system/nxinit: Add NuttX Init ("NxInit") reopened to be integrated on NuttX v13 by acassis · Pull Request #3504 · apache/nuttx-apps

acassis · 2026-05-26T15:24:44Z

Summary

Add NuttX Init ("NxInit")

This component (abbreviated as "NxInit") is specifically developed for NuttX and intended for system initialization. While we have adopted the Android Init Language among various syntax options, this is a brand-new implementation—it is not a port or variant of Android Init.

Refer to the implementation of Android Init Language, consists of five broad classes of statements: Actions, Commands, Services, Options, and Imports.

Actions support two types of triggers: event and action. Action triggers also support runtime triggering. Services support lifecycle management, including automatic restart (at specified intervals), and starting/stopping individually or by class. Import supports files or directories, and we may add a static method in the future. The following are some differences:

The Android Init Language treats lines starting with # as comments, while we use a preprocessor to handle comments.
For action commands, we can omit "exec" and directly execute built-in apps or nsh builtins.
Regarding the property service, users can either adapt it by self or directly use the preset NVS-based properties.
Only part of standard action commands and service options are implemented currlently.

To enable system/init:

-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_ENTRYPOINT="init_main"
+CONFIG_SYSTEM_NXINIT=y

Impact

NuttX will be able to start applications and services without depending NSH and without using the app as NuttX entrypoint directly.

Testing

   [    0.150000] [ 3] [ 0] init_main: == Dump Services ==
   ...
   [    0.160000] [ 3] [ 0] init_main: Service 0x40486aa8 name 'telnet' path 'telnetd'
   [    0.160000] [ 3] [ 0] init_main:   pid: 0
   [    0.160000] [ 3] [ 0] init_main:   arguments:
   [    0.160000] [ 3] [ 0] init_main:       [0] 'service'
   [    0.160000] [ 3] [ 0] init_main:       [1] 'telnet'
   [    0.160000] [ 3] [ 0] init_main:       [2] 'telnetd'
   [    0.160000] [ 3] [ 0] init_main:   classes:
   [    0.160000] [ 3] [ 0] init_main:     'test'
   [    0.170000] [ 3] [ 0] init_main:   restart_period: 3000
   [    0.170000] [ 3] [ 0] init_main:   reboot_on_failure: -1
   [    0.170000] [ 3] [ 0] init_main:   flags:
 > [    0.170000] [ 3] [ 0] init_main:     'oneshot'
   ...
   [    0.370000] [ 3] [ 0] init_main: starting service 'telnet' ...
   [    0.380000] [ 3] [ 0] init_main: service 'telnet' flag 0x2 add 0x4
   [    0.380000] [ 3] [ 0] init_main:   +flag 'running'
   [    0.380000] [ 3] [ 0] init_main: service 'telnet' flag 0x6 add 0x8
   [    0.380000] [ 3] [ 0] init_main:   -flag 'restarting'
   [    0.380000] [ 3] [ 0] init_main: service 'telnet' flag 0x6 add 0x1
   [    0.380000] [ 3] [ 0] init_main:   -flag 'disabled'
   [    0.380000] [ 3] [ 0] init_main: started service 'telnet' pid 9
   ...
   nsh> kill -9 9
   nsh> [    7.350000] [ 3] [ 0] init_main: service 'telnet' flag 0x6 add 0x4
   [    7.350000] [ 3] [ 0] init_main:   -flag 'running'
   [    7.350000] [ 3] [ 0] init_main: service 'telnet' flag 0x2 add 0x80000001
   [    7.350000] [ 3] [ 0] init_main:   +flag 'disabled'
   [    7.350000] [ 3] [ 0] init_main:   +flag 'remove'
   [    7.350000] [ 3] [ 0] init_main: service 'telnet' pid 9 exited status 1
 > [    7.360000] [ 3] [ 0] init_main: removing service 'telnet' ...
``

This component (abbreviated as "NxInit") is specifically developed for NuttX and intended for system initialization. While we have adopted the Android Init Language among various syntax options, this is a brand-new implementation—it is not a port or variant of Android Init. Refer to the implementation of Android Init Language, consists of five broad classes of statements: Actions, Commands, Services, Options, and Imports. Actions support two types of triggers: event and action. Action triggers also support runtime triggering. Services support lifecycle management, including automatic restart (at specified intervals), and starting/stopping individually or by class. Import supports files or directories, and we may add a static method in the future. The following are some differences: 1. The Android Init Language treats lines starting with `#` as comments, while we use a preprocessor to handle comments. 2. For action commands, we can omit "exec" and directly execute built-in apps or nsh builtins. 3. Regarding the property service, users can either adapt it by self or directly use the preset NVS-based properties. 4. Only part of standard action commands and service options are implemented currlently. To enable system/nxinit: ```diff -CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INIT_ENTRYPOINT="init_main" +CONFIG_SYSTEM_NXINIT=y ``` For format and additional details, refer to: https://android.googlesource.com/platform/system/core/+/ master/init/README.md Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>

