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doc: posix: structural reorganization of posix docs

Browse source 
Revise the structure of the POSIX API docs. This separates
related items out to dedicated pages. Further improvements
could yet be made - e.g. using the 'collapse' feature to
expand and collapse large sections of text or tables.

Signed-off-by: Christopher Friedt <cfriedt@meta.com>
This commit is contained in:
Christopher Friedt 2023-10-12 20:02:16 -04:00 committed by Chris Friedt
parent 5efa5b2892
commit 3b45235887
11 changed files with 851 additions and 179 deletions
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2
doc/_scripts/redirects.py
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@ -71,7 +71,7 @@ REDIRECTS = [
('guides/pm/power_domain', 'services/pm/power_domain'), ('guides/pm/power_domain', 'services/pm/power_domain'),
('guides/pm/system', 'services/pm/system'), ('guides/pm/system', 'services/pm/system'),
('guides/portability/index', 'services/portability/index'), ('guides/portability/index', 'services/portability/index'),
('guides/portability/posix', 'services/portability/posix'), ('guides/portability/posix', 'services/portability/posix/index'),
('guides/porting/arch', 'hardware/porting/arch'), ('guides/porting/arch', 'hardware/porting/arch'),
('guides/porting/board_porting', 'hardware/porting/board_porting'), ('guides/porting/board_porting', 'hardware/porting/board_porting'),
('guides/porting/index', 'hardware/porting/index'), ('guides/porting/index', 'hardware/porting/index'),

2
doc/introduction/index.rst
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@ -80,6 +80,8 @@ Zephyr offers a large and ever growing number of features including:
* Red/black tree ready queue * Red/black tree ready queue
* Traditional multi-queue ready queue * Traditional multi-queue ready queue
.. _zephyr_intro_configurability:
**Highly configurable / Modular for flexibility** **Highly configurable / Modular for flexibility**
Allows an application to incorporate *only* the capabilities it needs as it Allows an application to incorporate *only* the capabilities it needs as it
needs them, and to specify their quantity and size. needs them, and to specify their quantity and size.

2
doc/services/portability/index.rst
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@ -14,6 +14,6 @@ supported by the Zephyr RTOS.
.. toctree:: .. toctree::
:maxdepth: 1 :maxdepth: 1
posix.rst posix/index.rst
cmsis_rtos_v1.rst cmsis_rtos_v1.rst
cmsis_rtos_v2.rst cmsis_rtos_v2.rst

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doc/services/portability/posix/aep/index.rst Normal file
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.. _posix_aep:
POSIX Application Environment Profiles (AEP)
############################################
Although inactive, `IEEE 1003.13-2003`_ defined a number of AEP that inspired the modern
subprofiling options of `IEEE 1003.1-2017`_. The single-purpose realtime system profiles
are listed below, for reference, in terms that agree with the current POSIX-1 standard. PSE54
is not considered at this time.
.. _posix_aep_pse51:
Minimal Realtime System Profile (PSE51)
=======================================
.. Conforming implementations shall define _POSIX_AEP_REALTIME_MINIMAL to the value 200312L
.. csv-table:: PSE51 System Interfaces
:header: Symbol, Support, Remarks
:widths: 50, 10, 50
_POSIX_AEP_REALTIME_MINIMAL, -1,
.. csv-table:: PSE51 Option Groups
:header: Symbol, Support, Remarks
:widths: 50, 10, 50
POSIX_C_LANG_JUMP,,
POSIX_C_LANG_SUPPORT, yes, :ref:`†<posix_undefined_behaviour>`
POSIX_DEVICE_IO,, :ref:`†<posix_undefined_behaviour>`
POSIX_FILE_LOCKING,,
POSIX_SIGNALS,, :ref:`†<posix_undefined_behaviour>`
POSIX_SINGLE_PROCESS,, :ref:`†<posix_undefined_behaviour>`
POSIX_THREADS_BASE, yes, :ref:`†<posix_undefined_behaviour>`
XSI_THREADS_EXT, yes, :ref:`†<posix_undefined_behaviour>`
.. csv-table:: PSE51 Option Requirements
:header: Symbol, Support, Remarks
:widths: 50, 10, 50
_POSIX_CLOCK_SELECTION, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
_POSIX_FSYNC, -1,
_POSIX_MEMLOCK, -1,
_POSIX_MEMLOCK_RANGE, -1,
_POSIX_MONOTONIC_CLOCK, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
_POSIX_REALTIME_SIGNALS, -1,
_POSIX_SEMAPHORES, 200809L, :kconfig:option:`CONFIG_PTHREAD_IPC`
_POSIX_SHARED_MEMORY_OBJECTS, -1,
_POSIX_SYNCHRONIZED_IO, -1,
_POSIX_THREAD_ATTR_STACKADDR, 200809L, :kconfig:option:`CONFIG_PTHREAD`
_POSIX_THREAD_ATTR_STACKSIZE, 200809L, :kconfig:option:`CONFIG_PTHREAD`
_POSIX_THREAD_CPUTIME, -1,
_POSIX_THREAD_PRIO_INHERIT, 200809L, :kconfig:option:`CONFIG_PTHREAD_MUTEX`
_POSIX_THREAD_PRIO_PROTECT, -1,
_POSIX_THREAD_PRIORITY_SCHEDULING, -1,
_POSIX_THREAD_SPORADIC_SERVER, -1,
_POSIX_TIMEOUTS, 200809L, :kconfig:option:`CONFIG_PTHREAD_IPC`
_POSIX_TIMERS, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
.. note::
For PSE51 support, 44 of 75 symbols are currently implemented.
