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\documentclass[onecolumn,twoside,12pt]{report} |
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citecolor=blue, urlcolor=blue]{hyperref} |
\usepackage{a4} |
\usepackage{fancyhdr} |
%\pagestyle{fancy} |
\title{ |
\Huge{\bf HelenOS project}\\ |
\LARGE{\it project documentation} |
} |
\date{} |
\newcommand{\JJ}{Jakub Jerm\'{a}\v{r}} |
\newcommand{\OP}{Ond\v{r}ej Palkovsk\'{y}} |
\newcommand{\MD}{Martin D\v{e}ck\'{y}} |
\newcommand{\JV}{Jakub V\'{a}\v{n}a} |
\newcommand{\JC}{Josef \v{C}ejka} |
\newcommand{\SB}{Sergey Bondari} |
\begin{document} |
\maketitle |
\newpage |
\setcounter{page}{2} |
\newpage |
\addcontentsline{toc}{chapter}{Contents} |
\tableofcontents |
\newpage |
\include{intro/intro} |
\include{project/project} |
\include{developers/developers} |
\include{tools/tools} |
\newpage |
\begin{thebibliography}{99} |
\addcontentsline{toc}{chapter}{References} |
\bibitem{helenos}\href{http://www.helenos.eu}{HelenOS project, http://www.helenos.eu.} |
\bibitem{helenos-spec}\href{http://www.helenos.eu/?reason=specs}{HelenOS specifications} |
\end{thebibliography} |
\end{document} |
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\chapter{Software} |
\label{tools} |
During the development of the HelenOS operating system, we came across |
several types of software tools, programs, utilities and libraries. |
Some of the tools were used to develop the system itself while other tools |
were used to faciliate the development process. In some cases, we had a chance |
to try out several versions of the same product. Sometimes the new versions |
contained fixes for bugs we had discovered in previous versions thereof. |
Another group of software we have used has been integrated into HelenOS |
to fill gaps after functionality that the genuine HelenOS code did |
not provide itself. |
There is simply too much third party software that is somehow related to |
HelenOS to be covered all. This chapter attempts to present our experience |
with the key softare tools, programs and libraries. |
\section{Communication tools} |
Although the developers know each other in person, the development, with the |
exception of kernel camps, has been pretty much independent as far as locality |
and time goes. In order to work effectively, we have established several communication |
channels: |
\begin{description} |
\item [E-mail] --- We used this basic means of electronic communication for peer-to-peer |
discussion in cases when the other person could not have been reached on-line at |
the time his advice was needed or his attention was demanded. E-mail was also |
used for contacting developers of third party software that we needed to talk to. |
\item [Mailing list] --- As almost every open source project before us, also we opened |
mailing list for technical discussion. The advantage of having a mailing list is |
the fact that it enables multilateral discussions on several topics contemporarily, |
without the need for all the participants be on-line or even at one place. We have kept |
our first development mailing list closed to public so that it seemed natural to us |
to use Czech as our communication language on the list since Czech, with one exception, |
is our native language and all of us speak it very well. Besides all the advantages, |
there are also disadvantages. First, communication over mailing list tends to be rather |
slow, compared for instance to ICQ. Second, because of its implicit collective nature, |
it sometimes tends to be so slow that an answer for a given question never comes. |
Apart from the internal development mailing list, we have also used another mailing list |
for commit log messages which proved handy in keeping developers informed about all changes in |
the repository. |
Finally, we have also established a public mailing list for communication |
about general HelenOS topics in English. |
\item [ICQ] --- Because we divided the whole project into smaller subprojects on which |
only the maximum of two people out of six would work together, the need for communication |
among all six people was significantly smaller than the need to communicate between the two |
developers who tightly cooperated on a specific task. For this reason, we made the biggest |
use of ICQ. |
\end{description} |
\section{Concurrent versions systems} |
At the very beginning, when the SPARTAN kernel was being developed solely |
by \JJ, there was not much sence in using any software for management of |
concurrent versions. However, when the number of developers increased to six, |
we immediately started to think of available solutions. |
We have begun with CVS because it is probably the best known file concurrent |
versions system. We have even had repository of HelenOS using CVS for a short time, |
