Add support for the reboot_on_failure option to the service.
When the execution of a command within a certain action fails (returning
a non-zero status code), NxInit will continue to execute subsequent commands or
actions and will not proactively terminate the startup process. To implement
the functionality of "terminating the startup process after a command
execution fails", there are two methods:
a. Execute conditional statements (if/then/else/fi) via exec command,
but this depends on sh:
```
on init
exec -- set +e; \
mount -t fatfs /dev/data /data ; \
if [ $? -ne 0 ] ; \
then \
echo "failed" ; \
reboot ; \
else \
echo "succeed" ; \
fi;
```
b. Via service's oneshot + reboot_on_failure:
/* Although the example uses sh, it does not depend on it and can be
* replaced with any other Builtin Apps.
*/
```
on init
exec_start mkdir_tmp
ls /tmp
service mkdir_tmp sh -c "mkdir /tmp"
reboot_on_failure 0
oneshot
```
Test
- RC
service console sh
class core
override
> reboot_on_failure 0
restart_period 10000
- Runtime
[ 0.150000] [ 3] [ 0] init_main: == Dump Services ==
...
[ 0.170000] [ 3] [ 0] init_main: Service 0x40486ea0 name 'console' path 'sh'
[ 0.170000] [ 3] [ 0] init_main: pid: 0
[ 0.170000] [ 3] [ 0] init_main: arguments:
[ 0.170000] [ 3] [ 0] init_main: [0] 'service'
[ 0.170000] [ 3] [ 0] init_main: [1] 'console'
[ 0.170000] [ 3] [ 0] init_main: [2] 'sh'
[ 0.170000] [ 3] [ 0] init_main: classes:
[ 0.170000] [ 3] [ 0] init_main: 'core'
[ 0.170000] [ 3] [ 0] init_main: restart_period: 10000
> [ 0.170000] [ 3] [ 0] init_main: reboot_on_failure: 0
[ 0.170000] [ 3] [ 0] init_main: flags:
[ 0.170000] [ 3] [ 0] init_main: 'override'
...
[ 0.380000] [ 3] [ 0] init_main: started service 'console' pid 4
...
nsh> kill -9 4
[ 8.060000] [ 3] [ 0] init_main: service 'console' flag 0x20000004 add 0x4
[ 8.060000] [ 3] [ 0] init_main: -flag 'running'
[ 8.060000] [ 3] [ 0] init_main: service 'console' flag 0x20000000 add 0x8
[ 8.060000] [ 3] [ 0] init_main: +flag 'restarting'
> [ 8.060000] [ 3] [ 0] init_main: Error reboot on failure of service 'console' reason 0
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
Format: exec_start <service>
Start the specified service and pause the processing of any additional
initialization commands until the service completes its execution. This
command operates similarly to the `exec` command; the key difference is
that it utilizes an existing service definition rather than requiring
the `exec` argument vector.
This feature is particularly intended for use with the `reboot_on_failure`
built-in command to perform all types of essential checks during system boot.
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
This component (abbreviated as "NxInit") is specifically developed
for NuttX and intended for system initialization. While we have
adopted the Android Init Language among various syntax options,
this is a brand-new implementation—it is not a port or variant of
Android Init.
Refer to the implementation of Android Init Language, consists of five broad
classes of statements: Actions, Commands, Services, Options, and Imports.
Actions support two types of triggers: event and action. Action triggers also
support runtime triggering. Services support lifecycle management, including
automatic restart (at specified intervals), and starting/stopping
individually or by class. Import supports files or directories, and we may
add a static method in the future. The following are some differences:
1. The Android Init Language treats lines starting with `#` as comments,
while we use a preprocessor to handle comments.
2. For action commands, we can omit "exec" and directly execute
built-in apps or nsh builtins.
3. Regarding the property service, users can either adapt it by self or
directly use the preset NVS-based properties.
4. Only part of standard action commands and service options are
implemented currlently.
To enable system/nxinit:
```diff
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_ENTRYPOINT="init_main"
+CONFIG_SYSTEM_NXINIT=y
```
For format and additional details, refer to:
https://android.googlesource.com/platform/system/core/+/
master/init/README.md
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
POSIX specifies strcasecmp/strncasecmp in <strings.h>, not <string.h>.
On NuttX (and other strict POSIX environments) rcutils/src/strcasecmp.c
only includes <string.h>, causing an implicit-declaration error for
strcasecmp when cross-compiling.
Patch 0003 adds #include <strings.h> guarded by !_WIN32, matching the
existing Windows/POSIX split in the file.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add -D__NuttX__ to CMAKE_C_FLAGS_INIT and CMAKE_CXX_FLAGS_INIT in
toolchain.cmake.in so that all cross-compiled micro-ROS packages see the
NuttX target macro. Without this, rcutils/src/process.c follows the
__linux__ branch and references program_invocation_name, a glibc-only
extension absent from the NuttX C library.