.. _posix_aep_pse52:
Realtime Controller System Profile (PSE52)
==========================================
.. Conforming implementations shall define _POSIX_AEP_REALTIME_CONTROLLER to the value 200312L
.. csv-table:: PSE52 System Interfaces
:header: Symbol, Support, Remarks
:widths: 50, 10, 50
_POSIX_AEP_REALTIME_CONTROLLER, -1,
.. csv-table:: PSE52 Option Groups
:header: Symbol, Support, Remarks
:widths: 50, 10, 50
POSIX_C_LANG_JUMP,,
POSIX_C_LANG_MATH, yes,
POSIX_C_LANG_SUPPORT, yes, :ref:`†<posix_undefined_behaviour>`
POSIX_DEVICE_IO,, :ref:`†<posix_undefined_behaviour>`
POSIX_FD_MGMT,,
POSIX_FILE_LOCKING,,
POSIX_FILE_SYSTEM,,
POSIX_SIGNALS,, :ref:`†<posix_undefined_behaviour>`
POSIX_SINGLE_PROCESS,, :ref:`†<posix_undefined_behaviour>`
POSIX_THREADS_BASE, yes, :ref:`†<posix_undefined_behaviour>`
XSI_THREADS_EXT, yes, :ref:`†<posix_undefined_behaviour>`
.. csv-table:: PSE52 Option Requirements
:header: Symbol, Support, Remarks
:widths: 50, 10, 50
_POSIX_CLOCK_SELECTION, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
_POSIX_FSYNC, -1,
_POSIX_MAPPED_FILES, -1,
_POSIX_MEMLOCK, -1,
_POSIX_MEMLOCK_RANGE, -1,
_POSIX_MESSAGE_PASSING, 200809L, :kconfig:option:`CONFIG_POSIX_MQUEUE`
_POSIX_MONOTONIC_CLOCK, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
_POSIX_REALTIME_SIGNALS, -1,
_POSIX_SEMAPHORES, 200809L, :kconfig:option:`CONFIG_PTHREAD_IPC`
_POSIX_SHARED_MEMORY_OBJECTS, -1,
_POSIX_SYNCHRONIZED_IO, -1,
_POSIX_THREAD_ATTR_STACKADDR, 200809L, :kconfig:option:`CONFIG_PTHREAD`
_POSIX_THREAD_ATTR_STACKSIZE, 200809L, :kconfig:option:`CONFIG_PTHREAD`
_POSIX_THREAD_CPUTIME, -1,
_POSIX_THREAD_PRIO_INHERIT, 200809L, :kconfig:option:`CONFIG_PTHREAD_MUTEX`
_POSIX_THREAD_PRIO_PROTECT, -1,
_POSIX_THREAD_PRIORITY_SCHEDULING, -1,
_POSIX_THREAD_SPORADIC_SERVER, -1,
_POSIX_TIMEOUTS, 200809L, :kconfig:option:`CONFIG_PTHREAD_IPC`
_POSIX_TIMERS, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
_POSIX_TRACE, -1,
_POSIX_TRACE_EVENT_FILTER, -1,
_POSIX_TRACE_LOG, -1,
.. _posix_aep_pse53:
Dedicated Realtime System Profile (PSE53)
=========================================
.. Conforming implementations shall define _POSIX_AEP_REALTIME_MINIMAL to the value 200312L
.. csv-table:: PSE53 System Interfaces
:header: Symbol, Support, Remarks
:widths: 50, 10, 50
_POSIX_AEP_REALTIME_CONTROLLER, -1,
.. csv-table:: PSE53 Option Groups
:header: Symbol, Support, Remarks
:widths: 50, 10, 50
POSIX_C_LANG_JUMP,,
POSIX_C_LANG_MATH, yes,
POSIX_C_LANG_SUPPORT, yes, :ref:`†<posix_undefined_behaviour>`
POSIX_DEVICE_IO,, :ref:`†<posix_undefined_behaviour>`
POSIX_FD_MGMT,,
POSIX_FILE_LOCKING,,
POSIX_FILE_SYSTEM,,
POSIX_MULTI_PROCESS,, :ref:`†<posix_undefined_behaviour>`
POSIX_NETWORKING, yes, :ref:`†<posix_undefined_behaviour>`
POSIX_PIPE,, :ref:`†<posix_undefined_behaviour>`
POSIX_SIGNALS,, :ref:`†<posix_undefined_behaviour>`
POSIX_SIGNAL_JUMP,, :ref:`†<posix_undefined_behaviour>`
POSIX_SINGLE_PROCESS,, :ref:`†<posix_undefined_behaviour>`
POSIX_THREADS_BASE, yes, :ref:`†<posix_undefined_behaviour>`
XSI_THREADS_EXT, yes, :ref:`†<posix_undefined_behaviour>`
.. csv-table:: PSE53 Option Requirements
:header: Symbol, Support, Remarks
:widths: 50, 10, 50
_POSIX_ASYNCHRONOUS_IO, -1,
_POSIX_CLOCK_SELECTION, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
_POSIX_CPUTIME, -1,
_POSIX_FSYNC, -1,
_POSIX_MAPPED_FILES, -1,
_POSIX_MEMLOCK, -1,
_POSIX_MEMLOCK_RANGE, -1,
_POSIX_MEMORY_PROTECTION, -1,
_POSIX_MESSAGE_PASSING, 200809L, :kconfig:option:`CONFIG_POSIX_MQUEUE`
_POSIX_MONOTONIC_CLOCK, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
_POSIX_PRIORITIZED_IO, -1,
_POSIX_PRIORITY_SCHEDULING, -1,
_POSIX_RAW_SOCKETS, 200809L, :kconfig:option:`CONFIG_NET_SOCKETS`
_POSIX_REALTIME_SIGNALS, -1,
_POSIX_SEMAPHORES, 200809L, :kconfig:option:`CONFIG_PTHREAD_IPC`
_POSIX_SHARED_MEMORY_OBJECTS, -1,
_POSIX_SPAWN, -1,
_POSIX_SPORADIC_SERVER, -1,
_POSIX_SYNCHRONIZED_IO, -1,
_POSIX_THREAD_ATTR_STACKADDR, 200809L, :kconfig:option:`CONFIG_PTHREAD`
_POSIX_THREAD_ATTR_STACKSIZE, 200809L, :kconfig:option:`CONFIG_PTHREAD`
_POSIX_THREAD_CPUTIME, -1,
_POSIX_THREAD_PRIO_INHERIT, 200809L, :kconfig:option:`CONFIG_PTHREAD_MUTEX`
_POSIX_THREAD_PRIO_PROTECT, -1,
_POSIX_THREAD_PRIORITY_SCHEDULING, -1,
_POSIX_THREAD_PROCESS_SHARED, -1,
_POSIX_THREAD_SPORADIC_SERVER, -1,
_POSIX_TIMEOUTS, 200809L, :kconfig:option:`CONFIG_PTHREAD_IPC`
_POSIX_TIMERS, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
_POSIX_TRACE, -1,
_POSIX_TRACE_EVENT_FILTER, -1,
_POSIX_TRACE_LOG, -1,
.. _IEEE 1003.1-2017: https://standards.ieee.org/ieee/1003.1/7101/
.. _IEEE 1003.13-2003: https://standards.ieee.org/ieee/1003.13/3322/

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.. _posix_conformance:
POSIX Conformance
#################
As per `IEEE 1003.1-2017`, this section details Zephyr's POSIX conformance.