Usage: class_start <classname> class_stop <classname> Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>

Enable CONFIG_SYSTEM_SYSTEM to support nsh builtins, which depends on nsh. Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>

If the command of an action takes too long (greater than CONFIG_SYSTEM_NXINIT_ACTION_WARN_SLOW milliseconds, 50 ms by default), a warning log will be output for analysis and debugging. For example: a. sleep 1 [ 0.340000] [ 3] [ 0] init_main: executing NSH command 'sleep 1' [ 1.360000] [ 3] [ 0] init_main: NSH command 'sleep 1' exited 0 > [ 1.360000] [ 3] [ 0] init_main: command 'sleep' took 1020 ms b. hello (add sleep(1) to examples/hello) [ 1.390000] [ 3] [ 0] init_main: executed command 'hello' pid 14 [ 1.390000] [ 3] [ 0] init_main: waiting 'hello' pid 14 Hello, World!! > [ 2.400000] [ 3] [ 0] init_main: command 'hello' pid 14 took 1010 ms [ 2.400000] [ 3] [ 0] init_main: command 'hello' pid 14 exited status 0 Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>

Add support for the oneshot option to the service. Test - RC service telnet telnetd class test > oneshot restart_period 3000 - Runtime [ 0.150000] [ 3] [ 0] init_main: == Dump Services == ... [ 0.160000] [ 3] [ 0] init_main: Service 0x40486aa8 name 'telnet' path 'telnetd' [ 0.160000] [ 3] [ 0] init_main: pid: 0 [ 0.160000] [ 3] [ 0] init_main: arguments: [ 0.160000] [ 3] [ 0] init_main: [0] 'service' [ 0.160000] [ 3] [ 0] init_main: [1] 'telnet' [ 0.160000] [ 3] [ 0] init_main: [2] 'telnetd' [ 0.160000] [ 3] [ 0] init_main: classes: [ 0.160000] [ 3] [ 0] init_main: 'test' [ 0.170000] [ 3] [ 0] init_main: restart_period: 3000 [ 0.170000] [ 3] [ 0] init_main: reboot_on_failure: -1 [ 0.170000] [ 3] [ 0] init_main: flags: > [ 0.170000] [ 3] [ 0] init_main: 'oneshot' ... [ 0.370000] [ 3] [ 0] init_main: starting service 'telnet' ... [ 0.380000] [ 3] [ 0] init_main: service 'telnet' flag 0x2 add 0x4 [ 0.380000] [ 3] [ 0] init_main: +flag 'running' [ 0.380000] [ 3] [ 0] init_main: service 'telnet' flag 0x6 add 0x8 [ 0.380000] [ 3] [ 0] init_main: -flag 'restarting' [ 0.380000] [ 3] [ 0] init_main: service 'telnet' flag 0x6 add 0x1 [ 0.380000] [ 3] [ 0] init_main: -flag 'disabled' [ 0.380000] [ 3] [ 0] init_main: started service 'telnet' pid 9 ... nsh> kill -9 9 nsh> [ 7.350000] [ 3] [ 0] init_main: service 'telnet' flag 0x6 add 0x4 [ 7.350000] [ 3] [ 0] init_main: -flag 'running' [ 7.350000] [ 3] [ 0] init_main: service 'telnet' flag 0x2 add 0x80000001 [ 7.350000] [ 3] [ 0] init_main: +flag 'disabled' [ 7.350000] [ 3] [ 0] init_main: +flag 'remove' [ 7.350000] [ 3] [ 0] init_main: service 'telnet' pid 9 exited status 1 > [ 7.360000] [ 3] [ 0] init_main: removing service 'telnet' ... Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>

Format: exec_start <service> Start the specified service and pause the processing of any additional initialization commands until the service completes its execution. This command operates similarly to the `exec` command; the key difference is that it utilizes an existing service definition rather than requiring the `exec` argument vector. This feature is particularly intended for use with the `reboot_on_failure` built-in command to perform all types of essential checks during system boot. Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>

