Rust module support

.gitmodules

@@ -100,3 +100,9 @@
 [submodule "src/lib/secure_udp"]
 	path = src/lib/secure_udp
 	url = [email protected]:tiiuae/px4-lib-secure-udp.git
+[submodule "src/lib/rust_px4_nuttx"]
+	path = src/lib/rust_px4_nuttx
+	url = [email protected]:tiiuae/rust_px4_nuttx_lib.git
+[submodule "src/modules/rust_module_example"]
+	path = src/modules/rust_module_example
+	url = [email protected]:tiiuae/rust_module_example.git

clone_public.sh

@@ -11,6 +11,8 @@ do
   [[ "${repo}" == *pf_crypto ]] || \
   [[ "${repo}" == *px4_fw_update_client ]] || \
   [[ "${repo}" == *secure_udp ]] || \
+  [[ "${repo}" == *rust_px4_nuttx ]] || \
+  [[ "${repo}" == *rust_module_example ]] || \
   [[ "${repo}" == *process ]] && continue
   git submodule update --init --recursive "${repo}"
 done <<< "$(git submodule status | awk '{print $2}')"

cmake/px4_add_module.cmake

@@ -85,12 +85,35 @@ function(px4_add_module)
 
 	px4_parse_function_args(
 		NAME px4_add_module
-		ONE_VALUE MODULE MAIN STACK_MAIN STACK_MAX PRIORITY
+		ONE_VALUE MODULE MAIN STACK_MAIN STACK_MAX PRIORITY LANG RUST_MOD
 		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS MODULE_CONFIG
 		OPTIONS EXTERNAL DYNAMIC UNITY_BUILD NO_DAEMON
 		REQUIRED MODULE MAIN
 		ARGN ${ARGN})
 
+	set(rust_build false)
+	if(LANG)
+		string( TOLOWER "${LANG}" lang_lcase)
+		if (lang_lcase STREQUAL "rust")
+			if (NOT RUST_MOD)
+				message(FATAL_ERROR "px4_add_module: 'LANG: rust' requires argument RUST_MOD")
+			endif()
+			set(rust_build true)
+		endif()
+	endif()
+
+	if(${rust_build})
+		# Generate stub library file
+		file(GENERATE OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/${MAIN}_stub.c
+		CONTENT "#include <stdio.h>\nvoid rust_${RUST_MOD}_main(void) { puts(\"ERROR: [stub library]\"); }\n")
+
+		file(GENERATE OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/${MAIN}_main.c
+		CONTENT "// Autogenerated, DO NOT EDIT\nvoid rust_${RUST_MOD}_main(void);\nint ${MAIN}_main(int argc, char *argv[]) { rust_${RUST_MOD}_main(); return 0; }\n")
+
+		# Build Rust code as a library for the px4 module
+		list(APPEND SRCS ${CMAKE_CURRENT_BINARY_DIR}/${MAIN}_main.c)
+	endif()
+
 	if(UNITY_BUILD AND (${PX4_PLATFORM} STREQUAL "nuttx"))
 		# build standalone test library to catch compilation errors and provide sane output
 		add_library(${MODULE}_original STATIC EXCLUDE_FROM_ALL ${SRCS})
@@ -257,4 +280,27 @@ function(px4_add_module)
 			set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/${module_config})
 		endforeach()
 	endif()
+
+	if(${rust_build})
+		set(RUST_LIB lib__${MAIN})
+
+		# Build stub library with dummy rust_main function
+		px4_add_library(${RUST_LIB} ${CMAKE_CURRENT_BINARY_DIR}/${MAIN}_stub.c)
+
+		# Build Rust code as a library for the px4 module
+		set(RUST_TARGET_DIR ${CMAKE_CURRENT_BINARY_DIR}/target)
+		add_custom_target(rust_build_${MODULE} ALL
+			WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/${RUST_MOD}
+			COMMAND cargo build ${CMAKE_RUST_COMPILER_FLAGS} --release --target-dir ${RUST_TARGET_DIR}
+			)
+
+		# Before linking (PRE_LINK), replace the original stub library with Rust build output library
+		add_custom_command(TARGET ${MODULE} PRE_LINK
+			COMMAND cp ${RUST_TARGET_DIR}/${CMAKE_RUST_TARGET}/release/lib${RUST_MOD}.a ${CMAKE_CURRENT_BINARY_DIR}/lib${RUST_LIB}.a
+		)
+
+		# Link Rust library to the PX4 module
+		target_link_libraries(${MODULE} PRIVATE ${RUST_LIB})
+	endif()
+
 endfunction()

packaging/Dockerfile.build_env

@@ -14,6 +14,10 @@ RUN mkdir -p /artifacts && chown -R builder:builder /artifacts
 
 USER builder
 
+# Define Rust compiler
+ENV RUSTUP_HOME=/opt/rust CARGO_HOME=/home/builder/.cargo
+ENV PATH=$PATH:/opt/rust/bin
+
 VOLUME /px4-firmware/sources
 WORKDIR /px4-firmware/sources
 

packaging/Dockerfile.build_env_pre

@@ -25,6 +25,12 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 RUN mkdir -p /tools
 
+# Install Rust compiler
+ENV RUSTUP_HOME /opt/rust
+ENV CARGO_HOME /opt/rust
+RUN curl https://sh.rustup.rs -sSf | sh -s -- -y --no-modify-path
+RUN /opt/rust/bin/rustup target add riscv64gc-unknown-none-elf
+
 RUN curl -LOs https://static.dev.sifive.com/dev-tools/freedom-tools/v2020.12/riscv64-unknown-elf-toolchain-10.2.0-2020.12.8-x86_64-linux-ubuntu14.tar.gz && \
     tar xf riscv64-unknown-elf-toolchain-10.2.0-2020.12.8-x86_64-linux-ubuntu14.tar.gz -C /tools && \
     rm -f riscv64-unknown-elf-toolchain-10.2.0-2020.12.8-x86_64-linux-ubuntu14.tar.gz

platforms/nuttx/NuttX/Make.defs.in

@@ -84,6 +84,10 @@ NM = ${CMAKE_NM}
 OBJCOPY = ${CMAKE_OBJCOPY}
 OBJDUMP = ${CMAKE_OBJDUMP}
 
+# Rust compiler
+RUSTC = ${CMAKE_RUST_COMPILER}
+RUSTFLAGS += ${CMAKE_RUST_COMPILER_FLAGS}
+
 ARCHCCVERSION = $(shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q')
 ARCHCCMAJOR = $(shell echo $(ARCHCCVERSION) | cut -d'.' -f1)
 

platforms/nuttx/cmake/Toolchain-riscv64-unknown-elf.cmake

@@ -30,6 +30,10 @@ find_program(CMAKE_OBJDUMP ${TOOLCHAIN_PREFIX}-objdump)
 find_program(CMAKE_RANLIB ${TOOLCHAIN_PREFIX}-gcc-ranlib)
 find_program(CMAKE_STRIP ${TOOLCHAIN_PREFIX}-strip)
 
+set(CMAKE_RUST_TARGET riscv64gc-unknown-none-elf)
+set(CMAKE_RUST_COMPILER rustc)
+set(CMAKE_RUST_COMPILER_FLAGS --target ${CMAKE_RUST_TARGET})
+
 set(CMAKE_FIND_ROOT_PATH get_file_component(${CMAKE_C_COMPILER} PATH))
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)