.. _posix_undefined_behaviour:
.. note::
As per POSIX 1003.13, single process mode is supported directly by both PSE51 and PSE52
profiles. While Zephyr includes support for many features found in PSE53, PSE53 itself requires
supporting multiple processes. Since supporting multiple processes is beyond the scope of
Zephyr's current design, some features requiring multi-process capabilities may exhibit
undefined behaviour, which we denote with the † (obelus) symbol.
.. _posix_system_interfaces:
POSIX System Interfaces
=======================
.. The following have values greater than -1 in Zephyr, conformant with the POSIX specification.
.. csv-table:: POSIX System Interfaces
:header: Symbol, Support, Remarks
:widths: 50, 10, 50
_POSIX_CHOWN_RESTRICTED, 0,
_POSIX_NO_TRUNC, 0,
_POSIX_VDISABLE, 0,
.. The following should be valued greater than zero in Zephyr, in order to be strictly conformant
with the POSIX specification.
.. csv-table:: POSIX System Interfaces
:header: Symbol, Support, Remarks
:widths: 50, 10, 50
_POSIX_JOB_CONTROL, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX_REGEXP, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX_SAVED_IDS, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX_SHELL, -1, :ref:`†<posix_undefined_behaviour>`
.. TODO: POSIX_ASYNCHRONOUS_IO, and other interfaces below, are mandatory. That means that a
strictly conforming application need not be modified in order to compile against Zephyr.
However, we may add implementations that simply fail with ENOSYS as long as the functional
modification is clearly documented. The implementation is not required for PSE51 or PSE52
and beyond that POSIX async I/O functions are rarely used in practice.
.. csv-table:: POSIX System Interfaces
:header: Symbol, Support, Remarks
:widths: 50, 10, 50
_POSIX_VERSION, 200809L,
_POSIX_ASYNCHRONOUS_IO, -1, :ref:`†<posix_undefined_behaviour>`
:ref:`_POSIX_BARRIERS<posix_option_group_barriers>`, 200809L, :kconfig:option:`CONFIG_PTHREAD_BARRIER`
:ref:`_POSIX_CLOCK_SELECTION<posix_option_group_clock_selection>`, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
_POSIX_MAPPED_FILES, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX_MEMORY_PROTECTION, -1, :ref:`†<posix_undefined_behaviour>`
:ref:`_POSIX_READER_WRITER_LOCKS<posix_option_reader_writer_locks>`, -1, :kconfig:option:`CONFIG_PTHREAD_IPC`
_POSIX_REALTIME_SIGNALS, -1, :ref:`†<posix_undefined_behaviour>`
:ref:`_POSIX_SEMAPHORES<posix_option_group_semaphores>`, 200809L, :kconfig:option:`CONFIG_PTHREAD_IPC`
:ref:`_POSIX_SPIN_LOCKS<posix_option_group_spin_locks>`, 200809L, :kconfig:option:`CONFIG_PTHREAD_SPINLOCK`
_POSIX_THREAD_SAFE_FUNCTIONS, 200809L,
:ref:`_POSIX_THREADS<posix_option_group_threads_base>`, -1, :kconfig:option:`CONFIG_PTHREAD_IPC`
:ref:`_POSIX_TIMEOUTS<posix_option_timeouts>`, 200809L, :kconfig:option:`CONFIG_PTHREAD_IPC`
:ref:`_POSIX_TIMERS<posix_option_group_timers>`, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
_POSIX2_C_BIND, 200809L,
.. csv-table:: POSIX System Interfaces (Optional)
:header: Symbol, Support, Remarks
:widths: 50, 10, 50
_POSIX_ADVISORY_INFO, -1,
_POSIX_CPUTIME, -1,
_POSIX_FSYNC, -1,
_POSIX_IPV6, 200809L, :kconfig:option:`CONFIG_NET_IPV6`
_POSIX_MEMLOCK, -1,
_POSIX_MEMLOCK_RANGE, -1,
:ref:`_POSIX_MESSAGE_PASSING<posix_option_message_passing>`, 200809L, :kconfig:option:`CONFIG_POSIX_MQUEUE`
_POSIX_MONOTONIC_CLOCK, 200809L, :kconfig:option:`CONFIG_POSIX_CLOCK`
_POSIX_PRIORITIZED_IO, -1,
:ref:`_POSIX_PRIORITY_SCHEDULING<posix_option_priority_scheduling>`, -1, :kconfig:option:`CONFIG_PTHREAD`
_POSIX_RAW_SOCKETS, 200809L, :kconfig:option:`CONFIG_NET_SOCKETS`
_POSIX_SHARED_MEMORY_OBJECTS, -1,
_POSIX_SPAWN, -1,
_POSIX_SPORADIC_SERVER, -1,
_POSIX_SYNCHRONIZED_IO, -1,
:ref:`_POSIX_THREAD_ATTR_STACKADDR<posix_option_thread_attr_stackaddr>`, 200809L, :kconfig:option:`CONFIG_PTHREAD`
_POSIX_THREAD_CPUTIME, -1,
:ref:`_POSIX_THREAD_ATTR_STACKSIZE<posix_option_thread_attr_stacksize>`, 200809L, :kconfig:option:`CONFIG_PTHREAD`
_POSIX_THREAD_PRIO_INHERIT, 200809L, :kconfig:option:`CONFIG_PTHREAD_MUTEX`
_POSIX_THREAD_PRIO_PROTECT, -1,
:ref:`_POSIX_THREAD_PRIORITY_SCHEDULING<posix_option_thread_priority_scheduling>`, 200809L, :kconfig:option:`CONFIG_PTHREAD`
_POSIX_THREAD_PROCESS_SHARED, -1,
_POSIX_THREAD_SPORADIC_SERVER, -1,
_POSIX_TRACE, -1,
_POSIX_TRACE_EVENT_FILTER, -1,
_POSIX_TRACE_INHERIT, -1,
_POSIX_TRACE_LOG, -1,
_POSIX_TYPED_MEMORY_OBJECTS, -1,
_XOPEN_CRYPT, -1,
_XOPEN_REALTIME, -1,
_XOPEN_REALTIME_THREADS, -1,
:ref:`_XOPEN_STREAMS<posix_option_xopen_streams>`, -1, :kconfig:option:`CONFIG_NET_SOCKETS`
_XOPEN_UNIX, -1,
POSIX Shell and Utilities
=========================
Zephyr does not support a POSIX shell or utilities at this time.