Add support for the reboot_on_failure option to the service. When the execution of a command within a certain action fails (returning a non-zero status code), NxInit will continue to execute subsequent commands or actions and will not proactively terminate the startup process. To implement the functionality of "terminating the startup process after a command execution fails", there are two methods: a. Execute conditional statements (if/then/else/fi) via exec command, but this depends on sh: ``` on init exec -- set +e; \ mount -t fatfs /dev/data /data ; \ if [ $? -ne 0 ] ; \ then \ echo "failed" ; \ reboot ; \ else \ echo "succeed" ; \ fi; ``` b. Via service's oneshot + reboot_on_failure: /* Although the example uses sh, it does not depend on it and can be * replaced with any other Builtin Apps. */ ``` on init exec_start mkdir_tmp ls /tmp service mkdir_tmp sh -c "mkdir /tmp" reboot_on_failure 0 oneshot ``` Test - RC service console sh class core override > reboot_on_failure 0 restart_period 10000 - Runtime [ 0.150000] [ 3] [ 0] init_main: == Dump Services == ... [ 0.170000] [ 3] [ 0] init_main: Service 0x40486ea0 name 'console' path 'sh' [ 0.170000] [ 3] [ 0] init_main: pid: 0 [ 0.170000] [ 3] [ 0] init_main: arguments: [ 0.170000] [ 3] [ 0] init_main: [0] 'service' [ 0.170000] [ 3] [ 0] init_main: [1] 'console' [ 0.170000] [ 3] [ 0] init_main: [2] 'sh' [ 0.170000] [ 3] [ 0] init_main: classes: [ 0.170000] [ 3] [ 0] init_main: 'core' [ 0.170000] [ 3] [ 0] init_main: restart_period: 10000 > [ 0.170000] [ 3] [ 0] init_main: reboot_on_failure: 0 [ 0.170000] [ 3] [ 0] init_main: flags: [ 0.170000] [ 3] [ 0] init_main: 'override' ... [ 0.380000] [ 3] [ 0] init_main: started service 'console' pid 4 ... nsh> kill -9 4 [ 8.060000] [ 3] [ 0] init_main: service 'console' flag 0x20000004 add 0x4 [ 8.060000] [ 3] [ 0] init_main: -flag 'running' [ 8.060000] [ 3] [ 0] init_main: service 'console' flag 0x20000000 add 0x8 [ 8.060000] [ 3] [ 0] init_main: +flag 'restarting' > [ 8.060000] [ 3] [ 0] init_main: Error reboot on failure of service 'console' reason 0 Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>

acassis · 2026-05-26T18:08:50Z

@simbit18 @lupyuen any idea what is this label error:

 label
Unhandled error: ReferenceError: keywords is not defined

linguini1

I don't see anything really wrong with this, just some small comments.

Very excited for this in NuttX!

linguini1 · 2026-05-26T21:48:27Z

Also would be good to test on a couple devices!

This comments to be visible to the users Signed-off-by: Alan C. Assis <acassis@gmail.com>

xiaoxiang781216 · 2026-05-27T12:54:47Z

I would suggest that you don't copy nxinit because:

It is still in the active development
This old copy contain many bugs and lack many improvements

acassis · 2026-05-27T12:59:17Z

I would suggest that you don't copy nxinit because:
1. It is still in the active development

2. This old copy contain many bugs and lack many improvements

Hi @xiaoxiang781216 thank you for the warning, maybe you can share the existing fixes.

We could submit it as EXPERIMENTAL, this way more people will start to test it and will help to improve it. This way is better then developing in entirely on closed doors. Is it possible?

This an issue where a variable was declared as name[0] Signed-off-by: Alan C. Assis <acassis@gmail.com>

Avoid fixing the max 99 class cmds directly in the code. Signed-off-by: Alan C. Assis <acassis@gmail.com>

Make it clear it is a userspace log. Signed-off-by: Alan C. Assis <acassis@gmail.com>

Since boardctl(BOARDIOC_INIT, 0) was removed from all boards, it is not right to use it here. Signed-off-by: Alan C. Assis <acassis@gmail.com>

xiaoxiang781216 · 2026-05-27T13:47:58Z

I would suggest that you don't copy nxinit because:
1. It is still in the active development

2. This old copy contain many bugs and lack many improvements
Hi @xiaoxiang781216 thank you for the warning, maybe you can share the existing fixes.

We could submit it as EXPERIMENTAL, this way more people will start to test it and will help to improve it. This way is better then developing in entirely on closed doors. Is it possible?

it's better to download from openvela repo just like other 3rd party active project.

acassis · 2026-05-27T13:54:38Z

I would suggest that you don't copy nxinit because:
1. It is still in the active development

2. This old copy contain many bugs and lack many improvements
Hi @xiaoxiang781216 thank you for the warning, maybe you can share the existing fixes.
We could submit it as EXPERIMENTAL, this way more people will start to test it and will help to improve it. This way is better then developing in entirely on closed doors. Is it possible?
it's better to download from openvela repo just like other 3rd party active project.

No, the idea is to make NXInit an integral part of NuttX, but a 3rd party.

So, I will change it to EXPERIMENTAL for now.

