Add support for NuttX RTOS. (#21372)

* Add support for NuttX RTOS.

Signed-off-by: Takeyoshi Kikuchi <kikuchi@centurysys.co.jp>

* lib: pure: asyncdispatch: assign to result.

Signed-off-by: Takeyoshi Kikuchi <kikuchi@centurysys.co.jp>

* lib: std: typedthreads: add support for parameters to adjust Thread Stack Size.

Like FreeRTOS/Zephyr, add support for following configurations.

  -d:nimThreadStackSize=xxxxx
  -d:nimThreadStackGuard=yyyy

Signed-off-by: Takeyoshi Kikuchi <kikuchi@centurysys.co.jp>

---------

Signed-off-by: Takeyoshi Kikuchi <kikuchi@centurysys.co.jp>

compiler/options.nim

@@ -621,7 +621,7 @@ proc isDefined*(conf: ConfigRef; symbol: string): bool =
                             osQnx, osAtari, osAix,
                             osHaiku, osVxWorks, osSolaris, osNetbsd,
                             osFreebsd, osOpenbsd, osDragonfly, osMacosx, osIos,
-                            osAndroid, osNintendoSwitch, osFreeRTOS, osCrossos, osZephyr}
+                            osAndroid, osNintendoSwitch, osFreeRTOS, osCrossos, osZephyr, osNuttX}
     of "linux":
       result = conf.target.targetOS in {osLinux, osAndroid}
     of "bsd":
@@ -643,6 +643,8 @@ proc isDefined*(conf: ConfigRef; symbol: string): bool =
       result = conf.target.targetOS == osFreeRTOS
     of "zephyr":
       result = conf.target.targetOS == osZephyr
+    of "nuttx":
+      result = conf.target.targetOS == osNuttX
     of "littleendian": result = CPU[conf.target.targetCPU].endian == littleEndian
     of "bigendian": result = CPU[conf.target.targetCPU].endian == bigEndian
     of "cpu8": result = CPU[conf.target.targetCPU].bit == 8

compiler/platform.nim

@@ -26,7 +26,8 @@ type
     osNone, osDos, osWindows, osOs2, osLinux, osMorphos, osSkyos, osSolaris,
     osIrix, osNetbsd, osFreebsd, osOpenbsd, osDragonfly, osCrossos, osAix, osPalmos, osQnx,
     osAmiga, osAtari, osNetware, osMacos, osMacosx, osIos, osHaiku, osAndroid, osVxWorks
-    osGenode, osJS, osNimVM, osStandalone, osNintendoSwitch, osFreeRTOS, osZephyr, osAny
+    osGenode, osJS, osNimVM, osStandalone, osNintendoSwitch, osFreeRTOS, osZephyr,
+    osNuttX, osAny
 
 type
   TInfoOSProp* = enum
@@ -193,6 +194,10 @@ const
       objExt: ".o", newLine: "\x0A", pathSep: ":", dirSep: "/",
       scriptExt: ".sh", curDir: ".", exeExt: "", extSep: ".",
       props: {ospPosix}),
+     (name: "NuttX", parDir: "..", dllFrmt: "lib$1.so", altDirSep: "/",
+      objExt: ".o", newLine: "\x0A", pathSep: ":", dirSep: "/",
+      scriptExt: ".sh", curDir: ".", exeExt: "", extSep: ".",
+      props: {ospPosix}),
      (name: "Any", parDir: "..", dllFrmt: "lib$1.so", altDirSep: "/",
       objExt: ".o", newLine: "\x0A", pathSep: ":", dirSep: "/",
       scriptExt: ".sh", curDir: ".", exeExt: "", extSep: ".",

