SOLID[1] is an embedded development platform provided by Kyoto
Microcomputer Co., Ltd. This commit introduces a basic Tier 3 support
for SOLID.
# New Targets
The following targets are added:
- `aarch64-kmc-solid_asp3`
- `armv7a-kmc-solid_asp3-eabi`
- `armv7a-kmc-solid_asp3-eabihf`
SOLID's target software system can be divided into two parts: an
RTOS kernel, which is responsible for threading and synchronization,
and Core Services, which provides filesystems, networking, and other
things. The RTOS kernel is a μITRON4.0[2][3]-derived kernel based on
the open-source TOPPERS RTOS kernels[4]. For uniprocessor systems
(more precisely, systems where only one processor core is allocated for
SOLID), this will be the TOPPERS/ASP3 kernel. As μITRON is
traditionally only specified at the source-code level, the ABI is
unique to each implementation, which is why `asp3` is included in the
target names.
More targets could be added later, as we support other base kernels
(there are at least three at the point of writing) and are interested
in supporting other processor architectures in the future.
# C Compiler
Although SOLID provides its own supported C/C++ build toolchain, GNU Arm
Embedded Toolchain seems to work for the purpose of building Rust.
# Unresolved Questions
A μITRON4 kernel can support `Thread::unpark` natively, but it's not
used by this commit's implementation because the underlying kernel
feature is also used to implement `Condvar`, and it's unclear whether
`std` should guarantee that parking tokens are not clobbered by other
synchronization primitives.
# Unsupported or Unimplemented Features
Most features are implemented. The following features are not
implemented due to the lack of native support:
- `fs::File::{file_attr, truncate, duplicate, set_permissions}`
- `fs::{symlink, link, canonicalize}`
- Process creation
- Command-line arguments
Backtrace generation is not really a good fit for embedded targets, so
it's intentionally left unimplemented. Unwinding is functional, however.
## Dynamic Linking
Dynamic linking is not supported. The target platform supports dynamic
linking, but enabling this in Rust causes several problems.
- The linker invocation used to build the shared object of `std` is
too long for the platform-provided linker to handle.
- A linker script with specific requirements is required for the
compiled shared object to be actually loadable.
As such, we decided to disable dynamic linking for now. Regardless, the
users can try to create shared objects by manually invoking the linker.
## Executable
Building an executable is not supported as the notion of "executable
files" isn't well-defined for these targets.
[1] https://solid.kmckk.com/SOLID/
[2] http://ertl.jp/ITRON/SPEC/mitron4-e.html
[3] https://en.wikipedia.org/wiki/ITRON_project
[4] https://toppers.jp/
The libc crate is already responsible for linking in the appropriate
libraries, and std doing the same thing results in duplicated library
names on the linker command line. Removing this duplication slightly
reduces linker time, and makes it simpler to adjust the set or order of
linked libraries in one place (such as to add static linking support).
Unfortunately, sanitizers do not support versioned symbols[1],
so they break filesystem access via the legacy, pre-ino64 ABI.
To use sanitizers on FreeBSD >= 12, we need to build the libc
crate with LIBC_CI=1 to use the new ABI -- including the libc
used for std. But that removes the st_lspare field std was
expecting for the deprecated metadata extension.
Add a way to skip that field to allow the build to work.
[1]: https://github.com/google/sanitizers/issues/628
This commit is a proof-of-concept for switching the standard library's
backtrace symbolication mechanism on most platforms from libbacktrace to
gimli. The standard library's support for `RUST_BACKTRACE=1` requires
in-process parsing of object files and DWARF debug information to
interpret it and print the filename/line number of stack frames as part
of a backtrace.
