Uniform Driver Interface
The UDI revival effort maintains an IRC channel on Freenode (irc.freenode.net), called #udi. Feel free to join and ask questions.
UDI stands for "Uniform Driver Interface". It is the specification of a framework and driver API / ABI that enables different operating systems (implementing the UDI framework) to use the same drivers. Conceived by several large industry corporations, it has fallen dormant, despite being functional and delivering on its promise.
UDI drivers are binary compatible across all UDI-compliant operating systems running on the same CPU family. They are also source compatible across all UDI-implementing operating systems. This means, a driver only has to be developed once.
While Microsoft Windows gets all the hardware drivers they want, and GNU discourages UDI for philosophical reasons, its advantages for hobbyist OS developers are obvious.
Why UDI?
The Uniform Driver Interface would, should it be widely adopted, provide a common driver framework for implementation across kernels and platforms, enabling drivers to be provided without respect to the target kernel, and to a large extent, the target hardware platform. UDI has several projected advantages over existing driver interfaces which may motivate the reader to adopt it:
Advantages
- Portability (both cross-OS and cross-platform), which was mentioned in the above section, is perhaps the primary concern for which UDI was developed in the first place. All we can hope for is that enough operating systems will embrace the model so we can actually take advantage of it.
- Performance is comparable or better than that of legacy drivers for a native implementation. For environments where performance is critical, UDI does not inhibit service quality. UDI is explicitly designed to be non-blocking and lockless, featuring a synchronization model for increased MP scalability without locking and many other high-scalability focused features.
- UDI can integrate seamlessly into existing kernel environments regardless of the OS architecture (monolithic kernel vs. microkernel, POSIX vs. non-POSIX, etc.) with little or no extra performance overhead.
- Reliability and stability have been explicitly provided for by the design. UDI tries to eliminate some categories of potential bugs, such as (but not limited to) resource leaks and deadlocks (all interfaces can potentially be implemented without any locking at all).
- Flexibility is another thing UDI has been designed mind with: not only in the way the specification was conceived (i.e., to be extensible), but also in the sense that it permits system programmers to apply techniques such as driver isolation, shadow drivers, etc. if they see fit to do so.
- The interface is fully asynchronous, in every respect; high scaling systems are becoming increasingly predominant and asynchronicity is slowly becoming an "expected" feature for modern kernels. UDI moves ahead of the herd to enable a compliant kernel to slowly adopt asynchronous interfaces without having to do major redesign later on.
Disadvantages
- Moderately complex, and it will generally take a while to understand the specification.
- It cannot simply be ported to immature kernels. A kernel must have a certain minimum level of maturity to reasonably attempt to become UDI compliant.
- Not at all viable for "casual" projects: requires a significant amount of foreknowledge and prior work.
Description
An implementation of the Uniform Driver Interface specification is known as a UDI Environment. There is a reference implementation available (see link below) which provides usable code for several existing kernels (Linux, BSD, Solaris), and it can be used the basis for a fresh implementation. Kernel environment implementations are responsible for providing the Service Call interfaces specified by the UDI Standard; a kernel may choose to implement these as native system calls, or via library extensions -- the decision is up to the implementer. There are two types of service calls recognized by the UDI paradigm: synchronous (which will return immediately to the caller - i.e., to the driver) and asynchronous (which work through a callback mechanism).
UDI drivers also actively take part in identifying their child devices and helping to build the host kernel's device tree. Bus drivers enumerate children, and so on. Each of these buses may have several controllers attached. UDI drivers for these devices will interact in a tree-like fashion just as the hardware does. Let's take a closer look at drivers themselves!
Drivers are split into one or more modules, and each module has at least once region. A driver that has been instantiated (executed, so to speak) uses IPC calls ("Channel operations") to communicate between modules and regions. If a driver is used to instantiate more than one device (say, a disk driver used to instantiate two separate disk devices), the choice of whether the actual driver code is mapped using Copy-on-Write, or duplicated in memory, etc is up to the environment.
Modules
A module is essentially a single executable code object. Specifically, drivers can be broken into multiple executables. A large driver that may only need to load certain components and may not need all of its code in memory all the time may be implemented as a multi-module driver. This partitioning of the driver code into modules is up to the driver vendor of course. Most UDI drivers are expected to be single-module drivers, but complex drivers such as graphics card drivers, etc may be best implemented as multi-module drivers.
Regions
Main article: UDI Regions
Regions are nothing more than blocks of related data. For example, a network card may have a set of register states that are specific to its send() function, and a different set of stats and variables specific to its receive() function. Data is explicitly separated into functionality regions in UDI. A region is nothing more than driver-allocated data for its state variables. The most intuitive way to split driver data is into functionality sub-components of the device in question. So a network card driver may choose to have a send region and a receive region. A graphics driver write may choose to partition the driver into a framebuffer writing region, a transformation region, etc, etc. Then IPC request messages can be sent over UDI IPC channels to each region based on the purpose of that region.
Regions also form the unit of concurrent execution in UDI. Since Regions are nothing more than data, they are also the units which must be synchronized against concurrent writes. Generally, this means making sure that no two threads can modify region data at once. The design of the UDI interfaces is perfectly capable of working without the use of locking, and it is left up to the host OS Environment to choose whether it will use lockless algorithms, spinlocks, waitqueues, or some other method to ensure that no two threads modify region data at the same time. See the main article for a detailed explanation of several practically usable UDI synchronization models.
