Add SOLID targets

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/

3 files changed, 419 insertions, 0 deletions

diff --git a/library/std/src/sys/solid/abi/fs.rs b/library/std/src/sys/solid/abi/fs.rs
new file mode 100644
index 00000000000..32800bd9a9d
--- /dev/null
+++ b/library/std/src/sys/solid/abi/fs.rs
@@ -0,0 +1,53 @@
+//! `solid_fs.h`
+use crate::os::raw::{c_char, c_int, c_uchar};
+pub use libc::{
+    blksize_t, dev_t, ino_t, off_t, stat, time_t, O_APPEND, O_CREAT, O_EXCL, O_RDONLY, O_RDWR,
+    O_TRUNC, O_WRONLY, SEEK_CUR, SEEK_END, SEEK_SET, S_IEXEC, S_IFBLK, S_IFCHR, S_IFDIR, S_IFIFO,
+    S_IFMT, S_IFREG, S_IREAD, S_IWRITE,
+};
+
+pub const O_ACCMODE: c_int = 0x3;
+
+pub const SOLID_MAX_PATH: usize = 256;
+
+#[repr(C)]
+#[derive(Copy, Clone)]
+pub struct dirent {
+    pub d_ino: ino_t,
+    pub d_type: c_uchar,
+    pub d_name: [c_char; 256usize],
+}
+
+pub const DT_UNKNOWN: c_uchar = 0;
+pub const DT_FIFO: c_uchar = 1;
+pub const DT_CHR: c_uchar = 2;
+pub const DT_DIR: c_uchar = 4;
+pub const DT_BLK: c_uchar = 6;
+pub const DT_REG: c_uchar = 8;
+pub const DT_LNK: c_uchar = 10;
+pub const DT_SOCK: c_uchar = 12;
+pub const DT_WHT: c_uchar = 14;
+
+pub type S_DIR = c_int;
+
+extern "C" {
+    pub fn SOLID_FS_Open(fd: *mut c_int, path: *const c_char, mode: c_int) -> c_int;
+    pub fn SOLID_FS_Close(fd: c_int) -> c_int;
+    pub fn SOLID_FS_Read(fd: c_int, buf: *mut u8, size: usize, result: *mut usize) -> c_int;
+    pub fn SOLID_FS_Write(fd: c_int, buf: *const u8, size: usize, result: *mut usize) -> c_int;
+    pub fn SOLID_FS_Lseek(fd: c_int, offset: off_t, whence: c_int) -> c_int;
+    pub fn SOLID_FS_Sync(fd: c_int) -> c_int;
+    pub fn SOLID_FS_Ftell(fd: c_int, result: *mut off_t) -> c_int;
+    pub fn SOLID_FS_Feof(fd: c_int, result: *mut c_int) -> c_int;
+    pub fn SOLID_FS_Fsize(fd: c_int, result: *mut usize) -> c_int;
+    pub fn SOLID_FS_Truncate(path: *const c_char, size: off_t) -> c_int;
+    pub fn SOLID_FS_OpenDir(path: *const c_char, pDir: *mut S_DIR) -> c_int;
+    pub fn SOLID_FS_CloseDir(dir: S_DIR) -> c_int;
+    pub fn SOLID_FS_ReadDir(dir: S_DIR, dirp: *mut dirent) -> c_int;
+    pub fn SOLID_FS_Stat(path: *const c_char, buf: *mut stat) -> c_int;
+    pub fn SOLID_FS_Unlink(path: *const c_char) -> c_int;
+    pub fn SOLID_FS_Rename(oldpath: *const c_char, newpath: *const c_char) -> c_int;
+    pub fn SOLID_FS_Chmod(path: *const c_char, mode: c_int) -> c_int;
+    pub fn SOLID_FS_Utime(path: *const c_char, time: time_t) -> c_int;
+    pub fn SOLID_FS_Mkdir(path: *const c_char) -> c_int;
+}
