From 7bdbfb0d2decf11580ecbf6bc40bb3155eb01654 Mon Sep 17 00:00:00 2001
From: wangjianyu3 <wangjianyu3@xiaomi.com>
Date: Thu, 14 Aug 2025 21:45:53 +0800
Subject: [PATCH 01/10] system/init: Add system 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/init:
  ```diff
  -CONFIG_INIT_ENTRYPOINT="nsh_main"
  +CONFIG_INIT_ENTRYPOINT="init_main"
  +CONFIG_SYSTEM_INIT=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>
---
 system/init/CMakeLists.txt |  39 +++
 system/init/Kconfig        | 117 +++++++
 system/init/Make.defs      |  25 ++
 system/init/Makefile       |  39 +++
 system/init/action.c       | 320 +++++++++++++++++++
 system/init/action.h       |  85 +++++
 system/init/builtin.c      | 184 +++++++++++
 system/init/builtin.h      |  38 +++
 system/init/import.c       |  60 ++++
 system/init/import.h       |  38 +++
 system/init/init.c         | 252 +++++++++++++++
 system/init/init.h         |  91 ++++++
 system/init/parser.c       | 288 +++++++++++++++++
 system/init/parser.h       |  60 ++++
 system/init/service.c      | 622 +++++++++++++++++++++++++++++++++++++
 system/init/service.h      | 138 ++++++++
 16 files changed, 2396 insertions(+)
 create mode 100644 system/init/CMakeLists.txt
 create mode 100644 system/init/Kconfig
 create mode 100644 system/init/Make.defs
 create mode 100644 system/init/Makefile
 create mode 100644 system/init/action.c
 create mode 100644 system/init/action.h
 create mode 100644 system/init/builtin.c
 create mode 100644 system/init/builtin.h
 create mode 100644 system/init/import.c
 create mode 100644 system/init/import.h
 create mode 100644 system/init/init.c
 create mode 100644 system/init/init.h
 create mode 100644 system/init/parser.c
 create mode 100644 system/init/parser.h
 create mode 100644 system/init/service.c
 create mode 100644 system/init/service.h

diff --git a/system/init/CMakeLists.txt b/system/init/CMakeLists.txt
new file mode 100644
index 000000000..02c7c0b80
--- /dev/null
+++ b/system/init/CMakeLists.txt
@@ -0,0 +1,39 @@
+# ##############################################################################
+# apps/system/init/CMakeLists.txt
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more contributor
+# license agreements.  See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership.  The ASF licenses this
+# file to you under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License.  You may obtain a copy of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations under
+# the License.
+#
+# ##############################################################################
+
+if(CONFIG_SYSTEM_INIT)
+
+  set(CSRCS init.c action.c builtin.c import.c parser.c service.c)
+
+  nuttx_add_application(
+    MODULE
+    ${CONFIG_SYSTEM_INIT}
+    NAME
+    ${CONFIG_SYSTEM_INIT_PROGNAME}
+    STACKSIZE
+    ${CONFIG_SYSTEM_INIT_STACKSIZE}
+    PRIORITY
+    ${CONFIG_SYSTEM_INIT_PRIORITY}
+    SRCS
+    ${CSRCS})
+
+endif()
diff --git a/system/init/Kconfig b/system/init/Kconfig
new file mode 100644
index 000000000..e2d07cf50
--- /dev/null
+++ b/system/init/Kconfig
@@ -0,0 +1,117 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config SYSTEM_INIT
+	tristate "System Init"
+	default n
+	depends on LIBC_EXECFUNCS
+	depends on SCHED_CHILD_STATUS
+	---help---
+		Enable system init.
+
+if SYSTEM_INIT
+
+#
+# Basic
+#
+
+config SYSTEM_INIT_PRIORITY
+	int "Thread priority"
+	default 100
+
+config SYSTEM_INIT_STACKSIZE
+	int "Stack size"
+	default DEFAULT_TASK_STACKSIZE
+
+config SYSTEM_INIT_PROGNAME
+	string "Program name"
+	default "init"
+
+#
+# RC
+#
+
+config SYSTEM_INIT_RC_LINE_MAX
+	int "Max line length of RC file"
+	default 128
+	---help---
+		Maximum line length of RC file.
+		More details: https://android.googlesource.com/platform/system/core/+/master/init/README.md
+
+#
+# Action
+#
+
+config SYSTEM_INIT_ACTION_CMD_ARGS_MAX
+	int "Max number of command arguments"
+	default 8
+	---help---
+		Maximum number of command arguments.