but when we learned about its weaknesses we sought another solution. There are two |
weaknesses that have prevented us from using CVS: |
\begin{itemize} |
\item it is merely a file concurrent versions system (i.e. CVS is |
good at managing versions of each separate file in the repository |
but has no clue about the project's directory tree as a whole; |
specifically renaming of a file while preserving its revision history |
is next to impossible), |
\item it lacks atomic commits (i.e. should your commit conflict with |
another recent commit of another developer, CVS would not abort the whole operation |
but render the repository inconsistent instead). |
\end{itemize} |
Being aware of these limitations, we decided to go with Subversion. Subversion |
is, simply put, a redesigned CVS with all the limitations fixed. We were |
already familiar with CVS so the switch to Subversion was pretty seamless. |
As for Subversion itself, it has worked for us well and has met all our |
expectations. Despite all its pros, there was a serious problem that |
occurred sometime in the middle of the development process. Because of some locking |
issues related to the default database backend (i.e. {\tt Berkeley DB}), |
our Subversion repository put itself in a peculiar state in which it became |
effectivelly inaccessible by any means of standard usage or administration. |
To mitigate this problem, we had to manually delete orphaned file locks |
and switch to backend called {\tt fsfs} which doesn't suffer this |
problem. |
Other than that, we are happy users of Subversion. The ability to switch |
the entire working copy to particular revision is a great feature |
for debugging. Once we tracked a bug three months into the past by |
moving through revisions until we found the change that caused the bug. |
\section{Web tools} |
On our project website\cite{helenos}, we provided links to different |
web utilities that either functioned to access our Subversion repository |
or mailing list or provided another services: |
\begin{description} |
\item [Chora] is a part of the Horde framework and can be used to comfortably |
browse Subversion repository from the web. We altered it a little bit to also |
show number of commits per developer on our homepage. |
\item [WHUPS] is another component of the Horde framework. It provides |
feature request and bug tracking features. However, in the light of being rather |
closed group of people, we used this tool only seldomly. On the other hand, |
any possible beta tester of our operating system has had a chance to |
submit bug reports. |
\item [Mailman] is a web interface to the mailing list we utilized. It allows |
to control subsriptions and search mailing list archives on-line. |
\end{description} |
\section{Third party components of HelenOS} |
HelenOS itself contains third party software. In the first place, amd64 and ia32 architectures |
make use of GNU Grub boot loader. This software replaced the original limited boot loader |
after the Kernel Camp 2005 when {\MD} had made HelenOS Multiboot specification compliant. Because of |
Grub, HelenOS can be booted from several types of devices. More importantly, we use |
Grub to load HelenOS userspace modules as well. |
Another third-party piece of the HelenOS operating system is the userspace {\tt malloc()}. |
Rather than porting our kernel slab allocator to userspace, we have chosen Doug Lea's public |
domain {\tt dlmalloc} instead. This allocator could be easily integrated into our uspace tree |
and has proven itself in other projects as well. Its derivative, {\tt ptmalloc}, has been part of the |
GNU C library for some time. However, the version we are using is not optimized for SMP and multithreading. |
We plan to eventually replace it with another allocator. |
\section{Build tools} |
Assembler, linker and compiler are by all means the very focal point of attention |
of all operating system projects. Quality of these tools influences |
operating system performance and, what is more important, stability. HelenOS has |
been tailored to build with GNU {\tt binutils} (i.e. the assembler and linker) and GNU~{\tt gcc} |
(i.e. the compiler). There is only little chance that it could be compiled and |
linked using some other tools unless those tools are compatible with the GNU build tools. |
As our project declares support for five different processor architectures, |
we needed to have five different flavors of the build utilities installed. |
Interestingly, flavors of {\tt binutils} and {\tt gcc} for particular architecture |
are not equal from the point of view of cross-binutils and cross-compiler installation. |
All platforms except ia64 require only the {\tt binutils} package and the {\tt gcc} package |
for the cross-tool to be built. On the other hand, ia64 requires also some excerpts from |
