std: use an event-flag-based thread parker on SOLID
`Mutex` and `Condvar` are being replaced by more efficient implementations, which need thread parking themselves (see #93740). Therefore, the generic `Parker` needs to be replaced on all platforms where the new lock implementation will be used, which, after #96393, are SOLID, SGX and Hermit (more PRs coming soon).
SOLID, conforming to the [μITRON specification](http://www.ertl.jp/ITRON/SPEC/FILE/mitron-400e.pdf), has event flags, which are a thread parking primitive very similar to `Parker`. However, they do not make any atomic ordering guarantees (even though those can probably be assumed) and necessitate a system call even when the thread token is already available. Hence, this `Parker`, like the Windows parker, uses an extra atomic state variable.
I future-proofed the code by wrapping the event flag in a `WaitFlag` structure, as both SGX and Hermit can share the Parker implementation, they just have slightly different primitives (SGX uses signals and Hermit has a thread blocking API).
`````@kawadakk````` I assume you are the target maintainer? Could you test this for me?
This removes all mutex/atomics based workarounds for non-monotonic clocks and makes the previously panicking methods saturating instead.
Effectively this moves the monotonization from `Instant` construction to the comparisons.
This has some observable effects, especially on platforms without monotonic clocks:
* Incorrectly ordered Instant comparisons no longer panic. This may hide some programming errors until someone actually looks at the resulting `Duration`
* `checked_duration_since` will now return `None` in more cases. Previously it only happened when one compared instants obtained in the wrong order or
manually created ones. Now it also does on backslides.
The upside is reduced complexity and lower overhead of `Instant::now`.
kmc-solid: Increase the default stack size
This PR increases the default minimum stack size on the [`*-kmc-solid_*`](https://doc.rust-lang.org/nightly/rustc/platform-support/kmc-solid.html) Tier 3 targets to 64KiB (Arm) and 128KiB (AArch64).
This value was chosen as a middle ground between supporting a relatively complex program (e.g., an application using a full-fledged off-the-shelf web server framework) with no additional configuration and minimizing resource consumption for the embedded platform that doesn't support lazily-allocated pages nor over-commitment (i.e., wasted stack spaces are wasted physical memory). If the need arises, the users can always set the `RUST_MIN_STACK` environmental variable to override the default stack size or use the platform API directly.
Fixes a spawned task getting an unexpectedly higher priority if it's
spawned by a task whose priority is temporarily boosted by a priority-
protection mutex.
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/