Another attribute of UDI regions is that they are location- and instance-independent, meaning that they can be moved from one place to another without affecting any of the other regions because they share no common state. That is, a driver can be marshaled and moved from one NUMA node to another, or one physical machine to another over a network, or any other similar type of migration. This is particularly interesting in multiprocessor systems (esp. NUMA), and high-scaling compute clusters because an environment may separate regions due to performance and resource constraints. It's worth mentioning that, because of the separate states, the tasks performed by regions are mutually-exclusive (for instance a network driver might have one region that handles sending packets and another receiving). This is a potential area where host OSs can make huge optimizations to remove performance bottlenecks.
Channels
Main article: UDI Channels
The only way for regions to communicate is through channels. Channels are an IPC-agnostic abstraction of a bi-directional communication mechanism. Each of the two channel endpoints provide an ops vector, which is a set of entry points. They are referenced via handles of type udi_channel_t (check the definition of handles below). The channel operations along with the associated functionality is defined by metalanguages. Metalanguages are separately defined for each class of drivers, but we'll get to that soon.
Metalanguages
Metalanguages define the channel operations mentioned in the previous section. They usually have a parent-child relationship, according to the tree representation explained earlier. However, this does not always hold. One good example is the Management Metalanguage. This metalanguage deals with 3 channels:
- The parent's management channel
- The child's management channel
- The child's bind channel
Don't worry if you don't understand the purpose of the management metalanguage yet. Everything will be explained in greater detail later; I was merely trying to point out this special kind of relationship that doesn't only include the parent and the child, it also includes the Management Agent.
Configuration
There's a special configuration method for static properties of UDI drivers using a file called udiprops.txt. This file is distributed independently in each driver package for source code distributions and linked into a special section (called .udiprops) for binary distributions.
The udiprops.txt file doesn't only allow for static configuration options, but is also used in the building process for UDI drivers since they do not use makefiles - not that it would be technically unfeasible. The UDI specification defines tools for building, packaging and installing UDI drivers for simplicity's sake since, unlike POSIX tools, they don't require operating systems to have any extra functionality (e.g., a VFS). Luckly, these tools are available in the reference implementation, all you need to do is build them.
Below you can see a sample udiprops.txt:
properties_version 0x101 message 1 Project UDI message 2 http://www.project-UDI.org/participants.html message 3 Pseudo-Driver message 4 Generic UDI Pseudo-Driver release 3 1.01 supplier 1 contact 2 name 3 shortname pseudod ## ## Interface dependencies ## requires udi 0x101 requires udi_gio 0x101 ## ## Build instructions. ## module pseudod compile_options -DPSEUDO_GIO_META=1 source_files pseudo.c pseudo.h region 0 ## ## Metalanguage usage ## meta 1 udi_gio # Generic I/O Metalanguage child_bind_ops 1 0 1 # GIO meta, primary region, ops_index 1 # Orphan driver; no device line # # Initialization, shutdown messages # message 1100 pseudod: devmgmt_req %d message 1500 pseudod: final_cleanup_req
Of course, udiprops.txt can be a lot more complex than this, I only wanted you to see what one looks like. You should check the specification for all compile options, statements and configuration options.
Data objects
There are several types of data we need to look at. First, there's modlue-global data - which resides in the .rodata section. The reason why this data is global is that it's read-only and thus won't cause any race conditions - remember that although only one thread of execution can be active per region, several regions of the same driver instance may run in parallel. Secondly, there's region-local and region-global data. Last but not least, function-local variables.
Region-local data is data private to a region. Being private makes it okay to move the region to a different location or domain without affecting any of the neighbouring regions. Region-global is data that is not particular to a channel or operation.
Data objects get allocated via an UDI allocation interface. Let's take a look at the existing types of data objects.
Control blocks
Control blocks are a semi-opaque (i.e., the driver doesn't see the whole data object) data type that are used in metalanguage operations. Once a block is sent via a channel operation it may not be referenced until the channel operation completes. The same is true for asynchronous service calls - the control block will only become available once the callback returns. The way you need to think about this is that a block is owned by only one region at a time and you transfer it from one place to another.
There are several types of control blocks, the generic block type being udi_cb_t. All other types of control blocks are supersets of the generic control block. Also, there is the notion of control block groups - control blocks are categorized into groups of control blocks of the same size. Control blocks within the same group can thus be used interchangeably using casts.
Each control block may own a scratch space which is driver-specific and must be preserved across asynchronous and service calls. The driver can change the size for its control blocks' scratch spaces and if any of these are zero in size, their pointers must not be dereferenced.
typedef struct {
udi_channel_t channel;
void *context;
void *scratch;
void *initiator_context;
udi_origin_t origin;
} udi_cb_t;
Handles
Handles are opaque objects, meaning that the driver does not know their internal representation in the UDI environment. You can implement this as simple (void *)s, internally casting them as pointers into the correct context, or have abstract types.
Initial state
Drivers are relocatable objects files, they have no entry points. UDI drivers have only one global variable, udi_init_info that describes the primary module (and perhaps secondary modules), its primary region (and perhaps the secondary regions that it and the other modules have) and what control blocks it requests. udi_init_info is of type udi_init_t:
typedef const struct { // Don't forget that global variables are read-only
udi_primary_init_t *primary_init_info;
udi_secondary_init_t *secondary_init_list;
udi_ops_init_t *ops_init_list;
udi_cb_init_t *cb_init_list;
udi_gcb_init_t *gcb_init_list;
udi_cb_select_t *cb_select_list;
} udi_init_info;
Driver failures
When illegal behavior is detected by the environment, the misbehaving region will usually be region-killed and all neighouring regions will be notified. All channels to that regions will be closed and all resources owned by that region will be freed.
Metalanguages
See also
- Combuster's effort on creating a graphics metalanguage
- Love4Boobies' page for several other UDI drafts