.. csv-table:: POSIX Shell and Utilities
:header: Symbol, Support, Remarks
:widths: 50, 10, 50
_POSIX2_C_DEV, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX2_CHAR_TERM, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX2_FORT_DEV, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX2_FORT_RUN, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX2_LOCALEDEF, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX2_PBS, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX2_PBS_ACCOUNTING, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX2_PBS_LOCATE, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX2_PBS_MESSAGE, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX2_PBS_TRACK, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX2_SW_DEV, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX2_UPE, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX2_UNIX, -1, :ref:`†<posix_undefined_behaviour>`
_POSIX2_UUCP, -1, :ref:`†<posix_undefined_behaviour>`
XSI Conformance
###############
XSI System Interfaces
=====================
.. csv-table:: XSI System Interfaces
:header: Symbol, Support, Remarks
:widths: 50, 10, 50
_POSIX_FSYNC, -1, :ref:`†<posix_undefined_behaviour>`
:ref:`_POSIX_THREAD_ATTR_STACKADDR<posix_option_thread_attr_stackaddr>`, 200809L, :kconfig:option:`CONFIG_PTHREAD`
:ref:`_POSIX_THREAD_ATTR_STACKSIZE<posix_option_thread_attr_stacksize>`, 200809L, :kconfig:option:`CONFIG_PTHREAD`
_POSIX_THREAD_PROCESS_SHARED, -1,

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.. _posix_details:
Implementation Details
######################
In many ways, Zephyr provides support like any POSIX OS; API bindings are provided in the C
programming language, POSIX headers are available in the standard include path, when configured.
Unlike other multi-purpose POSIX operating systems
- Zephyr is not "a POSIX OS". The Zephyr kernel was not designed around the POSIX standard, and
POSIX support is an opt-in feature
- Zephyr apps are not linked separately, nor do they execute as subprocesses
- Zephyr, libraries, and application code are compiled and linked together, running similarly to
a single-process application, in a single (possibly virtual) address space
- Zephyr does not provide a POSIX shell, compiler, utilities, and is not self-hosting.
.. note::
Unlike the Linux kernel or FreeBSD, Zephyr does not maintain a static table of system call
numbers for each supported architecture, but instead generates system calls dynamically at
build time. See `System Calls <syscalls>`_ for more information.
Design
======
As a library, Zephyr's POSIX API implementation makes an effort to be a thin abstraction layer
between the application, middleware, and the Zephyr kernel.
Some general design considerations:
- The POSIX interface and implementations should be part of Zephyr's POSIX library, and not
elsewhere, unless required both by the POSIX API implementation and some other feature. An
example where the implementation should remain part of the POSIX implementation is
``getopt()``. Examples where the implementation should be part of separate libraries are
multithreading and networking.
- When the POSIX API and another Zephyr subsystem both rely on a feature, the implementation of
that feature should be as a separate Zephyr library that can be used by both the POSIX API and
the other library or subsystem. This reduces the likelihood of dependency cycles in code. When
practical, that rule should expand to include macros. In the example below, ``libposix``
depends on ``libzfoo`` for the implementation of some functionality "foo" in Zephyr. If
``libzfoo`` also depends on ``libposix``, then there is a dependency cycle. The cycle can be
removed via mutual dependency, ``libcommon``.
.. graphviz::
:caption: Dependency cycle between POSIX and another Zephyr library
digraph {
node [shape=rect, style=rounded];
rankdir=LR;
libposix [fillcolor="#d5e8d4"];
libzfoo [fillcolor="#dae8fc"];
libposix -> libzfoo;
libzfoo -> libposix;
}
.. graphviz::
:caption: Mutual dependencies between POSIX and other Zephyr libraries
digraph {
node [shape=rect, style=rounded];
rankdir=LR;
libposix [fillcolor="#d5e8d4"];
libzfoo [fillcolor="#dae8fc"];
libcommon [fillcolor="#f8cecc"];
libposix -> libzfoo;
libposix -> libcommon;
libzfoo -> libcommon;
}
- POSIX API calls should be provided as regular callable C functions; if a Zephyr
`System Call <syscalls>`_ is needed as part of the implementation, the declaration and the
implementation of that system call should be hidden behind the POSIX API.

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.. _posix_support:
POSIX
#####
.. toctree::
:maxdepth: 2
overview/index.rst
conformance/index.rst
aep/index.rst
implementation/index.rst
option_groups/index.rst
kconfig/index.rst

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.. _posix_kconfig_options:
Configuration Options
*********************
This is a non-exhaustive list of specific :ref:`kconfig` options relating to Zephyr's
implementation of the POSIX API.