+		Form:
+		```
+		on <trigger>
+		   <command>
+		   <command>
+		   <command>
+		   ...
+		```
+
+config SYSTEM_INIT_ACTION_MANAGER_EVENT_MAX
+	int "Max number of action manager events"
+	default 32
+	---help---
+		Maximum number of action manager events.
+		```
+		struct action_manager_s
+		{
+		  ...
+		  FAR char *events[CONFIG_SYSTEM_INIT_ACTION_MANAGER_EVENT_MAX];
+		  ...
+		};
+		```
+
+#
+# Service
+#
+
+config SYSTEM_INIT_SERVICE_ARGS_MAX
+	int "Max number of service arguments"
+	default 8
+	range 3 64
+	---help---
+		Maximum number of service arguments,
+		including "name", "pathname" and key word "service"(at least 3). Form:
+		```
+		service <name> <pathname> [ <argument> ]*
+		   <option>
+		   <option>
+		   ...
+		```
+
+config SYSTEM_INIT_SERVICE_RESTART_PERIOD
+	int "Service restart period in ms"
+	default 5000
+
+#
+# Log level
+#
+
+config SYSTEM_INIT_ERR
+	bool "Enable error log"
+	default !DEFAULT_SMALL
+
+config SYSTEM_INIT_WARN
+	bool "Enable warning log"
+	depends on SYSTEM_INIT_ERR
+
+config SYSTEM_INIT_INFO
+	bool "Enable info log"
+	depends on SYSTEM_INIT_WARN
+
+config SYSTEM_INIT_DEBUG
+	bool "Enable debug log"
+	depends on SYSTEM_INIT_INFO
+
+endif
diff --git a/system/init/Make.defs b/system/init/Make.defs
new file mode 100644
index 000000000..ebf74cef2
--- /dev/null
+++ b/system/init/Make.defs
@@ -0,0 +1,25 @@
+############################################################################
+# apps/system/init/Make.defs
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+ifneq ($(CONFIG_SYSTEM_INIT),)
+CONFIGURED_APPS += $(APPDIR)/system/init
+endif
diff --git a/system/init/Makefile b/system/init/Makefile
new file mode 100644
index 000000000..fecdd2891
--- /dev/null
+++ b/system/init/Makefile
@@ -0,0 +1,39 @@
+############################################################################
+# apps/system/init/Makefile
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.  The
+# ASF licenses this file to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance with the
+# License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+############################################################################
+
+include $(APPDIR)/Make.defs
+
+# Init Example
+
+MAINSRC = init.c
+CSRCS += builtin.c
+CSRCS += parser.c
+CSRCS += action.c
+CSRCS += service.c
+CSRCS += import.c
+
+PROGNAME = $(CONFIG_SYSTEM_INIT_PROGNAME)
+PRIORITY = $(CONFIG_SYSTEM_INIT_PRIORITY)
+STACKSIZE = $(CONFIG_SYSTEM_INIT_STACKSIZE)
+MODULE = $(CONFIG_SYSTEM_INIT)
+
+include $(APPDIR)/Application.mk
diff --git a/system/init/action.c b/system/init/action.c
new file mode 100644
index 000000000..c77153a49
--- /dev/null
+++ b/system/init/action.c
@@ -0,0 +1,320 @@
+/****************************************************************************
+ * apps/system/init/action.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <assert.h>
+#include <errno.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <time.h>
+#include <sys/types.h>
+#include <sys/param.h>
+#include <unistd.h>
+
+#include "action.h"
+#include "builtin.h"
+#include "init.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Maximum number of parameters for the action trigger.