the ia64-specific part of {\tt glibc}. |
Formerly, the project could be compiled with almost any version of {\tt binutils} starting with 2.15 |
and {\tt gcc} starting with 2.95, but especially after we added partial thread local storage |
support into our userspace layer, some architectures (e.g. mips32) will not compile even with {\tt gcc} 4.0.1 |
and demand {\tt gcc} 4.1.0. Curiously, ia64 will not link when compiled with {\tt gcc} 4.1.0. |
As for the mips32 cross-compiler, {\OP} discovered a bug in {\tt gcc} (ticket \#23824) which caused {\tt gcc} to |
incorrectly generate unaligned data access instructions (i.e. {\tt lwl}, {\tt lwr}, {\tt swl} and {\tt swr}). |
As for the mips32 cross-binutils\footnote{It remains uninvestigated whether this problem also shows with other cross-tools.}, |
we observed that undefined symbols are not reported when we don't link using the standard target. We are still not |
sure whether this was a bug --- {\tt binutils} developers just told us to use the standard target and then use |
{\tt objcopy} to convert the ELF binary into requested output format. |
\section{Virtual environments} |
After the build tools, simulators, emulators and virtualizers were the second focal point |
in our project. These invaluable programs really sped the code-compile-test cycle. |
In some cases, they were, and still are, the only option to actually run HelenOS on certain |
processor architectures, because real hardware was not available to us. Using virtual environment |
for developing our system provided us with deterministic environment on wich it is much easier to do |
troubleshooting. Moreover, part of the simulators featured integrated debugging facilities. |
Without them, a lot of bugs would remain unresolved or even go unnoticed. |
From one point of view, we have tested our system on eight different virtual environments: |
\begin{itemize} |
\item Bochs, |
\item GXemul, |
\item msim, |
\item PearPC, |
\item QEMU, |
\item Simics, |
\item Ski, |
\item VMware. |
\end{itemize} |
From the second point of view, we have tested these programs by our operating system. |
Because of the scope and uniqueness of this testing and because we did find some issues, |
we want to dedicate some more space to what we have found. |
\subsection{Bochs} |
Bochs has been used to develop the SPARTAN kernel since its beginning in 2001. |
It is capable of emulating ia32 machine and for some time also amd64. |
Bochs is an emulator and thus the slowest from virtual environments capable |
of simulating the same cathegory of hardware. On the other hand, it is extremely |
portable, compared to much faster virtualizers and emulators using dynamic translation |
of instructions. Lately, there have been some plans to develop or port dynamic translation |
to Bochs brewing in its developer community. |
The biggest virtue of Bochs is that it has traditionally supported SMP. For some time, Bochs |
has been our only environment on wich we could develop and test SMP code. Unfortunatelly, |
the quality of SMP support in Bochs was different from version to version. Because of SMP |
breakage in Bochs, we had to avoid some versions thereof. So far, Bochs versions 2.2.1 and 2.2.6 |
have been best in this regard. |
Our project has not only used Bochs. We also helped to identify some SMP related problems |
and {\OP} from our team has discovered and also fixed a bug in FXSAVE and FXRSTOR emulation |
(patch \#1282033). |
Bochs has some debugging facilities but those have been very impractical and broken |
in SMP mode. |
\subsection{GXemul} |
GXemul is an emulator of several processor architectures. Nevertheless, we have |
used it only for mips32 emulation in both little-endian and big-endian modes. |
It seems to be pretty featurefull and evolving but we don't use all its functionality. |
GXemul is very user friendly and has debugging features. It is more realistic |
than msim. However, our newly introduced TLS support triggered a bug in the {\tt rdhwr} |
instruction emulation while msim functioned as expected. Fortunatelly, the author |
of GXemul is very cooperative and has fixed the problem for future versions as well as |
provided a quick hack for the old version. |
\subsection{msim} |
msim has been our first mips32 simulator. It simulates 32-bit side of R4000 processor. |
Its simulated environment is not very realistic, but the processor simulation |
is good enough for operating system development. In this regard, the simulator is |
comparable to HP's ia64 simulator Ski. Another similar aspect of these two is |
relatively strong debugger. |
Msim has been developed on the same alma mater as our own project. |
All members of our team know this program from operating system courses. |