Pair with 0002-rcutils-process-nuttx-compat.patch which additionally
guards the linux branch with !defined(__NuttX__), ensuring the embedded
fallback path is taken on NuttX even if the host compiler defines any
linux-flavoured macros.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Mirror the Makefile build pipeline into CMakeLists.txt using
ExternalProject_Add so that CMake-based NuttX builds (cmake --build)
can also produce libmicroros.a. The external project delegates to the
existing Makefile targets, then exposes the result via an IMPORTED
STATIC library target with correct INTERFACE_INCLUDE_DIRECTORIES.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
NuttX defines DIR as a struct type in dirent.h. The rcutils filesystem
source has a bare typedef int DIR that triggers a redefinition error when
NuttX system headers are on the include path. Guard it with #ifndef DIR
so the typedef is skipped when the type is already defined.
Applied automatically during the micro_ros_src/src fetch step with
patch -p1 --forward --ignore-whitespace ... || true
so the build is idempotent if the upstream ever merges a fix.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
When CONFIG_SYSTEM_MICROROS=y, add the prebuilt libmicroros.a to LDLIBS
and the colcon-installed include/ tree to CFLAGS/CXXFLAGS so that any
application in nuttx-apps can include micro-ROS headers and link against
the library without extra flags.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add toolchain.cmake.in and include_override/assert.h for the colcon
cross-build. Key differences from the old robertobucher port:
- Drop -DCLOCK_MONOTONIC=0: NuttX defines CLOCK_MONOTONIC=1 and
the override broke nanosleep() on newer kernels.
- CMAKE_SYSTEM_PROCESSOR is a placeholder substituted per-arch.
- include_override/assert.h works around the rosidl NDEBUG issue
(https://github.com/ros2/rosidl/pull/739).
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add a colcon.meta.in template that is substituted at build time with
Kconfig values. Key settings:
- Custom transport only (UCLIENT_PROFILE_CUSTOM_TRANSPORT=ON,
UCLIENT_PROFILE_STREAM_FRAMING=ON) -- actual UDP/serial callbacks
are wired in Phase 4.
- RCL_MICROROS=ON (Jazzy/Kilted renamed flag replacing the old
RCL_COMMAND_LINE_ENABLED/RCL_LOGGING_ENABLED pair).
- RCUTILS_NO_FILESYSTEM=OFF -- NuttX provides POSIX filesystem.
- Resource limits use @MAX_NODES@/@MAX_PUBLISHERS@ etc. placeholders
substituted from CONFIG_MICROROS_MAX_* Kconfig values.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add micro_ros_lib/ subdirectory with a .keep sentinel so the directory
is tracked by git before any generated build artifacts appear. All
colcon/fetch outputs land here and are gitignored by the parent .gitignore.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
The settings save path no longer re-enters g_settings.mtx, so the mutex does not need to be initialized as PTHREAD_MUTEX_RECURSIVE.
This keeps the #3105 fix independent of CONFIG_PTHREAD_MUTEX_TYPES and destroys the temporary mutex attribute object after initialization.
Signed-off-by: Nightt <87569709+nightt5879@users.noreply.github.com>
Fix#3105 by making the immediate save path write pending settings while the caller still owns g_settings.mtx instead of calling the timer callback, which locks the same mutex again.
The cached-save timer callback still takes the mutex before using the same locked helper, so asynchronous saves keep their existing synchronization while non-cached saves no longer depend on a recursive mutex.
Signed-off-by: Nightt <87569709+nightt5879@users.noreply.github.com>
Add missing failure handling for direct strdup() and asprintf() calls where the allocated result is consumed locally before any NULL/error check.
This keeps the scope to the functions named in #1727 and avoids changing pass-through return sites where callers already receive NULL on allocation failure.
Signed-off-by: Nightt <87569709+nightt5879@users.noreply.github.com>
Add Kconfig, build rules, and ignore entries required to build and
package libffi as a standalone system component.
Signed-off-by: Tiago Medicci <tiago.medicci@espressif.com>
Fix the reported typo warnings and ignore the V4L2 parm field name in apps codespell configuration, matching the main NuttX repository.
Signed-off-by: Nightt <87569709+nightt5879@users.noreply.github.com>
Add missing mode arguments to direct open() calls that use O_CREAT.
Also open the lp503x device with explicit read-only flags instead of O_CREAT, matching the device-node usage.