+ * Format: `on <trigger>`
+ */
+
+#define ACTION_ARGUMENTS_MAX 2
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+#ifdef CONFIG_SYSTEM_INIT_DEBUG
+static void init_dump_action(FAR struct action_s *action);
+#else
+#  define init_dump_action(a)
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_SYSTEM_INIT_DEBUG
+static void init_dump_action(FAR struct action_s *action)
+{
+  FAR struct action_cmd_s *cmd;
+
+  init_debug("action %p", action);
+  init_debug("  event trigger: '%s'", action->event ? action->event : "");
+  list_for_every_entry(&action->cmds, cmd, struct action_cmd_s, node)
+    {
+      init_dump_args(cmd->argc, cmd->argv);
+    }
+}
+#endif
+
+static void add_ready(FAR struct action_manager_s *am,
+                      FAR struct action_s *a)
+{
+  FAR struct action_s *ready;
+#ifdef CONFIG_SYSTEM_INIT_DEBUG
+  FAR struct action_cmd_s *cmd;
+
+  list_for_every_entry(&a->cmds, cmd, struct action_cmd_s, node)
+    {
+      init_debug("add ready %p %s", cmd, cmd->argv[0]);
+    }
+#endif
+
+  list_for_every_entry(&am->ready_actions, ready, struct action_s,
+                       ready_node)
+    {
+      if (ready == a)
+        {
+          init_debug("action %p(%s) already on the queue", a,
+                     a->event ? a->event : "");
+          init_dump_action(a);
+          return;
+        }
+    }
+
+  list_add_tail(&am->ready_actions, &a->ready_node);
+}
+
+static void update_ready(FAR struct action_manager_s *am)
+{
+  size_t i;
+
+  /* Actions with event trigger */
+
+  for (i = 0; i < nitems(am->events); i++)
+    {
+      if (!am->events[i])
+        {
+          continue;
+        }
+
+      am->current = list_prepare_entry(am->current, &am->actions,
+                                       struct action_s, node);
+      list_for_every_entry_continue(am->current, &am->actions,
+                                    struct action_s, node)
+        {
+          if (am->current->event && !strcmp(am->current->event,
+                                            am->events[i]))
+            {
+              add_ready(am, am->current);
+              return;
+            }
+        }
+
+      init_debug("remove event [%zu] '%s'", i, am->events[i]);
+      am->current = NULL;
+      free(am->events[i]);
+      am->events[i] = NULL;
+    }
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int init_action_add_event(FAR struct action_manager_s *am,
+                          FAR const char *event)
+{
+  int ret = -ENOBUFS;
+  size_t i;
+
+  for (i = 0; i < nitems(am->events); i++)
+    {
+      if (am->events[i])
+        {
+          continue;
+        }
+
+      am->events[i] = strdup(event);
+      if (am->events[i])
+        {
+          init_debug("add event [%zu] '%s'", i, am->events[i]);
+          return 0;
+        }
+
+      ret = -errno;
+      break;
+    }
+
+  init_warn("drop event '%s' %d", event, ret);
+  return ret;
+}
+
+/****************************************************************************
+ * Name: init_action_run_command
+ *
+ * Description:
+ *   Execute the ready commands in the action.
+ *
+ * Input Parameters:
+ *   am - Instance of Action Manager
+ *
+ * Returned Value:
+ *   The expected next call interval (in milliseconds), where INT_MAX
+ *   indicates blocking.
+ ****************************************************************************/
+
+int init_action_run_command(FAR struct action_manager_s *am)
+{
+  FAR struct action_s *ready;
+  int ret;
+
+  if (am->pid_running != -1)
+    {
+      init_debug("waiting '%s' pid %d", am->running->argv[0],
+                 am->pid_running);
+      return INT_MAX;
+    }
+
+  update_ready(am);
+  if (list_is_empty(&am->ready_actions))
+    {
+      return INT_MAX;
+    }
+
+  ready = list_peek_head_type(&am->ready_actions, struct action_s,
+                              ready_node);
+
+  if (!am->running)
+    {
+      am->running = list_peek_head_type(&ready->cmds,
+                                        struct action_cmd_s, node);
+    }
+
+  ret = init_builtin_run(am, am->running->argc, am->running->argv);
+  if (ret > 0)
+    {
+      am->pid_running = ret;
+    }
+  else
+    {
+      init_action_reap_command(am);
+    }
+
+  return 0;
+}
+
+void init_action_reap_command(FAR struct action_manager_s *am)
+{
+  FAR struct action_s *ready = list_peek_head_type(&am->ready_actions,
+                                                   struct action_s,
+                                                   ready_node);
+
+  am->pid_running = -1;
+  if (list_is_tail(&ready->cmds, &am->running->node))
