Add spawn-task example

Signed-off-by: Nick Spinale <[email protected]>

Cargo.toml

@@ -38,6 +38,8 @@ members = [
     "crates/examples/root-task/example-root-task",
     "crates/examples/root-task/example-root-task-without-runtime",
     "crates/examples/root-task/hello",
+    "crates/examples/root-task/spawn-task",
+    "crates/examples/root-task/spawn-task/child",
     "crates/examples/root-task/spawn-thread",
     "crates/private/meta",
     "crates/private/support/sel4-simple-task/config-types",

crates/examples/root-task/spawn-task/Cargo.nix

@@ -0,0 +1,18 @@
+#
+# Copyright 2024, Colias Group, LLC
+#
+# SPDX-License-Identifier: BSD-2-Clause
+#
+
+{ mk, versions, localCrates }:
+
+mk {
+  package.name = "spawn-task";
+  dependencies = {
+    object = { version = versions.object; default-features = false; features = [ "read" ]; };
+    inherit (localCrates)
+      sel4
+      sel4-root-task
+    ;
+  };
+}

crates/examples/root-task/spawn-task/Cargo.toml

@@ -0,0 +1,22 @@
+#
+# Copyright 2023, Colias Group, LLC
+#
+# SPDX-License-Identifier: BSD-2-Clause
+#
+#
+# This file is generated from './Cargo.nix'. You can edit this file directly
+# if you are not using this project's Cargo manifest management tools.
+# See 'hacking/cargo-manifest-management/README.md' for more information.
+#
+
+[package]
+name = "spawn-task"
+version = "0.1.0"
+authors = ["Nick Spinale <[email protected]>"]
+edition = "2021"
+license = "BSD-2-Clause"
+
+[dependencies]
+object = { version = "0.32.1", default-features = false, features = ["read"] }
+sel4 = { path = "../../../sel4" }
+sel4-root-task = { path = "../../../sel4-root-task" }

crates/examples/root-task/spawn-task/child/Cargo.nix

@@ -0,0 +1,26 @@
+#
+# Copyright 2024, Colias Group, LLC
+#
+# SPDX-License-Identifier: BSD-2-Clause
+#
+
+{ mk, versions, localCrates }:
+
+mk {
+  package.name = "spawn-task-child";
+  dependencies = {
+    inherit (versions) cfg-if;
+    inherit (localCrates)
+      sel4
+      sel4-panicking-env
+      sel4-dlmalloc
+      sel4-sync
+    ;
+    sel4-panicking = localCrates.sel4-panicking // {
+      features = [ "unwinding" "alloc" ];
+    };
+    sel4-runtime-common = localCrates.sel4-runtime-common // {
+      features = [ "start" "tls" "unwinding" ];
+    };
+  };
+}

crates/examples/root-task/spawn-task/child/Cargo.toml

@@ -0,0 +1,29 @@
+#
+# Copyright 2023, Colias Group, LLC
+#
+# SPDX-License-Identifier: BSD-2-Clause
+#
+#
+# This file is generated from './Cargo.nix'. You can edit this file directly
+# if you are not using this project's Cargo manifest management tools.
+# See 'hacking/cargo-manifest-management/README.md' for more information.
+#
+
+[package]
+name = "spawn-task-child"
+version = "0.1.0"
+authors = ["Nick Spinale <[email protected]>"]
+edition = "2021"
+license = "BSD-2-Clause"
+
+[dependencies]
+cfg-if = "1.0.0"
+sel4 = { path = "../../../../sel4" }
+sel4-dlmalloc = { path = "../../../../sel4-dlmalloc" }
+sel4-panicking = { path = "../../../../sel4-panicking", features = ["unwinding", "alloc"] }
+sel4-panicking-env = { path = "../../../../sel4-panicking/env" }
+sel4-sync = { path = "../../../../sel4-sync" }
+
+[dependencies.sel4-runtime-common]
+path = "../../../../sel4-runtime-common"
+features = ["start", "tls", "unwinding"]

crates/examples/root-task/spawn-task/child/src/main.rs

@@ -0,0 +1,20 @@
+//
+// Copyright 2024, Colias Group, LLC
+//
+// SPDX-License-Identifier: BSD-2-Clause
+//
+
+#![no_std]
+#![no_main]
+
+mod runtime;
+
+fn main() -> ! {
+    sel4::debug_println!("In child task");
+
+    sel4::Notification::from_bits(1).signal();
+
+    sel4::Tcb::from_bits(2).tcb_suspend().unwrap();
+
+    unreachable!()
+}

crates/examples/root-task/spawn-task/child/src/runtime.rs

@@ -0,0 +1,67 @@
+//
+// Copyright 2024, Colias Group, LLC
+//
+// SPDX-License-Identifier: BSD-2-Clause
+//
+
+use core::ptr;
+
+use sel4::CapTypeForFrameObjectOfFixedSize;
+use sel4_dlmalloc::{StaticDlmallocGlobalAlloc, StaticHeap};
+use sel4_panicking::catch_unwind;
+use sel4_panicking_env::abort;
+use sel4_sync::{GenericRawMutex, PanickingMutexSyncOps};
+
+use crate::main;
+
+const STACK_SIZE: usize = 1024 * 64;
+
+sel4_runtime_common::declare_stack!(STACK_SIZE);
+
+const HEAP_SIZE: usize = 1024 * 64;
+
+static STATIC_HEAP: StaticHeap<HEAP_SIZE> = StaticHeap::new();
+
+#[global_allocator]
+static GLOBAL_ALLOCATOR: StaticDlmallocGlobalAlloc<
+    GenericRawMutex<PanickingMutexSyncOps>,
+    &'static StaticHeap<HEAP_SIZE>,
+> = StaticDlmallocGlobalAlloc::new(
+    GenericRawMutex::new(PanickingMutexSyncOps::new()),
+    &STATIC_HEAP,
+);
+
+sel4_panicking_env::register_debug_put_char!(sel4::debug_put_char);
+
+#[no_mangle]
+unsafe extern "C" fn sel4_runtime_rust_entry() -> ! {
+    unsafe extern "C" fn cont_fn(_cont_arg: *mut sel4_runtime_common::ContArg) -> ! {
+        inner_entry()
+    }
+
+    sel4_runtime_common::initialize_tls_on_stack_and_continue(cont_fn, ptr::null_mut())
+}
+
+fn inner_entry() -> ! {
+    unsafe {
+        sel4_runtime_common::set_eh_frame_finder().unwrap();
+        sel4::set_ipc_buffer(get_ipc_buffer().as_mut().unwrap());
+        sel4_runtime_common::run_ctors();
+    }
+
+    match catch_unwind(main) {
+        Ok(never) => never,
+        Err(_) => abort!("main() panicked"),
+    }
+}
+
+fn get_ipc_buffer() -> *mut sel4::IpcBuffer {
+    extern "C" {
+        static _end: usize;
+    }
+    unsafe {
+        (ptr::addr_of!(_end) as usize)
+            .next_multiple_of(sel4::cap_type::Granule::FRAME_OBJECT_TYPE.bytes())
+            as *mut sel4::IpcBuffer
+    }
+}