Signed-off-by: Nightt <87569709+nightt5879@users.noreply.github.com>
Now that time_t is unconditionally 64-bit (signed int64_t) and the
struct timespec fields tv_sec / tv_nsec are wide enough on their own,
the explicit (uint64_t)/(int64_t)/(int) casts that used to guard the
multiplications and subtractions in *_us / *_ms / *_ns helpers are no
longer needed. Drop them to keep the timekeeping math readable.
In the same spirit, this commit also normalises the printf-style format
specifiers and casts used to print tv_sec / tv_nsec / tv_usec values.
The prior code was a mix of "%d"/"%u"/"%ld"/"%lu"/"%lld" with matching
(int)/(unsigned long)/(long long) casts; some formats truncated time_t
on 32-bit hosts, others mismatched signedness or width. Replace all
such cases with the portable POSIX-recommended forms:
- tv_sec (time_t, signed, impl-defined width) -> %jd + (intmax_t)
- tv_nsec (long, signed) -> %ld (no cast)
- tv_usec (suseconds_t / long) -> %ld (no cast)
Also drop two stale `(FAR const time_t *)&ts.tv_sec` casts that are
unnecessary now that ts.tv_sec is plain time_t.
Arithmetic-cleanup files (existing scope):
- benchmarks/cyclictest/cyclictest.c: timediff_us()
- benchmarks/sd_bench/sd_bench_main.c: get_time_delta_us()
- examples/oneshot/oneshot_main.c: maxus computation
- examples/watchdog/watchdog_main.c: current_time_ms (x2)
- industry/nxmodbus/nxmb_internal.h: nxmb_util_clock_ms()
- netutils/ntpclient/ntpclient.c: timespec2ntp()
- netutils/ptpd/ptpd.c: ptp_adjtime()
- system/dd/dd_main.c: elapsed accounting
- testing/drivers/drivertest/drivertest_posix_timer.c:
get_timestamp()
- testing/drivers/sd_stress/sd_stress_main.c:get_time_delta()
- testing/sched/getprime/getprime_main.c: elapsed accounting
- testing/sched/pthread_mutex_perf/pthread_mutex_perf.c:
timespec_avg()
Printf-format-fix files (new in this revision):
- examples/adjtime/adjtime_main.c
- examples/charger/charger_main.c
- examples/netpkt/netpkt_ethercat.c
- fsutils/mkfatfs/mkfatfs.c
- graphics/tiff/tiff_initialize.c
- netutils/ptpd/ptpd.c
- nshlib/nsh_timcmds.c
- system/coredump/coredump.c
- system/ptpd/ptpd_main.c
- testing/drivers/drivertest/drivertest_oneshot.c
- testing/mm/kasantest/kasantest.c
- testing/ostest/semtimed.c
- testing/sched/pthread_mutex_perf/pthread_mutex_perf.c
- testing/sched/timerjitter/timerjitter.c
- testing/testsuites/kernel/time/cases/clock_test_clock01.c
- testing/testsuites/kernel/time/cases/clock_test_smoke.c
No behavioural change.
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
Add CMakeLists.txt file for CMake build system integration.
Enables the micro-ROS library module to be built using NuttX CMake
build system alongside traditional Make-based builds.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add Makefile with standard NuttX build system integration. Follows
the MENUDESC + Directory.mk pattern used throughout nuttx-apps.
Enables the system/microros module to be built as part of the apps
directory build process.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
Add Make.defs with copyright header for the micro-ROS library
build system. This establishes the directory structure for Phase 2,
with actual build logic to follow in subsequent steps.
Signed-off-by: Arjav Patel <arjav1528@gmail.com>
When ping only receives an IPv6 DNS response, the current command
reports "ping_gethostip" and exits even though ping6 can still
handle the target.
Keep the existing ping and ping6 netutils interfaces unchanged and
add a one-way fallback in the ping command. If IPv4 name resolution
fails, ping will spawn ping6 with the same arguments and let ping6
report the final result.
Signed-off-by: Shunchao Hu <ankohuu@gmail.com>
Align with the upstream nuttx change that drops the sclock_t alias now
that clock_t is itself a signed 64-bit type (int64_t). Beyond the pure
sclock_t -> clock_t rename, this commit also removes the
now-unnecessary (time_t)-1 / (time_t)0 / (off_t)-1 casts that were
papering over the previously-unsigned time_t.
Files touched:
- examples/alarm/alarm_main.c: sclock_t -> clock_t
- netutils/dhcpd/dhcpd.c: sclock_t -> clock_t
- netutils/ftpd/ftpd.c: sclock_t -> clock_t
- netutils/thttpd/libhttpd.c,
netutils/thttpd/tdate_parse.c: drop (time_t)-1 / (time_t)0 /
(off_t)-1 sentinel casts
- system/resmonitor/filldisk.c,
system/zmodem/zm_receive.c: sclock_t -> clock_t
- testing/ostest/wdog.c: sclock_t -> clock_t (the bulk
of the rename, 30 sites)
- testing/testsuites/kernel/syscall/cases/{clock_nanosleep_test,
fsync_test,time_test}.c: drop (time_t)-1 casts in the
new signed-time_t world
No behavioural change.