Historically this support in the standard library has come from a
library called "libbacktrace". The libbacktrace library seems to have
been extracted from gcc at some point and is written in C. We've had a
lot of issues with libbacktrace over time, unfortunately, though. The
library does not appear to be actively maintained since we've had
patches sit for months-to-years without comments. We have discovered a
good number of soundness issues with the library itself, both when
parsing valid DWARF as well as invalid DWARF. This is enough of an issue
that the libs team has previously decided that we cannot feed untrusted
inputs to libbacktrace. This also doesn't take into account the
portability of libbacktrace which has been difficult to manage and
maintain over time. While possible there are lots of exceptions and it's
the main C dependency of the standard library right now.
For years it's been the desire to switch over to a Rust-based solution
for symbolicating backtraces. It's been assumed that we'll be using the
Gimli family of crates for this purpose, which are targeted at safely
and efficiently parsing DWARF debug information. I've been working
recently to shore up the Gimli support in the `backtrace` crate. As of a
few weeks ago the `backtrace` crate, by default, uses Gimli when loaded
from crates.io. This transition has gone well enough that I figured it
was time to start talking seriously about this change to the standard
library.
This commit is a preview of what's probably the best way to integrate
the `backtrace` crate into the standard library with the Gimli feature
turned on. While today it's used as a crates.io dependency, this commit
switches the `backtrace` crate to a submodule of this repository which
will need to be updated manually. This is not done lightly, but is
thought to be the best solution. The primary reason for this is that the
`backtrace` crate needs to do some pretty nontrivial filesystem
interactions to locate debug information. Working without `std::fs` is
not an option, and while it might be possible to do some sort of
trait-based solution when prototyped it was found to be too unergonomic.
Using a submodule allows the `backtrace` crate to build as a submodule
of the `std` crate itself, enabling it to use `std::fs` and such.
Otherwise this adds new dependencies to the standard library. This step
requires extra attention because this means that these crates are now
going to be included with all Rust programs by default. It's important
to note, however, that we're already shipping libbacktrace with all Rust
programs by default and it has a bunch of C code implementing all of
this internally anyway, so we're basically already switching
already-shipping functionality to Rust from C.
* `object` - this crate is used to parse object file headers and
contents. Very low-level support is used from this crate and almost
all of it is disabled. Largely we're just using struct definitions as
well as convenience methods internally to read bytes and such.
* `addr2line` - this is the main meat of the implementation for
symbolication. This crate depends on `gimli` for DWARF parsing and
then provides interfaces needed by the `backtrace` crate to turn an
address into a filename / line number. This crate is actually pretty
small (fits in a single file almost!) and mirrors most of what
`dwarf.c` does for libbacktrace.
* `miniz_oxide` - the libbacktrace crate transparently handles
compressed debug information which is compressed with zlib. This crate
is used to decompress compressed debug sections.
* `gimli` - not actually used directly, but a dependency of `addr2line`.
* `adler32`- not used directly either, but a dependency of
`miniz_oxide`.
The goal of this change is to improve the safety of backtrace
symbolication in the standard library, especially in the face of
possibly malformed DWARF debug information. Even to this day we're still
seeing segfaults in libbacktrace which could possibly become security
vulnerabilities. This change should almost entirely eliminate this
possibility whilc also paving the way forward to adding more features
like split debug information.
Some references for those interested are:
* Original addition of libbacktrace - #12602
* OOM with libbacktrace - #24231
* Backtrace failure due to use of uninitialized value - #28447
* Possibility to feed untrusted data to libbacktrace - #21889
* Soundness fix for libbacktrace - #33729
* Crash in libbacktrace - #39468
* Support for macOS, never merged - ianlancetaylor/libbacktrace#2
* Performance issues with libbacktrace - #29293, #37477
* Update procedure is quite complicated due to how many patches we
need to carry - #50955
* Libbacktrace doesn't work on MinGW with dynamic libs - #71060
* Segfault in libbacktrace on macOS - #71397
Switching to Rust will not make us immune to all of these issues. The
crashes are expected to go away, but correctness and performance may
still have bugs arise. The gimli and `backtrace` crates, however, are
actively maintained unlike libbacktrace, so this should enable us to at
least efficiently apply fixes as situations come up.