diff --git a/library/std/src/sys/solid/abi/mod.rs b/library/std/src/sys/solid/abi/mod.rs
new file mode 100644
index 00000000000..3526440fb85
--- /dev/null
+++ b/library/std/src/sys/solid/abi/mod.rs
@@ -0,0 +1,92 @@
+use crate::os::raw::c_int;
+
+mod fs;
+pub mod sockets;
+pub use self::fs::*;
+
+pub const SOLID_BP_PROGRAM_EXITED: usize = 15;
+pub const SOLID_BP_CSABORT: usize = 16;
+
+#[inline(always)]
+pub fn breakpoint_program_exited(tid: usize) {
+    unsafe {
+        match () {
+            #[cfg(target_arch = "arm")]
+            () => asm!("bkpt #{}", const SOLID_BP_PROGRAM_EXITED, in("r0") tid),
+            #[cfg(target_arch = "aarch64")]
+            () => asm!("hlt #{}", const SOLID_BP_PROGRAM_EXITED, in("x0") tid),
+        }
+    }
+}
+
+#[inline(always)]
+pub fn breakpoint_abort() {
+    unsafe {
+        match () {
+            #[cfg(target_arch = "arm")]
+            () => asm!("bkpt #{}", const SOLID_BP_CSABORT),
+            #[cfg(target_arch = "aarch64")]
+            () => asm!("hlt #{}", const SOLID_BP_CSABORT),
+        }
+    }
+}
+
+// `solid_types.h`
+pub use super::itron::abi::{ER, ER_ID, E_TMOUT, ID};
+
+pub const SOLID_ERR_NOTFOUND: ER = -1000;
+pub const SOLID_ERR_NOTSUPPORTED: ER = -1001;
+pub const SOLID_ERR_EBADF: ER = -1002;
+pub const SOLID_ERR_INVALIDCONTENT: ER = -1003;
+pub const SOLID_ERR_NOTUSED: ER = -1004;
+pub const SOLID_ERR_ALREADYUSED: ER = -1005;
+pub const SOLID_ERR_OUTOFBOUND: ER = -1006;
+pub const SOLID_ERR_BADSEQUENCE: ER = -1007;
+pub const SOLID_ERR_UNKNOWNDEVICE: ER = -1008;
+pub const SOLID_ERR_BUSY: ER = -1009;
+pub const SOLID_ERR_TIMEOUT: ER = -1010;
+pub const SOLID_ERR_INVALIDACCESS: ER = -1011;
+pub const SOLID_ERR_NOTREADY: ER = -1012;
+
+// `solid_rtc.h`
+#[repr(C)]
+#[derive(Debug, Copy, Clone)]
+pub struct SOLID_RTC_TIME {
+    pub tm_sec: c_int,
+    pub tm_min: c_int,
+    pub tm_hour: c_int,
+    pub tm_mday: c_int,
+    pub tm_mon: c_int,
+    pub tm_year: c_int,
+    pub tm_wday: c_int,
+}
+
+extern "C" {
+    pub fn SOLID_RTC_ReadTime(time: *mut SOLID_RTC_TIME) -> c_int;
+}
+
+// `solid_log.h`
+extern "C" {
+    pub fn SOLID_LOG_write(s: *const u8, l: usize);
+}
+
+// `solid_mem.h`
+extern "C" {
+    pub fn SOLID_TLS_AddDestructor(id: i32, dtor: unsafe extern "C" fn(*mut u8));
+}
+
+// `solid_rng.h`
+extern "C" {
+    pub fn SOLID_RNG_SampleRandomBytes(buffer: *mut u8, length: usize) -> c_int;
+}
+
+// `rwlock.h`
+extern "C" {
+    pub fn rwl_loc_rdl(id: ID) -> ER;
+    pub fn rwl_loc_wrl(id: ID) -> ER;
+    pub fn rwl_ploc_rdl(id: ID) -> ER;
+    pub fn rwl_ploc_wrl(id: ID) -> ER;
+    pub fn rwl_unl_rwl(id: ID) -> ER;