lib/posix/posix_other.nim

@@ -10,7 +10,7 @@
 when defined(nimHasStyleChecks):
   {.push styleChecks: off.}
 
-when defined(freertos) or defined(zephyr):
+when defined(freertos) or defined(zephyr) or defined(nuttx):
   const
     hasSpawnH = false # should exist for every Posix system nowadays
     hasAioH = false
@@ -640,6 +640,9 @@ when defined(linux) or defined(nimdoc):
       ## or UDP packets. (Requires Linux kernel > 3.9)
   else:
     const SO_REUSEPORT* = cint(15)
+elif defined(nuttx):
+  # Not supported, use SO_REUSEADDR to avoid compilation errors.
+  var SO_REUSEPORT* {.importc: "SO_REUSEADDR", header: "<sys/socket.h>".}: cint
 else:
   var SO_REUSEPORT* {.importc, header: "<sys/socket.h>".}: cint
 

lib/posix/posix_other_consts.nim

@@ -99,7 +99,10 @@ var EXDEV* {.importc: "EXDEV", header: "<errno.h>".}: cint
 
 # <fcntl.h>
 var F_DUPFD* {.importc: "F_DUPFD", header: "<fcntl.h>".}: cint
-var F_DUPFD_CLOEXEC* {.importc: "F_DUPFD", header: "<fcntl.h>".}: cint
+when defined(nuttx):
+  var F_DUPFD_CLOEXEC* {.importc: "F_DUPFD_CLOEXEC", header: "<fcntl.h>".}: cint
+else:
+  var F_DUPFD_CLOEXEC* {.importc: "F_DUPFD", header: "<fcntl.h>".}: cint
 var F_GETFD* {.importc: "F_GETFD", header: "<fcntl.h>".}: cint
 var F_SETFD* {.importc: "F_SETFD", header: "<fcntl.h>".}: cint
 var F_GETFL* {.importc: "F_GETFL", header: "<fcntl.h>".}: cint
@@ -127,6 +130,11 @@ var O_RDONLY* {.importc: "O_RDONLY", header: "<fcntl.h>".}: cint
 var O_RDWR* {.importc: "O_RDWR", header: "<fcntl.h>".}: cint
 var O_WRONLY* {.importc: "O_WRONLY", header: "<fcntl.h>".}: cint
 var O_CLOEXEC* {.importc: "O_CLOEXEC", header: "<fcntl.h>".}: cint
+when defined(nuttx):
+  var O_DIRECT* {.importc: "O_DIRECT", header: "<fcntl.h>".}: cint
+  var O_PATH* {.importc: "O_PATH", header: "<fcntl.h>".}: cint
+  var O_NOATIME* {.importc: "O_NOATIME", header: "<fcntl.h>".}: cint
+  var O_TMPFILE* {.importc: "O_TMPFILE", header: "<fcntl.h>".}: cint
 var POSIX_FADV_NORMAL* {.importc: "POSIX_FADV_NORMAL", header: "<fcntl.h>".}: cint
 var POSIX_FADV_SEQUENTIAL* {.importc: "POSIX_FADV_SEQUENTIAL", header: "<fcntl.h>".}: cint
 var POSIX_FADV_RANDOM* {.importc: "POSIX_FADV_RANDOM", header: "<fcntl.h>".}: cint
@@ -465,6 +473,9 @@ var FD_SETSIZE* {.importc: "FD_SETSIZE", header: "<sys/select.h>".}: cint
 when defined(zephyr):
   # Zephyr specific hardcoded value
   var FD_MAX* {.importc: "CONFIG_POSIX_MAX_FDS ", header: "<sys/select.h>".}: cint
+elif defined(nuttx):
+  # NuttX specific user configuration value
+  var NACTIVESOCKETS* {.importc: "CONFIG_NET_NACTIVESOCKETS", header: "<nuttx/config.h>".}: cint
 