* :kconfig:option:`CONFIG_APP_LINK_WITH_POSIX_SUBSYS`
* :kconfig:option:`CONFIG_EVENTFD`
* :kconfig:option:`CONFIG_EVENTFD_MAX`
* :kconfig:option:`CONFIG_FDTABLE`
* :kconfig:option:`CONFIG_FNMATCH`
* :kconfig:option:`CONFIG_GETOPT`
* :kconfig:option:`CONFIG_GETOPT_LONG`
* :kconfig:option:`CONFIG_MAX_PTHREAD_BARRIER_COUNT`
* :kconfig:option:`CONFIG_MAX_PTHREAD_COUNT`
* :kconfig:option:`CONFIG_MAX_PTHREAD_KEY_COUNT`
* :kconfig:option:`CONFIG_MAX_PTHREAD_MUTEX_COUNT`
* :kconfig:option:`CONFIG_MAX_PTHREAD_SPINLOCK_COUNT`
* :kconfig:option:`CONFIG_MAX_TIMER_COUNT`
* :kconfig:option:`CONFIG_MQUEUE_NAMELEN_MAX`
* :kconfig:option:`CONFIG_MSG_COUNT_MAX`
* :kconfig:option:`CONFIG_MSG_SIZE_MAX`
* :kconfig:option:`CONFIG_NET_SOCKETPAIR`
* :kconfig:option:`CONFIG_NET_SOCKETS`
* :kconfig:option:`CONFIG_NET_SOCKETS_POLL_MAX`
* :kconfig:option:`CONFIG_NET_SOCKETS_POSIX_NAMES`
* :kconfig:option:`CONFIG_POSIX_API`
* :kconfig:option:`CONFIG_POSIX_CLOCK`
* :kconfig:option:`CONFIG_POSIX_FS`
* :kconfig:option:`CONFIG_POSIX_LIMITS_RTSIG_MAX`
* :kconfig:option:`CONFIG_POSIX_MAX_FDS`
* :kconfig:option:`CONFIG_POSIX_MAX_OPEN_FILES`
* :kconfig:option:`CONFIG_POSIX_MQUEUE`
* :kconfig:option:`CONFIG_POSIX_RTSIG_MAX`
* :kconfig:option:`CONFIG_POSIX_SIGNAL`
* :kconfig:option:`CONFIG_POSIX_SIGNAL_STRING_DESC`
* :kconfig:option:`CONFIG_POSIX_UNAME`
* :kconfig:option:`CONFIG_POSIX_UNAME_NODENAME_LEN`
* :kconfig:option:`CONFIG_POSIX_UNAME_VERSION_LEN`
* :kconfig:option:`CONFIG_PTHREAD`
* :kconfig:option:`CONFIG_PTHREAD_BARRIER`
* :kconfig:option:`CONFIG_PTHREAD_COND`
* :kconfig:option:`CONFIG_PTHREAD_CREATE_BARRIER`
* :kconfig:option:`CONFIG_PTHREAD_IPC`
* :kconfig:option:`CONFIG_PTHREAD_KEY`
* :kconfig:option:`CONFIG_PTHREAD_MUTEX`
* :kconfig:option:`CONFIG_PTHREAD_RECYCLER_DELAY_MS`
* :kconfig:option:`CONFIG_PTHREAD_SPINLOCK`
* :kconfig:option:`CONFIG_SEM_VALUE_MAX`
* :kconfig:option:`CONFIG_TIMER`

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@ -1,131 +1,18 @@
.. _posix_support: .. _posix_option_groups:
POSIX Support Subprofiling Option Groups
############# ##########################
The Portable Operating System Interface (POSIX) is a family of standards .. _posix_option_group_threads_base:
specified by the IEEE Computer Society for maintaining compatibility between
operating systems. Zephyr implements a subset of the embedded profiles PSE51
and PSE52, and BSD Sockets API.
With the POSIX support available in Zephyr, an existing POSIX compliant
application can be ported to run on the Zephyr kernel, and therefore leverage
Zephyr features and functionality. Additionally, a library designed for use with
POSIX threading compatible operating systems can be ported to Zephyr kernel
based applications with minimal or no changes.
.. figure:: posix.svg
:align: center
:alt: POSIX Support in Zephyr
POSIX support in Zephyr
The POSIX API subset is an increasingly popular OSAL (operating system
abstraction layer) for IoT and embedded applications, as can be seen in
Zephyr, AWS:FreeRTOS, TI-RTOS, and NuttX.
Benefits of POSIX support in Zephyr include:
- Offering a familiar API to non-embedded programmers, especially from Linux
- Enabling reuse (portability) of existing libraries based on POSIX APIs
- Providing an efficient API subset appropriate for small (MCU) embedded systems
System Overview
===============
Units of Functionality
++++++++++++++++++++++
The system profile is defined in terms of component profiles that specify Units
of Functionality that can be combined to realize the application platform. A Unit
of Functionality is a defined set of services which can be implemented. If
implemented, the standard prescribes that all services in the Unit must
be implemented.
A Minimal Realtime System Profile implementation must support the
following Units of Functionality as defined in IEEE Std. 1003.1 (also referred to
as POSIX.1-2017).
.. csv-table:: Units of Functionality
:header: Requirements, Supported, Remarks
:widths: 50,10,60
POSIX_C_LANG_JUMP,
POSIX_C_LANG_SUPPORT,yes
POSIX_DEVICE_IO,
POSIX_FILE_LOCKING,
POSIX_SIGNALS,
POSIX_SINGLE_PROCESS,
POSIX_SPIN_LOCKS,yes
POSIX_THREADS_BASE,yes
XSI_THREAD_MUTEX_EXT,yes
XSI_THREADS_EXT,yes
Option Requirements
++++++++++++++++++++
An implementation supporting the Minimal Realtime System
Profile must support the POSIX.1 Option Requirements which are defined in the
standard. Options Requirements are used for further sub-profiling within the
units of functionality: they further define the functional behavior of the
system service (normally adding extra functionality). Depending on the profile
to which the POSIX implementation complies,parameters and/or the precise
functionality of certain services may differ.
The following list shows the option requirements that are implemented in
Zephyr.