Add the final event option to the Kconfig Signed-off-by: Alan C. Assis <acassis@gmail.com>

Since NXInit still under development, it is better to change it to EXPERIMENTAL. Signed-off-by: Alan C. Assis <acassis@gmail.com>

linguini1

For visibility, marking that init.rc path should be made configurable in the next patches

cederom · 2026-05-27T20:23:08Z

Ah just came back to the lab, but +1 from me, lets move forward making small steps, thank you @acassis :-)

PR apache#3504 introduced a typo in nxinit/Kconfig: `--help--`. This PR changes it to `---help---` to fix this build error: ``` $ tools/configure.sh rv-virt:nsh apps/system/nxinit/Kconfig:81: syntax error apps/system/nxinit/Kconfig:80: unknown option "--help--" ``` https://github.com/lupyuen/nuttx-riscv64/actions/runs/26546602390/job/78199683651#step:5:162 Signed-off-by: Lup Yuen Lee <luppy@appkaki.com>

lupyuen · 2026-05-28T01:33:02Z

There's a typo in nxinit/Kconfig: --help-- should be ---help---. The fix is here:

nxinit/Kconfig: Change --help-- to ---help--- #3507

JianyuWang0623 added 7 commits May 26, 2026 12:19

system/nxinit: Add class start/stop for service

9a643e4

Usage: class_start <classname> class_stop <classname> Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>

system/nxinit: Add NSH builtin support for action

02b60a1

Enable CONFIG_SYSTEM_SYSTEM to support nsh builtins, which depends on nsh. Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>

acassis requested review from cederom, jerpelea, linguini1, lupyuen, raiden00pl and xiaoxiang781216 May 26, 2026 15:26

github-actions Bot added Size: XL Area: System labels May 26, 2026

linguini1 requested changes May 26, 2026

View reviewed changes

linguini1 mentioned this pull request May 26, 2026

doc/system: Add documentation for NXInit apache/nuttx#18967

Merged

system/nxinit: Add comments to the Kconfig

f399e33

This comments to be visible to the users Signed-off-by: Alan C. Assis <acassis@gmail.com>

acassis added 4 commits May 27, 2026 10:01

system/nxinit: Fix name[0] issue

f5812ad

This an issue where a variable was declared as name[0] Signed-off-by: Alan C. Assis <acassis@gmail.com>

system/nxinit: Let use a define to define the class max cmds

29a9f91

Avoid fixing the max 99 class cmds directly in the code. Signed-off-by: Alan C. Assis <acassis@gmail.com>

system/nxinit: Change LOG_DEBUG to LOG_USER

a188a61

Make it clear it is a userspace log. Signed-off-by: Alan C. Assis <acassis@gmail.com>

system/nxinit: Remove deprecated BOARDIOC_INIT ioctl

2f89a31

Since boardctl(BOARDIOC_INIT, 0) was removed from all boards, it is not right to use it here. Signed-off-by: Alan C. Assis <acassis@gmail.com>

acassis force-pushed the nxinit branch from b855b7b to 2f89a31 Compare May 27, 2026 13:02

acassis force-pushed the nxinit branch from 6a57837 to 3abb27f Compare May 27, 2026 13:49

acassis added 2 commits May 27, 2026 11:01

system/nxinit: Add final event

5d5ea91

Add the final event option to the Kconfig Signed-off-by: Alan C. Assis <acassis@gmail.com>

system/nxinit: Change NXInit to EXPERIMENTAL

09bd09e

Since NXInit still under development, it is better to change it to EXPERIMENTAL. Signed-off-by: Alan C. Assis <acassis@gmail.com>

acassis force-pushed the nxinit branch from b10a6ad to 09bd09e Compare May 27, 2026 14:05

linguini1 approved these changes May 27, 2026

View reviewed changes

michallenc approved these changes May 27, 2026

View reviewed changes

acassis merged commit c28e61f into apache:master May 27, 2026
41 checks passed

linguini1 mentioned this pull request May 28, 2026

[FEATURE] NuttX init system #3503

Closed

1 task

lupyuen mentioned this pull request May 28, 2026

nxinit/Kconfig: Change --help-- to ---help--- #3507

Closed

Conversation

acassis commented May 26, 2026

Summary

Impact

Testing

Uh oh!

acassis commented May 26, 2026

Uh oh!

linguini1 left a comment

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

linguini1 commented May 26, 2026

Uh oh!

xiaoxiang781216 commented May 27, 2026

Uh oh!

acassis commented May 27, 2026

Uh oh!

xiaoxiang781216 commented May 27, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

acassis commented May 27, 2026

Uh oh!

linguini1 left a comment

Choose a reason for hiding this comment

Uh oh!

Uh oh!

cederom commented May 27, 2026

Uh oh!

lupyuen commented May 28, 2026

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

7 participants

xiaoxiang781216 commented May 27, 2026 •

edited

Loading