支持kill命令

.vscode/settings.json

@@ -271,7 +271,8 @@
         "u_slist.h": "c",
         "atomic": "c",
         "futex.h": "c",
-        "u_rpc_buf.h": "c"
+        "u_rpc_buf.h": "c",
+        "pm_cli.h": "c"
     },
     "cortex-debug.showRTOS": false,
     "cortex-debug.variableUseNaturalFormat": false,

mkrtos_knl/knl/task.c

@@ -198,11 +198,12 @@ static void task_syscall_func(kobject_t *kobj, syscall_prot_t sys_p, msg_tag_t i
             tag = msg_tag_init4(0, 0, 0, 0);
             break;
         }
+        f->r[1] = source_kobj->kobj_type;
         spinlock_set(&tag_task->kobj.lock, status);
         tag = msg_tag_init4(0, 0, 0, 1);
     }
     break;
-    case TASK_OBJ_MAP://!<从一个task中映射一个对象到目标进程
+    case TASK_OBJ_MAP: //!< 从一个task中映射一个对象到目标进程
     {
         kobj_del_list_t del;
         int st0, st1;
@@ -222,7 +223,7 @@ static void task_syscall_func(kobject_t *kobj, syscall_prot_t sys_p, msg_tag_t i
         tag = msg_tag_init4(0, 0, 0, ret);
     }
     break;
-    case TASK_OBJ_UNMAP://!<解除task中一个进程的创建
+    case TASK_OBJ_UNMAP: //!< 解除task中一个进程的创建
     {
         kobject_t *del_kobj;
         kobj_del_list_t kobj_list;
@@ -240,7 +241,7 @@ static void task_syscall_func(kobject_t *kobj, syscall_prot_t sys_p, msg_tag_t i
         tag = msg_tag_init4(0, 0, 0, 0);
     }
     break;
-    case TASK_ALLOC_RAM_BASE://!< 分配task所拥有的内存空间
+    case TASK_ALLOC_RAM_BASE: //!< 分配task所拥有的内存空间
     {
         mword_t status = spinlock_lock(&tag_task->kobj.lock);
         if (status < 0)
@@ -254,12 +255,12 @@ static void task_syscall_func(kobject_t *kobj, syscall_prot_t sys_p, msg_tag_t i
         spinlock_set(&tag_task->kobj.lock, status);
     }
     break;
-    case TASK_SET_PID://!<设置pid
+    case TASK_SET_PID: //!< 设置pid
     {
         tag = msg_tag_init4(0, 0, 0, task_set_pid(tag_task, f->r[0]));
     }
     break;
-    case TASK_GET_PID://!<获取pid
+    case TASK_GET_PID: //!< 获取pid
     {
         f->r[1] = tag_task->pid;
         tag = msg_tag_init4(0, 0, 0, 0);

mkrtos_script/build.sh

@@ -6,7 +6,7 @@ export TOOLCHAIN=/Users/zhangzheng/gcc-arm-none-eabi-10.3-2021.10/bin/
 export TOOLCHAIN_LIB=/Users/zhangzheng/gcc-arm-none-eabi-10.3-2021.10/lib/gcc/arm-none-eabi/10.3.1/thumb/v7-m/nofp
 export KEN_OFFSET=0x2000
 export INIT_OFFSET=0x10000
-export BOOTFS_ADDR_OFFSET=0x20000
+export BOOTFS_ADDR_OFFSET=0x21000
 export KNL_DATA=0x20000000
 export KNL_DATA_SIZE=32M
 export BOARD=STM32F2x

mkrtos_user/lib/letter-shell/demo/mkrtos/shell_fs_ext.c

@@ -1,6 +1,7 @@
 #include "shell.h"
 #include "cons_cli.h"
-
+#include "pm_cli.h"
+#include <stdlib.h>
 #include <stdio.h>
 #include <dirent.h>
 #include <unistd.h>
@@ -57,3 +58,15 @@ int cat(int argc, char *argv[])
 }
 SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN), cat, cat, cat command);
 