.. csv-table:: Option Requirements
:header: Requirements, Supported
:widths: 50,10
_POSIX_BARRIERS,yes
_POSIX_CLOCK_SELECTION,yes
_POSIX_FSYNC,
_POSIX_MEMLOCK,
_POSIX_MEMLOCK_RANGE,
_POSIX_MONOTONIC_CLOCK,yes
_POSIX_NO_TRUNC,
_POSIX_REALTIME_SIGNALS,
_POSIX_SEMAPHORES,yes
_POSIX_SHARED_MEMORY_OBJECTS,
_POSIX_SPIN_LOCKS,yes
_POSIX_SYNCHRONIZED_IO,
_POSIX_THREAD_ATTR_STACKADDR,yes
_POSIX_THREAD_ATTR_STACKSIZE,yes
_POSIX_THREAD_CPUTIME,
_POSIX_THREAD_PRIO_INHERIT,
_POSIX_THREAD_PRIO_PROTECT,
_POSIX_THREAD_PRIORITY_SCHEDULING,yes
_POSIX_THREAD_SPORADIC_SERVER,
_POSIX_TIMEOUTS,
_POSIX_TIMERS,yes
_POSIX2_C_DEV,
_POSIX2_SW_DEV,
Units of Functionality
======================
This section describes the Units of Functionality (fixed sets of interfaces)
which are implemented (partially or completely) in Zephyr. Please refer to the
standard for a full description of each listed interface.
POSIX_THREADS_BASE POSIX_THREADS_BASE
+++++++++++++++++++ ==================
The basic assumption in this profile is that the system The basic assumption in this profile is that the system
consists of a single (implicit) process with multiple threads. Therefore, the consists of a single (implicit) process with multiple threads. Therefore, the
standard requires all basic thread services, except those related to standard requires all basic thread services, except those related to
multiple processes. multiple processes.
.. csv-table:: POSIX_THREADS_BASE .. csv-table:: POSIX_THREADS_BASE
:header: API, Supported :header: API, Supported
:widths: 50,10 :widths: 50,10
@ -179,12 +66,12 @@ multiple processes.
pthread_sigmask(), pthread_sigmask(),
pthread_testcancel(), pthread_testcancel(),
.. _posix_option_group_xsi_thread_ext:
XSI_THREAD_EXT XSI_THREAD_EXT
++++++++++++++ ==============
The XSI_THREADS_EXT Unit of Functionality is required because it provides The XSI_THREADS_EXT option group is required because it provides
functions to control a thread's stack. This is considered useful for any functions to control a thread's stack. This is considered useful for any
real-time application. real-time application.
@ -201,33 +88,14 @@ This table lists service support status in Zephyr:
pthread_getconcurrency(), pthread_getconcurrency(),
pthread_setconcurrency() pthread_setconcurrency()
.. _posix_option_group_c_lang_support:
XSI_THREAD_MUTEX_EXT
++++++++++++++++++++
The XSI_THREAD_MUTEX_EXT Unit of Functionality is required because it has
options for controlling the behavior of mutexes under erroneous application use.
This table lists service support status in Zephyr:
.. csv-table:: XSI_THREAD_MUTEX_EXT
:header: API, Supported
:widths: 50,10
pthread_mutexattr_gettype(),yes
pthread_mutexattr_settype(),yes
POSIX_C_LANG_SUPPORT POSIX_C_LANG_SUPPORT
++++++++++++++++++++ ====================
The POSIX_C_LANG_SUPPORT Unit of Functionality contains the general ISO C The POSIX_C_LANG_SUPPORT option group contains the general ISO C
Library. Library.
This is implemented as part of the minimal C library available in Zephyr.
.. csv-table:: POSIX_C_LANG_SUPPORT .. csv-table:: POSIX_C_LANG_SUPPORT
:header: API, Supported :header: API, Supported
:widths: 50,10 :widths: 50,10
@ -338,11 +206,12 @@ This is implemented as part of the minimal C library available in Zephyr.
vsprintf(),yes vsprintf(),yes
vsscanf(), vsscanf(),
.. _posix_option_group_single_process:
POSIX_SINGLE_PROCESS POSIX_SINGLE_PROCESS
+++++++++++++++++++++ ====================
The POSIX_SINGLE_PROCESS Unit of Functionality contains services for single The POSIX_SINGLE_PROCESS option group contains services for single
process applications. process applications.
.. csv-table:: POSIX_SINGLE_PROCESS .. csv-table:: POSIX_SINGLE_PROCESS
@ -358,9 +227,10 @@ process applications.
uname(),yes uname(),yes
unsetenv() unsetenv()
.. _posix_option_group_signals:
POSIX_SIGNALS POSIX_SIGNALS
+++++++++++++ =============
Signal services are a basic mechanism within POSIX-based systems and are Signal services are a basic mechanism within POSIX-based systems and are
required for error and event handling. required for error and event handling.
@ -369,7 +239,6 @@ required for error and event handling.
:header: API, Supported :header: API, Supported
:widths: 50,10 :widths: 50,10
abort(),yes abort(),yes
alarm(), alarm(),
kill(), kill(),
@ -388,32 +257,20 @@ required for error and event handling.