+    pub fn rwl_acre_rwl() -> ER_ID;
+    pub fn rwl_del_rwl(id: ID) -> ER;
+}
diff --git a/library/std/src/sys/solid/abi/sockets.rs b/library/std/src/sys/solid/abi/sockets.rs
new file mode 100644
index 00000000000..7c21d0dd25e
--- /dev/null
+++ b/library/std/src/sys/solid/abi/sockets.rs
@@ -0,0 +1,274 @@
+use crate::os::raw::{c_char, c_uint, c_void};
+pub use libc::{c_int, c_long, size_t, ssize_t, suseconds_t, time_t, timeval};
+
+pub const SOLID_NET_ERR_BASE: c_int = -2000;
+pub const EINPROGRESS: c_int = SOLID_NET_ERR_BASE - libc::EINPROGRESS;
+
+pub const AF_INET6: i32 = 10;
+pub const AF_INET: i32 = 2;
+pub const IPPROTO_IP: i32 = 0;
+pub const IPPROTO_IPV6: i32 = 41;
+pub const IPPROTO_TCP: i32 = 6;
+pub const IPV6_ADD_MEMBERSHIP: i32 = 12;
+pub const IPV6_DROP_MEMBERSHIP: i32 = 13;
+pub const IPV6_MULTICAST_LOOP: i32 = 19;
+pub const IPV6_V6ONLY: i32 = 27;
+pub const IP_TTL: i32 = 2;
+pub const IP_MULTICAST_TTL: i32 = 5;
+pub const IP_MULTICAST_LOOP: i32 = 7;
+pub const IP_ADD_MEMBERSHIP: i32 = 3;
+pub const IP_DROP_MEMBERSHIP: i32 = 4;
+pub const SHUT_RD: i32 = 0;
+pub const SHUT_RDWR: i32 = 2;
+pub const SHUT_WR: i32 = 1;
+pub const SOCK_DGRAM: i32 = 2;
+pub const SOCK_STREAM: i32 = 1;
+pub const SOL_SOCKET: i32 = 4095;
+pub const SO_BROADCAST: i32 = 32;
+pub const SO_ERROR: i32 = 4103;
+pub const SO_RCVTIMEO: i32 = 4102;
+pub const SO_REUSEADDR: i32 = 4;
+pub const SO_SNDTIMEO: i32 = 4101;
+pub const SO_LINGER: i32 = 128;
+pub const TCP_NODELAY: i32 = 1;
+pub const MSG_PEEK: c_int = 1;
+pub const FIONBIO: c_long = 0x8008667eu32 as c_long;
+pub const EAI_NONAME: i32 = -2200;
+pub const EAI_SERVICE: i32 = -2201;
+pub const EAI_FAIL: i32 = -2202;
+pub const EAI_MEMORY: i32 = -2203;
+pub const EAI_FAMILY: i32 = -2204;
+
+pub type sa_family_t = u8;
+pub type socklen_t = u32;
+pub type in_addr_t = u32;
+pub type in_port_t = u16;
+
+#[repr(C)]
+#[derive(Debug, Copy, Clone)]
+pub struct in_addr {
+    pub s_addr: in_addr_t,
+}
+
+#[repr(C)]
+#[derive(Debug, Copy, Clone)]
+pub struct in6_addr {
+    pub s6_addr: [u8; 16],
+}
+
+#[repr(C)]
+#[derive(Debug, Copy, Clone)]
+pub struct ip_mreq {
+    pub imr_multiaddr: in_addr,
+    pub imr_interface: in_addr,
+}
+
+#[repr(C)]
+#[derive(Debug, Copy, Clone)]
+pub struct ipv6_mreq {
+    pub ipv6mr_multiaddr: in6_addr,
+    pub ipv6mr_interface: c_uint,
+}
+
+#[repr(C)]
+#[derive(Debug, Copy, Clone)]
+pub struct msghdr {
+    pub msg_name: *mut c_void,
+    pub msg_namelen: socklen_t,
+    pub msg_iov: *mut iovec,
+    pub msg_iovlen: c_int,
+    pub msg_control: *mut c_void,
+    pub msg_controllen: socklen_t,