+int kill(int argc, char *argv[])
+{
+    if (argc < 2)
+    {
+        return -1;
+    }
+    int pid = atoi(argv[1]);
+
+    pm_kill_task(pid, PM_KILL_TASK_ALL);
+    return 0;
+}
+SHELL_EXPORT_CMD(SHELL_CMD_PERMISSION(0) | SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN), kill, kill, kill command);

mkrtos_user/lib/sys/inc/u_prot.h

@@ -96,3 +96,17 @@ static inline vpage_t vpage_create_raw3(umword_t attrs, umword_t flags, umword_t
 {
     return (vpage_t){.attrs = attrs, .flags = flags, .addr = addr};
 }
+
+enum knl_obj_type
+{
+    BASE_KOBJ_TYPE,
+    TASK_TYPE,
+    THREAD_TYPE,
+    IRQ_SENDER_TYPE,
+    IPC_TYPE,
+    LOG_TYPE,
+    MM_TYPE,
+    FACTORY_TYPE,
+    SYS_TYPE,
+    FUTEX_TYPE,
+};

mkrtos_user/lib/sys/inc/u_task.h

@@ -9,7 +9,7 @@ enum obj_attrs
 };
 msg_tag_t task_set_pid(obj_handler_t dst_task, umword_t pid);
 msg_tag_t task_get_pid(obj_handler_t dst_task, umword_t *data);
-msg_tag_t task_obj_valid(obj_handler_t dst_task, obj_handler_t obj_inx);
+msg_tag_t task_obj_valid(obj_handler_t dst_task, obj_handler_t obj_inx, int *obj_type);
 msg_tag_t task_map(obj_handler_t dst_task, obj_handler_t src_obj, obj_handler_t dst_obj, uint8_t attrs);
 msg_tag_t task_unmap(obj_handler_t task_han, vpage_t vpage);
 msg_tag_t task_alloc_ram_base(obj_handler_t task_han, umword_t size, addr_t *alloc_addr);

mkrtos_user/lib/sys/src/u_task.c

@@ -53,9 +53,10 @@ msg_tag_t task_get_pid(obj_handler_t dst_task, umword_t *pid)
 
     return msg_tag_init(r0);
 }
-msg_tag_t task_obj_valid(obj_handler_t dst_task, obj_handler_t obj_inx)
+msg_tag_t task_obj_valid(obj_handler_t dst_task, obj_handler_t obj_inx, int *obj_type)
 {
     register volatile umword_t r0 asm("r0");
+    register volatile umword_t r1 asm("r1");
 
     mk_syscall(syscall_prot_create(TASK_OBJ_VALID, TASK_PROT, dst_task).raw,
                0,
@@ -68,9 +69,12 @@ msg_tag_t task_obj_valid(obj_handler_t dst_task, obj_handler_t obj_inx)
                      :
                      :
                      : "r0");
-    msg_tag_t tag = msg_tag_init(r0);
+    if (obj_type)
+    {
+        *obj_type = r1;
+    }
 
-    return tag;
+    return msg_tag_init(r0);
 }
 
 msg_tag_t task_map(obj_handler_t dst_task, obj_handler_t src_obj, obj_handler_t dst_obj, uint8_t attrs)

mkrtos_user/lib/sys_svr/inc/pm_cli.h

@@ -1,4 +1,6 @@
 #pragma once
 
+#define PM_KILL_TASK_ALL 0x1
+
 int pm_run_app(const char *path, int flags);
 int pm_kill_task(int pid, int flags);

mkrtos_user/lib/sys_util/src/u_app_loader.c

@@ -182,7 +182,8 @@ int app_load(const char *name, uenv_t *cur_env, pid_t *pid, char *argv[], int ar
     uenv->ns_hd = cur_env->ns_hd;
     uenv->rev1 = HANDLER_INVALID;
     uenv->rev2 = HANDLER_INVALID;
-    printf("stack env:%p, env:%p\n", (void *)((umword_t)usp_top + ARG_WORD_NR * 4 + 16 + 16), uenv);
+    printf("pid:%d, stack env:%p, env:%p\n", hd_task,
+           (void *)((umword_t)usp_top + ARG_WORD_NR * 4 + 16 + 16), uenv);
 