sigwait(), sigwait(),
strsignal(),yes strsignal(),yes
.. csv-table:: POSIX_SPIN_LOCKS .. _posix_option_group_device_io:
:header: API, Supported
:widths: 50,10
pthread_spin_destroy(),yes
pthread_spin_init(),yes
pthread_spin_lock(),yes
pthread_spin_trylock(),yes
pthread_spin_unlock(),yes
POSIX_DEVICE_IO POSIX_DEVICE_IO
+++++++++++++++ ===============
.. csv-table:: POSIX_DEVICE_IO .. csv-table:: POSIX_DEVICE_IO
:header: API, Supported :header: API, Supported
:widths: 50,10 :widths: 50,10
flockfile(), FD_CLR(),yes
ftrylockfile(), FD_ISSET(),yes
funlockfile(), FD_SET(),yes
getc_unlocked(), FD_ZERO(),yes
getchar_unlocked(),yes clearerr(),yes
putc_unlocked(),
putchar_unlocked()
clearerr(),
close(),yes close(),yes
fclose(), fclose(),
fdopen(), fdopen(),
@ -436,17 +293,22 @@ POSIX_DEVICE_IO
gets(), gets(),
open(),yes open(),yes
perror(),yes perror(),yes
poll(),yes
printf(),yes printf(),yes
pread(),
pselect(),
putc(),yes putc(),yes
putchar(),yes putchar(),yes
puts(),yes puts(),yes
pwrite(),
read(),yes read(),yes
scanf(), scanf(),
select(),yes
setbuf(), setbuf(),
setvbuf(), setvbuf(),
stderr,yes stderr,
stdin,yes stdin,
stdout,yes stdout,
ungetc(), ungetc(),
vfprintf(),yes vfprintf(),yes
vfscanf(), vfscanf(),
@ -454,8 +316,72 @@ POSIX_DEVICE_IO
vscanf(), vscanf(),
write(),yes write(),yes
.. _posix_option_group_barriers:
POSIX_BARRIERS
==============
.. csv-table:: POSIX_BARRIERS
:header: API, Supported
:widths: 50,10
pthread_barrier_destroy(),yes
pthread_barrier_init(),yes
pthread_barrier_wait(),yes
pthread_barrierattr_destroy(),yes
pthread_barrierattr_init(),yes
.. _posix_option_group_clock_selection:
POSIX_CLOCK_SELECTION
=====================
.. csv-table:: POSIX_CLOCK_SELECTION
:header: API, Supported
:widths: 50,10
pthread_condattr_getclock(),yes
pthread_condattr_setclock(),yes
clock_nanosleep(),yes
.. _posix_option_group_semaphores:
POSIX_SEMAPHORES
================
.. csv-table:: POSIX_SEMAPHORES
:header: API, Supported
:widths: 50,10
sem_close(),
sem_destroy(),yes
sem_getvalue(),yes
sem_init(),yes
sem_open(),
sem_post(),yes
sem_trywait(),yes
sem_unlink(),
sem_wait(),yes
.. _posix_option_group_spin_locks:
POSIX_SPIN_LOCKS
================
.. csv-table:: POSIX_SPIN_LOCKS
:header: API, Supported
:widths: 50,10
pthread_spin_destroy(),yes
pthread_spin_init(),yes
pthread_spin_lock(),yes
pthread_spin_trylock(),yes
pthread_spin_unlock(),yes
.. _posix_option_group_timers:
POSIX_TIMERS POSIX_TIMERS
++++++++++++ ============
.. csv-table:: POSIX_TIMERS .. csv-table:: POSIX_TIMERS
:header: API, Supported :header: API, Supported
@ -471,13 +397,143 @@ POSIX_TIMERS
timer_getoverrun(),yes timer_getoverrun(),yes
timer_settime(),yes timer_settime(),yes
POSIX_CLOCK_SELECTION
+++++++++++++++++++++
.. csv-table:: POSIX_CLOCK_SELECTION .. _posix_options:
Additional POSIX Options
========================
.. _posix_option_message_passing:
_POSIX_MESSAGE_PASSING
++++++++++++++++++++++
.. csv-table:: _POSIX_MESSAGE_PASSING
:header: API, Supported :header: API, Supported
:widths: 50,10 :widths: 50,10
pthread_condattr_getclock(),yes mq_close(),yes
pthread_condattr_setclock(),yes mq_getattr(),yes
clock_nanosleep(),yes mq_notify(),
mq_open(),yes
mq_receive(),yes
mq_send(),yes
mq_setattr(),yes
mq_unlink(),yes
_POSIX_PRIORITY_SCHEDULING
++++++++++++++++++++++++++
.. _posix_option_priority_scheduling:
.. csv-table:: _POSIX_PRIORITY_SCHEDULING
:header: API, Supported
:widths: 50,10
sched_get_priority_max(),yes
sched_get_priority_min(),yes
sched_getparam(),
sched_getscheduler(),
sched_rr_get_interval(),
sched_setparam(),
sched_setscheduler(),
sched_yield(),yes
.. _posix_option_reader_writer_locks:
_POSIX_READER_WRITER_LOCKS
++++++++++++++++++++++++++
.. csv-table:: _POSIX_READER_WRITER_LOCKS
:header: API, Supported
:widths: 50,10
pthread_rwlock_destroy(),yes
pthread_rwlock_init(),yes
pthread_rwlock_rdlock(),yes
pthread_rwlock_tryrdlock(),yes
pthread_rwlock_trywrlock(),yes
pthread_rwlock_unlock(),yes
pthread_rwlock_wrlock(),yes
pthread_rwlockattr_destroy(),yes
pthread_rwlockattr_getpshared(),
pthread_rwlockattr_init(),yes
pthread_rwlockattr_setpshared(),
.. _posix_option_thread_attr_stackaddr:
_POSIX_THREAD_ATTR_STACKADDR
++++++++++++++++++++++++++++
.. csv-table:: _POSIX_THREAD_ATTR_STACKADDR
:header: API, Supported
:widths: 50,10
pthread_attr_getstackaddr(),yes
pthread_attr_setstackaddr(),yes
.. _posix_option_thread_attr_stacksize:
_POSIX_THREAD_ATTR_STACKSIZE
++++++++++++++++++++++++++++
.. csv-table:: _POSIX_THREAD_ATTR_STACKSIZE
:header: API, Supported
:widths: 50,10
pthread_attr_getstacksize(),yes
pthread_attr_setstacksize(),yes
.. _posix_option_thread_priority_scheduling:
_POSIX_THREAD_PRIORITY_SCHEDULING
+++++++++++++++++++++++++++++++++
.. csv-table:: _POSIX_THREAD_PRIORITY_SCHEDULING
:header: API, Supported
:widths: 50,10
pthread_attr_getinheritsched(),
pthread_attr_getschedpolicy(),yes
pthread_attr_getscope(),
pthread_attr_setinheritsched(),
pthread_attr_setschedpolicy(),yes
pthread_attr_setscope(),
pthread_getschedparam(),yes
pthread_setschedparam(),yes
pthread_setschedprio(),yes
.. _posix_option_timeouts:
_POSIX_TIMEOUTS
+++++++++++++++
.. csv-table:: _POSIX_TIMEOUTS
:header: API, Supported
:widths: 50,10
mq_timedreceive(),
mq_timedsend(),
pthread_mutex_timedlock(),yes
pthread_rwlock_timedrdlock(),yes
pthread_rwlock_timedwrlock(),yes
sem_timedwait(),yes
posix_trace_timedgetnext_event(),
.. _posix_option_xopen_streams:
_XOPEN_STREAMS
++++++++++++++
.. csv-table:: _XOPEN_STREAMS
:header: API, Supported
:widths: 50,10
fattach(),
fdetach(),
getmsg(),
getpmsg(),
ioctl(),yes
isastream(),
putmsg(),
putpmsg(),

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@ -0,0 +1,135 @@
.. _posix_overview:
Overview
########
The Portable Operating System Interface (POSIX) is a family of standards specified by the
`IEEE Computer Society`_ for maintaining compatibility between operating systems. Zephyr
implements a subset of the standard POSIX API specified by `IEEE 1003.1-2017`_ (also known as
POSIX-1.2017).