+    pub msg_flags: c_int,
+}
+
+#[repr(C)]
+#[derive(Debug, Copy, Clone)]
+pub struct sockaddr {
+    pub sa_len: u8,
+    pub sa_family: sa_family_t,
+    pub sa_data: [c_char; 14usize],
+}
+
+#[repr(C)]
+#[derive(Debug, Copy, Clone)]
+pub struct sockaddr_in {
+    pub sin_len: u8,
+    pub sin_family: sa_family_t,
+    pub sin_port: in_port_t,
+    pub sin_addr: in_addr,
+    pub sin_zero: [c_char; 8usize],
+}
+
+#[repr(C)]
+#[derive(Copy, Clone)]
+pub struct sockaddr_in6 {
+    pub sin6_len: u8,
+    pub sin6_family: sa_family_t,
+    pub sin6_port: in_port_t,
+    pub sin6_flowinfo: u32,
+    pub sin6_addr: in6_addr,
+    pub sin6_scope_id: u32,
+}
+
+#[repr(C)]
+#[derive(Debug, Copy, Clone)]
+pub struct sockaddr_storage {
+    pub s2_len: u8,
+    pub ss_family: sa_family_t,
+    pub s2_data1: [c_char; 2usize],
+    pub s2_data2: [u32; 3usize],
+}
+
+#[repr(C)]
+#[derive(Debug, Copy, Clone)]
+pub struct addrinfo {
+    pub ai_flags: c_int,
+    pub ai_family: c_int,
+    pub ai_socktype: c_int,
+    pub ai_protocol: c_int,
+    pub ai_addrlen: socklen_t,
+    pub ai_addr: *mut sockaddr,
+    pub ai_canonname: *mut c_char,
+    pub ai_next: *mut addrinfo,
+}
+
+#[repr(C)]
+#[derive(Debug, Copy, Clone)]
+pub struct linger {
+    pub l_onoff: c_int,
+    pub l_linger: c_int,
+}
+
+#[repr(C)]
+#[derive(Debug, Copy, Clone)]
+pub struct iovec {
+    pub iov_base: *mut c_void,
+    pub iov_len: usize,
+}
+
+/// This value can be chosen by an application
+pub const SOLID_NET_FD_SETSIZE: usize = 1;
+
+#[repr(C)]
+#[derive(Debug, Copy, Clone)]
+pub struct fd_set {
+    pub num_fds: usize,
+    pub fds: [c_int; SOLID_NET_FD_SETSIZE],
+}
+
+extern "C" {
+    #[link_name = "SOLID_NET_StrError"]
+    pub fn strerror(errnum: c_int) -> *const c_char;
+
+    pub fn SOLID_NET_GetLastError() -> c_int;
+
+    #[link_name = "SOLID_NET_Accept"]
+    pub fn accept(s: c_int, addr: *mut sockaddr, addrlen: *mut socklen_t) -> c_int;
+
+    #[link_name = "SOLID_NET_Bind"]
+    pub fn bind(s: c_int, name: *const sockaddr, namelen: socklen_t) -> c_int;
+
+    #[link_name = "SOLID_NET_Connect"]
+    pub fn connect(s: c_int, name: *const sockaddr, namelen: socklen_t) -> c_int;
+
+    #[link_name = "SOLID_NET_Close"]
+    pub fn close(s: c_int) -> c_int;
+
+    #[link_name = "SOLID_NET_GetPeerName"]
+    pub fn getpeername(s: c_int, name: *mut sockaddr, namelen: *mut socklen_t) -> c_int;
+
+    #[link_name = "SOLID_NET_GetSockName"]
+    pub fn getsockname(s: c_int, name: *mut sockaddr, namelen: *mut socklen_t) -> c_int;
+
+    #[link_name = "SOLID_NET_GetSockOpt"]
+    pub fn getsockopt(
+        s: c_int,