 # <sys/socket.h>
 var MSG_CTRUNC* {.importc: "MSG_CTRUNC", header: "<sys/socket.h>".}: cint

lib/pure/asyncdispatch.nim

@@ -2024,7 +2024,7 @@ when defined(posix):
   import posix
 
 when defined(linux) or defined(windows) or defined(macosx) or defined(bsd) or
-       defined(solaris) or defined(zephyr) or defined(freertos):
+       defined(solaris) or defined(zephyr) or defined(freertos) or defined(nuttx):
   proc maxDescriptors*(): int {.raises: OSError.} =
     ## Returns the maximum number of active file descriptors for the current
     ## process. This involves a system call. For now `maxDescriptors` is
@@ -2033,6 +2033,9 @@ when defined(linux) or defined(windows) or defined(macosx) or defined(bsd) or
       result = 16_700_000
     elif defined(zephyr) or defined(freertos):
       result = FD_MAX
+    elif defined(nuttx):
+      # The maximum number of concurrently active UDP and TCP ports.
+      result = NACTIVESOCKETS
     else:
       var fdLim: RLimit
       if getrlimit(RLIMIT_NOFILE, fdLim) < 0:

lib/pure/asynchttpserver.nim

@@ -387,8 +387,9 @@ proc listen*(server: AsyncHttpServer; port: Port; address = ""; domain = AF_INET
   server.socket = newAsyncSocket(domain)
   if server.reuseAddr:
     server.socket.setSockOpt(OptReuseAddr, true)
-  if server.reusePort:
+  when not defined(nuttx):
-    server.socket.setSockOpt(OptReusePort, true)
+    if server.reusePort:
+      server.socket.setSockOpt(OptReusePort, true)
   server.socket.bindAddr(port, address)
   server.socket.listen()
 

lib/pure/asyncnet.nim

@@ -106,7 +106,8 @@ export SOBool
 # TODO: Remove duplication introduced by PR #4683.
 
 const defineSsl = defined(ssl) or defined(nimdoc)
-const useNimNetLite = defined(nimNetLite) or defined(freertos) or defined(zephyr)
+const useNimNetLite = defined(nimNetLite) or defined(freertos) or defined(zephyr) or
+    defined(nuttx)
 
 when defineSsl:
   import openssl

lib/pure/ioselects/ioselectors_select.nim

@@ -313,7 +313,7 @@ proc selectInto*[T](s: Selector[T], timeout: int,
   verifySelectParams(timeout)
 
   if timeout != -1:
-    when defined(genode) or defined(freertos) or defined(zephyr):
+    when defined(genode) or defined(freertos) or defined(zephyr) or defined(nuttx):
       tv.tv_sec = Time(timeout div 1_000)
     else:
       tv.tv_sec = timeout.int32 div 1_000

lib/pure/nativesockets.nim

@@ -23,7 +23,8 @@ when hostOS == "solaris":
   {.passl: "-lsocket -lnsl".}
 
 const useWinVersion = defined(windows) or defined(nimdoc)
-const useNimNetLite = defined(nimNetLite) or defined(freertos) or defined(zephyr)
+const useNimNetLite = defined(nimNetLite) or defined(freertos) or defined(zephyr) or
+    defined(nuttx)
 
 when useWinVersion:
   import winlean
@@ -304,7 +305,7 @@ proc getAddrInfo*(address: string, port: Port, domain: Domain = AF_INET,
   let socketPort = if sockType == SOCK_RAW: "" else: $port
   var gaiResult = getaddrinfo(address, socketPort.cstring, addr(hints), result)
   if gaiResult != 0'i32:
-    when useWinVersion or defined(freertos):
+    when useWinVersion or defined(freertos) or defined(nuttx):
       raiseOSError(osLastError())
     else:
       raiseOSError(osLastError(), $gai_strerror(gaiResult))
@@ -351,7 +352,7 @@ proc getSockDomain*(socket: SocketHandle): Domain =
   else:
     raise newException(IOError, "Unknown socket family in getSockDomain")
 