.. figure:: posix.svg
:align: center
:alt: POSIX Support in Zephyr
POSIX support in Zephyr
.. note::
This page does not document Zephyr's :ref:`POSIX architecture<Posix arch>`, which is used to
run Zephyr as a native application under the host operating system for prototyping,
test, and diagnostic purposes.
With the POSIX support available in Zephyr, an existing POSIX conformant
application can be ported to run on the Zephyr kernel, and therefore leverage
Zephyr features and functionality. Additionally, a library designed to be
POSIX conformant can be ported to Zephyr kernel based applications with no changes.
The POSIX API is an increasingly popular OSAL (operating system abstraction layer) for IoT and
embedded applications, as can be seen in Zephyr, AWS:FreeRTOS, TI-RTOS, and NuttX.
Benefits of POSIX support in Zephyr include:
- Offering a familiar API to non-embedded programmers, especially from Linux
- Enabling reuse (portability) of existing libraries based on POSIX APIs
- Providing an efficient API subset appropriate for small (MCU) embedded systems
.. _posix_subprofiles:
POSIX Subprofiles
=================
While Zephyr supports running multiple `threads <threads_v2>`_ (possibly in an `SMP <smp_arch>`_
configuration), as well as `Virtual Memory and MMUs <memory_management_api>`_, Zephyr code and data
normally share a common address space. The Zephyr kernel executable code and the application
executable code are typically compiled into the same binary artifact. From that perspective, Zephyr
apps can be seen as running in the context of a single process.
While multi-purpose operating systems (OS) offer full POSIX conformance, Real-Time Operating
Systems (RTOS) such as Zephyr typically serve a fixed-purpose, have limited hardware resources,
and experience limited user interaction. In such systems, full POSIX conformance can be
impractical and unnecessary.
For that reason, POSIX defined the following :ref:`Application Environment Profiles (AEP)<posix_aep>`
as part of `IEEE 1003.13-2003`_ (also known as POSIX.13-2003).
* Minimal Realtime System Profile (:ref:`PSE51 <posix_aep_pse51>`)
* Realtime Controller System Profile (:ref:`PSE52 <posix_aep_pse52>`)
* Dedicated Realtime System Profile (:ref:`PSE53 <posix_aep_pse53>`)
* Multi-Purpose Realtime System (PSE54)
POSIX.13-2003 AEP were formalized in 2003 via "Units of Functionality" but the specification is now
inactive (for reference only). Nevertheless, the intent is still captured as part of POSIX-1.2017
via :ref:`Options<posix_options>` and :ref:`Option Groups<posix_option_groups>`, in Appendix E.
.. _posix_apps:
POSIX Applications in Zephyr
============================
A POSIX app in Zephyr is :ref:`built like any other app<application>` and therefore requires the
usual :file:`prj.conf`, :file:`CMakeLists.txt`, and source code. For example, the app below
leverages the ``nanosleep()`` and ``perror()`` POSIX functions.
.. code-block:: cfg
:caption: `prj.conf` for a simple POSIX app in Zephyr
CONFIG_POSIX_API=y
.. code-block:: c
:caption: A simple app that uses Zephyr's POSIX API
#include <stddef.h>
#include <stdio.h>
#include <time.h>
void megasleep(size_t megaseconds)
{
struct timespec ts = {
.tv_sec = megaseconds * 1000000,
.tv_nsec = 0,
};
printf("See you in a while!\n");
if (nanosleep(&ts, NULL) == -1) {
perror("nanosleep");
}
}
int main()
{
megasleep(42);
return 0;
}
..
TODO: insert a link to a list of all samples tagged with 'posix'
.. _posix_config:
Configuration
=============
Like most features in Zephyr, POSIX features are
:ref:`highly configurable<zephyr_intro_configurability>` but disabled by default. Users must
explicitly choose to enable POSIX options via :ref:`Kconfig<kconfig>` selection. Indeed, there are
:ref:`many Kconfig options in Zephyr<posix_kconfig_options>` for the POSIX API to allow for
feature selection at various levels of granularity.
Alternatively, users may enable one of the Kconfig options below as a shortcut to enable multiple
:ref:`Option Groups<posix_option_groups>`.
* :kconfig:option:`CONFIG_POSIX_API`
* :kconfig:option:`CONFIG_PTHREAD_IPC`
.. note::
Since the POSIX environment in Zephyr is fully configurable via :ref:`Kconfig<kconfig>`,
configurations that require modifying features should not be made if strict compliance is
required (POSIX-1.2017, section 2.1.3.1).
..
TODO: create Kconfig shortcuts for PSE51, PSE52, and PSE53
.. _IEEE: https://www.ieee.org/
.. _IEEE Computer Society: https://www.computer.org/
.. _IEEE 1003.1-2017: https://standards.ieee.org/ieee/1003.1/7101/
.. _IEEE 1003.13-2003: https://standards.ieee.org/ieee/1003.13/3322/

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