+        level: c_int,
+        optname: c_int,
+        optval: *mut c_void,
+        optlen: *mut socklen_t,
+    ) -> c_int;
+
+    #[link_name = "SOLID_NET_SetSockOpt"]
+    pub fn setsockopt(
+        s: c_int,
+        level: c_int,
+        optname: c_int,
+        optval: *const c_void,
+        optlen: socklen_t,
+    ) -> c_int;
+
+    #[link_name = "SOLID_NET_Ioctl"]
+    pub fn ioctl(s: c_int, cmd: c_long, argp: *mut c_void) -> c_int;
+
+    #[link_name = "SOLID_NET_Listen"]
+    pub fn listen(s: c_int, backlog: c_int) -> c_int;
+
+    #[link_name = "SOLID_NET_Recv"]
+    pub fn recv(s: c_int, mem: *mut c_void, len: size_t, flags: c_int) -> ssize_t;
+
+    #[link_name = "SOLID_NET_Read"]
+    pub fn read(s: c_int, mem: *mut c_void, len: size_t) -> ssize_t;
+
+    #[link_name = "SOLID_NET_Readv"]
+    pub fn readv(s: c_int, bufs: *const iovec, bufcnt: c_int) -> ssize_t;
+
+    #[link_name = "SOLID_NET_RecvFrom"]
+    pub fn recvfrom(
+        s: c_int,
+        mem: *mut c_void,
+        len: size_t,
+        flags: c_int,
+        from: *mut sockaddr,
+        fromlen: *mut socklen_t,
+    ) -> ssize_t;
+
+    #[link_name = "SOLID_NET_Send"]
+    pub fn send(s: c_int, mem: *const c_void, len: size_t, flags: c_int) -> ssize_t;
+
+    #[link_name = "SOLID_NET_SendMsg"]
+    pub fn sendmsg(s: c_int, message: *const msghdr, flags: c_int) -> ssize_t;
+
+    #[link_name = "SOLID_NET_SendTo"]
+    pub fn sendto(
+        s: c_int,
+        mem: *const c_void,
+        len: size_t,
+        flags: c_int,
+        to: *const sockaddr,
+        tolen: socklen_t,
+    ) -> ssize_t;
+
+    #[link_name = "SOLID_NET_Shutdown"]
+    pub fn shutdown(s: c_int, how: c_int) -> c_int;
+
+    #[link_name = "SOLID_NET_Socket"]
+    pub fn socket(domain: c_int, type_: c_int, protocol: c_int) -> c_int;
+
+    #[link_name = "SOLID_NET_Write"]
+    pub fn write(s: c_int, mem: *const c_void, len: size_t) -> ssize_t;
+
+    #[link_name = "SOLID_NET_Writev"]
+    pub fn writev(s: c_int, bufs: *const iovec, bufcnt: c_int) -> ssize_t;
+
+    #[link_name = "SOLID_NET_FreeAddrInfo"]
+    pub fn freeaddrinfo(ai: *mut addrinfo);
+
+    #[link_name = "SOLID_NET_GetAddrInfo"]
+    pub fn getaddrinfo(
+        nodename: *const c_char,
+        servname: *const c_char,
+        hints: *const addrinfo,
+        res: *mut *mut addrinfo,
+    ) -> c_int;
+
+    #[link_name = "SOLID_NET_Select"]
+    pub fn select(
+        maxfdp1: c_int,
+        readset: *mut fd_set,
+        writeset: *mut fd_set,
+        exceptset: *mut fd_set,
+        timeout: *mut timeval,
+    ) -> c_int;
+}