     tag = thread_exec_regs(hd_thread, (umword_t)addr, ((umword_t)((umword_t)sp_addr_top - 8) & ~0x7UL),
                            ram_base, 1);

mkrtos_user/lib/sys_util/src/u_rpc_buf.c

@@ -4,11 +4,22 @@
 #include "u_prot.h"
 #include "u_task.h"
 #include "u_thread.h"
-static obj_handler_t buf_hd = HANDLER_INVALID;
+#include "u_util.h"
+#include <assert.h>
+#define RPC_SVR_MAP_OBJ_NR 4
+static obj_handler_t buf_hd[RPC_SVR_MAP_OBJ_NR];
+
+AUTO_CALL(101) void rpc_hd_init(void)
+{
+    for (int i = 0; i < RPC_SVR_MAP_OBJ_NR; i++)
+    {
+        buf_hd[i] = HANDLER_INVALID;
+    }
+}
 obj_handler_t rpc_hd_get(int inx)
 {
-    /*TODO:*/
-    return buf_hd;
+    assert(inx < RPC_SVR_MAP_OBJ_NR && inx >= 0);
+    return buf_hd[inx];
 }
 int rpc_hd_alloc(void)
 {
@@ -17,9 +28,12 @@ int rpc_hd_alloc(void)
     obj_handler_t hd;
     bool_t alloc_new = TRUE;
 
-    if (handler_is_used(buf_hd))
+    for (int i = 0; i < RPC_SVR_MAP_OBJ_NR; i++)
     {
-        if (task_obj_valid(TASK_THIS, buf_hd).prot == 0)
+        obj_handler_t tmp_hd = buf_hd[i];
+        if (handler_is_used(tmp_hd))
+        {
+            if (task_obj_valid(TASK_THIS, tmp_hd, 0).prot == 0)
             {
                 alloc_new = FALSE;
             }
@@ -34,10 +48,11 @@ int rpc_hd_alloc(void)
         }
         else
         {
-        hd = buf_hd;
+            hd = tmp_hd;
         }
         thread_msg_buf_get(-1, (umword_t *)(&msg), NULL);
-    msg->map_buf[0] = vpage_create_raw3(0, 0, hd).raw;
-    buf_hd = hd;
+        msg->map_buf[i] = vpage_create_raw3(0, 0, hd).raw;
+        buf_hd[i] = hd;
+    }
     return 0;
 }

mkrtos_user/server/init/src/pm.c

@@ -15,6 +15,8 @@
 #include <stdio.h>
 #include "cons_svr.h"
 #include "namespace.h"
+#include "u_task.h"
+#include <errno.h>
 static pm_t pm;
 
 void pm_init(void)
@@ -23,11 +25,32 @@ void pm_init(void)
     meta_reg_svr_obj(&pm.svr_obj, PM_PROT);
     printf("pm runing..\n");
 }
-
 int pm_rpc_kill_task(int pid, int flags)
 {
+    int obj_type;
+    msg_tag_t tag;
+
+    if (pid == TASK_THIS)
+    {
+        return -EINVAL;
+    }
+
+    tag = task_obj_valid(TASK_THIS, pid, &obj_type);
+    if (msg_tag_get_val(tag) < 0)
+    {
+        return msg_tag_get_val(tag);
+    }
+    if (msg_tag_get_val(tag) == 0)
+    {
+        return -1;
+    }
+    if (obj_type != TASK_TYPE)
+    {
+        return -1;
+    }
     printf("[pm] kill pid:%d.\n", pid);
     ns_node_del_by_pid(pid, flags);
+    task_unmap(TASK_THIS, vpage_create_raw3(KOBJ_DELETE_RIGHT, 0, pid));
     return 0;
 }
 int pm_rpc_run_app(const char *path, int flags)