
+}
+
+/**
+ * @brief 处理时间软中断
+ *
+ * @param data
+ */
+void do_timer_softirq(void *data)
+{
+    // todo: 修改这里以及 softirq 的部分，使得 timer 具有并行性
+    struct timer_func_list_t *tmp = container_of(list_next(&timer_func_head.list), struct timer_func_list_t, list);
+    int cycle_count = 0;
+    while ((!list_empty(&timer_func_head.list)) && (tmp->expire_jiffies <= timer_jiffies))
+    {
+        spin_lock(&sched_lock);
+
+        timer_func_del(tmp);
+        tmp->func(tmp->data);
+        kfree(tmp);
+
+        spin_unlock(&sched_lock);
+
+        ++cycle_count;
+
+
+        // kdebug("SOLVE SOFT IRQ %d", cycle_count);
+
+        // 当前定时器达到阈值
+        if (cycle_count == TIMER_RUN_CYCLE_THRESHOLD)
+            break;
+        tmp = container_of(list_next(&timer_func_head.list), struct timer_func_list_t, list);
+    }
+}
+
+/**
+ * @brief 初始化定时功能
+ *
+ * @param timer_func 队列结构体
+ * @param func 定时功能处理函数
+ * @param data 传输的数据
+ * @param expire_ms 定时时长(单位：ms)
+ */
+void timer_func_init(struct timer_func_list_t *timer_func, void (*func)(void *data), void *data, uint64_t expire_ms)
+{
+    list_init(&timer_func->list);
+    timer_func->func = func;
+    timer_func->data = data;
+    timer_func->expire_jiffies = cal_next_n_ms_jiffies(expire_ms); // 设置过期的时间片
+}
+
+/**
+ * @brief 初始化定时功能
+ *
+ * @param timer_func 队列结构体
+ * @param func 定时功能处理函数
+ * @param data 传输的数据
+ * @param expire_us 定时时长(单位：us)
+ */
+void timer_func_init_us(struct timer_func_list_t *timer_func, void (*func)(void *data), void *data, uint64_t expire_us)
+{
+    list_init(&timer_func->list);
+    timer_func->func = func;
+    timer_func->data = data;
+    timer_func->expire_jiffies = cal_next_n_us_jiffies(expire_us); // 设置过期的时间片
+    // kdebug("timer_func->expire_jiffies=%ld",cal_next_n_us_jiffies(expire_us));
+}
+
+/**
+ * @brief 将定时功能添加到列表中
+ *
+ * @param timer_func 待添加的定时功能
+ */
+void timer_func_add(struct timer_func_list_t *timer_func)
+{
+    struct timer_func_list_t *tmp = container_of(list_next(&timer_func_head.list), struct timer_func_list_t, list);
+
+    if (list_empty(&timer_func_head.list) == false)
+        while (tmp->expire_jiffies < timer_func->expire_jiffies)
+            tmp = container_of(list_next(&tmp->list), struct timer_func_list_t, list);
+
+    list_add(&tmp->list, &(timer_func->list));
+}
+
+/**
+ * @brief 将定时功能从列表中删除
+ *
+ * @param timer_func
+ */
+void timer_func_del(struct timer_func_list_t *timer_func)
+{
+    list_del(&timer_func->list);
+}
+
+uint64_t sys_clock(struct pt_regs *regs)
+{
+    return timer_jiffies;
+}
+
+uint64_t clock()
+{
+    return timer_jiffies;
+}
+
+/**
+ * @brief 辅助函数：传进schedule_timeout函数中, 然后时间一到就唤醒 pcb 指向的进程(即自身)
+ *
+ * @param pcb process_control_block
+ */
+static void __wake_up_helper(void *pcb)
+{
+    BUG_ON(pcb == NULL);
+
+    BUG_ON(process_wakeup((struct process_control_block *)pcb) != 0); // 正常唤醒,返回值为0
+}
+
+/**
+ * @brief 睡眠timeout的时间之后唤醒进程/线程
+ *
+ * @param timeout
+ * @return long
+ */
+long schedule_timeout_ms(long timeout)
+{
+    if (timeout == MAX_TIMEOUT) // 无期停止, 意味着不会调用func
+    {
+        sched();
+        return MAX_TIMEOUT;
+    }
+    else if (timeout < 0)
+    {
+        BUG_ON(1);
+        return 0;
+    }
+
+    spin_lock(&sched_lock);
+    struct timer_func_list_t timer={0}; 
+    timer_func_init(&timer, &__wake_up_helper, current_pcb, timeout);
+    timer_func_add(&timer);
+    current_pcb->state &= ~(PROC_RUNNING);
+    spin_unlock(&sched_lock);
+    sched();
+
+    timeout -= timer_jiffies;
+
+    return timeout < 0 ? 0 : timeout;
+}

kernel/src/time/timer.h

@@ -0,0 +1,76 @@
+#pragma once
+
+#include <common/glib.h>
+#include <driver/timers/HPET/HPET.h>
+#include <driver/timers/rtc/rtc.h>
+
+// 定义LONG_MAX为最大超时时间 - 允许负数
+#define MAX_TIMEOUT (int64_t)((1ul << 63) - 1)
+
+uint64_t volatile timer_jiffies = 0; // 系统时钟计数
+
+// 计算接下来n毫秒对应的系统时间片
+#define cal_next_n_ms_jiffies(expire_ms) (timer_jiffies + 1000 * (expire_ms))
+// 计算接下来n微秒对应的系统时间片
+#define cal_next_n_us_jiffies(expire_us) (timer_jiffies + (expire_us))
+
+void timer_init();
+
+void do_timer_softirq(void *data);
+
+/**
+ * @brief 定时功能队列
+ *
+ */
+struct timer_func_list_t
+{
+    struct List list;
+    uint64_t expire_jiffies;
+    void (*func)(void *data);
+    void *data;
+};
+
+extern struct timer_func_list_t timer_func_head;
+/**
+ * @brief 初始化定时功能
+ *
+ * @param timer_func 队列结构体
+ * @param func 定时功能处理函数
+ * @param data 传输的数据
+ * @param expire_ms 定时时长(单位：ms)
+ */
+void timer_func_init(struct timer_func_list_t *timer_func, void (*func)(void *data), void *data, uint64_t expire_ms);
+
+/**
+ * @brief 初始化定时功能
+ *
+ * @param timer_func 队列结构体
+ * @param func 定时功能处理函数
+ * @param data 传输的数据
+ * @param expire_us 定时时长(单位：us)
+ */
+void timer_func_init_us(struct timer_func_list_t *timer_func, void (*func)(void *data), void *data, uint64_t expire_us);
+
+/**
+ * @brief 将定时功能添加到列表中
+ *
+ * @param timer_func 待添加的定时功能
+ */
+void timer_func_add(struct timer_func_list_t *timer_func);
+
+/**
+ * @brief 将定时功能从列表中删除
+ *
+ * @param timer_func
+ */
+void timer_func_del(struct timer_func_list_t *timer_func);
+
+uint64_t clock();
+
+/**
+ * @brief 睡眠timeout的时间之后唤醒进程/线程
+ * 
+ * @param timeout 
+ * @return long 
+ */
+long schedule_timeout_ms(long timeout);