Curiously, this simulator contained the biggest number of defects and inaccuracies |
that we have ever discovered in a simulator. Fortunately, all of them have been |
eventually fixed. |
\subsection{PearPC} |
PearPC is the only emulator on wich we have run ppc32 port of HelenOS. It has |
no debugging features, but fortunatelly its sources are available under |
an open source license. This enabled {\OP} and {\MD} to alter its sources |
in a way that this modified version allowed some basic debugging. |
\subsection{QEMU} |
QEMU emulates several processor architectures. We have used it to emulate |
ia32 and amd64. It can simulate SMP, but contrary to Bochs, it uses dynamic |
translation of emulated instructions and performs much better because of |
that. |
\subsection{Simics} |
\subsection{Ski} |
\subsection{VMware} |
\section{Authoring tools} |
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\chapter{Developers} |
\label{developers} |
\section{\JJ} |
{\JJ} is the original author of the SPARTAN kernel and the initiator of the |
idea to start the HelenOS project. During the works on the system, he has |
been the most active developer. He also took on the project agenda |
and administration and became the project leader. |
Before the project officially started, {\JJ} created the SPARTAN kernel |
for ia32 and mips32 along with SMP support, scheduler and synchronization\footnote{The |
initial SPARTAN kernel did not reach userspace.}. |
In the project time proper, he implemented considerable parts |
of ia64 code and worked also on mips32 memory management. |
On the generic front, {\JJ} designed generic the virtual address |
translation interface for the 4-level hierarchical page table translation mechanism |
as well as for the global page hash table translation mechanism. He has been involved |
in address space management functions and userspace synchronization through futexes. |
Other areas of his contribution include the kernel console and the kernel ELF loader. |
{\JJ} is also the author of the generic buddy system framework and B+tree implementation. |
\section{\OP} |
{\OP} has been very agile HelenOS developer. He is responsible for large areas of the |
kernel and userspace and has completely created the amd64 port and completed the mips32 |
port to the extent that it runs on a real MIPS machine\footnote{SGI Indy}. |
Besides the architecture specific involvement, {\OP} programmed the slab allocator |
and modified the frame allocator to be self-contained which in turn let the old |
and very limited heap manager be removed from the kernel entirely. He also created |
architecture independent FPU lazy switching framework. Other example of his |
activity is the IPC subsystem and partial TLS\footnote{Thread local storage.} support. |
Lastly, {\OP} equipped the kernel console with features found in userspace command shells |
(e.g. tab completion of commands and command history through keyboard arrows) and wrote |
the kernel configuration software. |
Apart from the self development, other members of the team appreciated \OP's excellent |
debugging and troubleshooting skills. He has been the person behind discovery of |
majority of the compiler and simulator bugs. |
\section{\MD} |
{\MD} is a very dedicated HelenOS developer. Right from the beginning, Martin |
has cared about project's code purity and readibility. He was the first developer to |
start writing Doxygen-style comments. He has promoted the proper use of C language |
{\tt const} keywords and extensive typedefing. On the tools front, he has rewritten |
the initial build system and created all our toolchain build scripts. |
Martin worked and much improved the ia32 and amd64 kernel booting using the Grub bootloader |
and Multiboot specification. He also created specialized boot loaders for mips32 and ppc32 --- architectures |
that don't provide many other ways to load userspace init tasks. Finally, |
{\MD} bacame the sole author of the entire ppc32 port and has encountered |
partial success in booting ppc64 port to real hardware\footnote{Apple G5.}. |
\section{\JV} |
{\JV} has worked on ia32 and ia64 FPU context switching and passive ia32 |
and active and passive ia64 console. He has relocated the ia64 kernel to |
region 7 (i.e. to the highest addresses) and has first coped with ia64 |
interrupts. {\JV} has been always prepared to discuss different kernel |
issues. His expertise in ia32 is well recognized. |
\section{\JC} |
{\JC} has worked on ia32 memory map detection, softfloat and softint libraries |
and printf() standards comformance. He also ported several kernel libraries to userspace. |
\section{\SB} |
{\SB} implemented sorting library functions and implemented the buddy allocator |
interface for the frame allocator. He edited project documentation. |
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