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
The matching nuttx commit removes CONFIG_HAVE_LONG_LONG; clean up the
remaining users in nuttx-apps so that "long long" is always assumed:
- examples/noteprintf, examples/nxscope:
unconditionally exercise the %lld / long long branch.
- fsutils/mkfatfs/configfat.c:
drop the 32-bit fall-back paths in mkfatfs_nfatsect12/16/32;
always use uint64_t for the FAT-size arithmetic.
- logging/nxscope/nxscope_chan.c:
drop the CONFIG_HAVE_LONG_LONG guard around the 64-bit
sample helpers.
- netutils/ftpd, netutils/ntpclient:
always emit the 64-bit format strings.
- testing/fs/fstest/fstest_main.c:
drop the parallel 32-bit verification path; keep only the
64-bit (long long) random pattern generator.
- system/zmodem/host/nuttx/compiler.h:
remove the host-side CONFIG_HAVE_LONG_LONG stub macro.
Signed-off-by: Xiang Xiao <xiaoxiang@xiaomi.com>
BREAKING: In an effort to simplify board initialization logic for NuttX,
NSH will no longer support architecture initialization. This will happen
during boot via the BOARD_LATE_INITIALIZE option. The boardctl command
BOARDIOC_INIT is also no longer available from user-space.
Quick fix:
Any application relying on BOARDIOC_INIT should now enable
BOARD_LATE_INITIALIZE to have initialization performed by the kernel in
advance of the application running. If control over initialization is
still necessary, BOARDIOC_FINALINIT should be implemented and used.
Boards relying on NSH for initialization should also enable
BOARD_LATE_INITIALIZE instead.
Signed-off-by: Matteo Golin <matteo.golin@gmail.com>
Add a minimal VNC viewer application that connects to a VNC server
and renders the remote desktop on a local LCD.
Features:
- RFB 3.8 protocol with VNC Authentication (DES, pure software)
- Raw encoding with pixel format auto-detected from LCD driver
- Row-by-row rendering via LCDDEVIO_PUTAREA (minimal RAM usage)
- LCD resolution and format queried at runtime via LCDDEVIO_GETVIDEOINFO
- Auto-reconnect on connection loss with 2-second retry
Usage:
vncviewer <host> [port]
vncviewer -p <password> <host> [port]
vncviewer -p <password> -d <lcd_devno> <host> [port]
Assisted-by: GitHubCopilot:claude-4.6-opus
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
Let `irtest` command line size be equal to CONFIG_LINE_MAX so that
bigger (or smaller) commands can be set.
Signed-off-by: Tiago Medicci <tiago.medicci@espressif.com>
Long write_data commands can be truncated without any check due to
the maximum size of CONFIG_SYSTEM_IRTEST_MAX_SIRDATA. This commit
adds a check to avoid a silent fail.
Signed-off-by: Tiago Medicci <tiago.medicci@espressif.com>
This commit fixes issues regarding portability by using variables
with fixed width (and their format macro constants).
Signed-off-by: Tiago Medicci <tiago.medicci@espressif.com>
NxModbus is a lightweight Modbus protocol stack implementation for NuttX RTOS.
This commit adds:
- nxmodbus stack
- nxmbserver - Modbus Server (Slave) example
- nxmbclient - Modbus Client (Master) tool
Supported Modbus transports:
- ASCII
- RTU over serial port
- TCP
- RAW (ADU) for custom transport implementations
Signed-off-by: raiden00pl <raiden00@railab.me>
Clean up style issues in the files touched by the <nuttx/debug.h> include
migration so the full apps-side PR passes checkpatch.
Signed-off-by: Piyush Patle <piyushpatle228@gmail.com>
Replace app-side includes of <debug.h> with <nuttx/debug.h> to use the
header from the NuttX tree explicitly after the header move.
Signed-off-by: Piyush Patle <piyushpatle228@gmail.com>
When a command has no arguments (e.g., 'q', 'quit', 'stop'), the strtok_r()
function returns NULL for the arg parameter. The argument trimming loop was
dereferencing this NULL pointer without checking, causing undefined behavior
and system hang on ESP32-S3.
This commit adds a null check before dereferencing the arg pointer in the
leading space trimming loop.
Tested on ESP32-S3 (lckfb-szpi-esp32s3) - quit command now works correctly.
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