-when not useNimNetLite: 
+when not useNimNetLite:
   proc getServByName*(name, proto: string): Servent {.tags: [ReadIOEffect].} =
     ## Searches the database from the beginning and finds the first entry for
     ## which the service name specified by `name` matches the s_name member

lib/pure/net.nim

@@ -100,7 +100,8 @@ export nativesockets.Port, nativesockets.`$`, nativesockets.`==`
 export Domain, SockType, Protocol
 
 const useWinVersion = defined(windows) or defined(nimdoc)
-const useNimNetLite = defined(nimNetLite) or defined(freertos) or defined(zephyr)
+const useNimNetLite = defined(nimNetLite) or defined(freertos) or defined(zephyr) or
+    defined(nuttx)
 const defineSsl = defined(ssl) or defined(nimdoc)
 
 when useWinVersion:

lib/pure/selectors.nim

@@ -37,7 +37,7 @@ const hasThreadSupport = compileOption("threads") and defined(threadsafe)
 
 const ioselSupportedPlatform* = defined(macosx) or defined(freebsd) or
                                 defined(netbsd) or defined(openbsd) or
-                                defined(dragonfly) or
+                                defined(dragonfly) or defined(nuttx) or
                                 (defined(linux) and not defined(android) and not defined(emscripten))
   ## This constant is used to determine whether the destination platform is
   ## fully supported by `ioselectors` module.
@@ -328,7 +328,7 @@ else:
     doAssert(timeout >= -1, "Cannot select with a negative value, got: " & $timeout)
 
   when defined(linux) or defined(windows) or defined(macosx) or defined(bsd) or
-       defined(solaris) or defined(zephyr) or defined(freertos):
+       defined(solaris) or defined(zephyr) or defined(freertos) or defined(nuttx):
     template maxDescriptors*(): int =
       ## Returns the maximum number of active file descriptors for the current
       ## process. This involves a system call. For now `maxDescriptors` is
@@ -337,6 +337,9 @@ else:
         16_700_000
       elif defined(zephyr) or defined(freertos):
         FD_MAX
+      elif defined(nuttx):
+        # The maximum number of concurrently active UDP and TCP ports.
+        NACTIVESOCKETS
       else:
         var fdLim: RLimit
         var res = int(getrlimit(RLIMIT_NOFILE, fdLim))
@@ -360,5 +363,7 @@ else:
     include ioselects/ioselectors_select
   elif defined(zephyr):
     include ioselects/ioselectors_poll
+  elif defined(nuttx):
+    include ioselects/ioselectors_epoll
   else:
     include ioselects/ioselectors_poll

lib/std/typedthreads.nim

@@ -46,7 +46,8 @@ when defined(genode):
   import genode/env
 
 
-when hasAllocStack or defined(zephyr) or defined(freertos) or defined(cpu16) or defined(cpu8):
+when hasAllocStack or defined(zephyr) or defined(freertos) or defined(nuttx) or
+    defined(cpu16) or defined(cpu8):
   const
     nimThreadStackSize {.intdefine.} = 8192
     nimThreadStackGuard {.intdefine.} = 128

lib/system.nim

@@ -2688,6 +2688,7 @@ when notJSnotNims:
                     not defined(nintendoswitch) and
                     not defined(freertos) and
                     not defined(zephyr) and
+                    not defined(nuttx) and
                     hostOS != "any"
 
   proc raiseEIO(msg: string) {.noinline, noreturn.} =

lib/system/dyncalls.nim

@@ -176,7 +176,7 @@ elif defined(genode):
   proc nimGetProcAddr(lib: LibHandle, name: cstring): ProcAddr =
     raiseAssert("nimGetProcAddr not implemented")
 
-elif defined(nintendoswitch) or defined(freertos) or defined(zephyr):
+elif defined(nintendoswitch) or defined(freertos) or defined(zephyr) or defined(nuttx):
   proc nimUnloadLibrary(lib: LibHandle) =
     cstderr.rawWrite("nimUnLoadLibrary not implemented")
     cstderr.rawWrite("\n")