+    {
+      am->running = NULL;
+      list_delete(&ready->ready_node);
+    }
+  else
+    {
+      am->running = list_next_entry(am->running, struct action_cmd_s, node);
+    }
+}
+
+int init_action_parse(FAR const struct parser_s *parser,
+                      bool create, FAR char *buf)
+{
+  FAR struct action_manager_s *am = parser->priv;
+  FAR char *argv[ACTION_ARGUMENTS_MAX];
+  FAR struct action_cmd_s *cmd;
+  FAR struct action_s *a;
+  int ret;
+
+  if (create)
+    {
+      ret = init_parse_arguments(buf, false, nitems(argv), argv);
+      if (ret < 2)
+        {
+          init_err("invalid argument: %s", buf);
+          return -EINVAL;
+        }
+
+      a = calloc(1, sizeof(*a));
+      if (a == NULL)
+        {
+          init_err("alloc");
+          return -errno;
+        }
+
+      list_initialize(&a->cmds);
+
+      a->event = strdup(argv[--ret]);
+      if (a->event == NULL)
+        {
+          init_err("event trigger");
+          free(a);
+          return -errno;
+        }
+
+      list_add_tail(&am->actions, &a->node);
+      init_debug("add action %p(%s) to manager %p", a, argv[1], am);
+    }
+  else
+    {
+      cmd = calloc(1, sizeof(*cmd));
+      if (cmd == NULL)
+        {
+          init_err("alloc");
+          return -errno;
+        }
+
+      cmd->argc = init_parse_arguments(buf, true, nitems(cmd->argv) - 1,
+                                       cmd->argv);
+      if (cmd->argc < 1)
+        {
+          free(cmd);
+          init_err("invalid argument");
+          return -EINVAL;
+        }
+
+      a = list_last_entry(&am->actions, struct action_s, node);
+      list_add_tail(&a->cmds, &cmd->node);
+      init_debug("add command %p(%s) to action %p", cmd, cmd->argv[0], a);
+      init_dump_args(cmd->argc, cmd->argv);
+    }
+
+  return 0;
+}
+
+#ifdef CONFIG_SYSTEM_INIT_DEBUG
+void init_dump_actions(FAR struct list_node *head)
+{
+  FAR struct action_s *action;
+
+  init_debug("== Dump Actions ==");
+  list_for_every_entry(head, action, struct action_s, node)
+    {
+      init_dump_action(action);
+    }
+}
+#endif
diff --git a/system/init/action.h b/system/init/action.h
new file mode 100644
index 000000000..b5d142b8a
--- /dev/null
+++ b/system/init/action.h
@@ -0,0 +1,85 @@
+/****************************************************************************
+ * apps/system/init/action.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_INIT_ACTION_H
+#define __APPS_SYSTEM_INIT_ACTION_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/list.h>
+
+#include "parser.h"
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+struct action_cmd_s
+{
+  struct list_node node;
+  int argc;
+  FAR char *argv[CONFIG_SYSTEM_INIT_ACTION_CMD_ARGS_MAX];
+};
+
+struct action_s
+{
+  struct list_node node;
+  struct list_node ready_node;
+
+  /* Event trigger */
+
+  FAR const char *event;
+
+  struct list_node cmds;                     /* struct action_cmd_s */
+};
+
+struct action_manager_s
+{
+  struct list_node actions;                  /* struct action_s */
+  struct list_node ready_actions;            /* struct action_s */
+
+  FAR char *events[CONFIG_SYSTEM_INIT_ACTION_MANAGER_EVENT_MAX];
+  FAR struct action_s *current;
+
+  FAR struct action_cmd_s *running;
+  int pid_running;
+  FAR struct service_manager_s *sm;
+};
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+int  init_action_add_event(FAR struct action_manager_s *am,
+                           FAR const char *name);
+int  init_action_run_command(FAR struct action_manager_s *am);
+void init_action_reap_command(FAR struct action_manager_s *am);
+int  init_action_parse(FAR const struct parser_s *parser,
+                       bool create, FAR char *buf);
+#ifdef CONFIG_SYSTEM_INIT_DEBUG
+void init_dump_actions(FAR struct list_node *head);
+#else
+#  define init_dump_actions(h)
+#endif
+#endif /* __APPS_SYSTEM_INIT_ACTION_H */
diff --git a/system/init/builtin.c b/system/init/builtin.c
new file mode 100644
index 000000000..0df7e8224
--- /dev/null
+++ b/system/init/builtin.c
@@ -0,0 +1,184 @@
+/****************************************************************************
+ * apps/system/init/builtin.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <errno.h>
+#include <string.h>
+#include <spawn.h>
+#include <sys/param.h>
+
+#include "builtin.h"
+#include "init.h"
+#include "service.h"
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct cmd_map_s
+{
+  FAR const char *cmd;
+  uint8_t minargs;
+  uint8_t maxargs;
+  CODE int (*func)(FAR struct action_manager_s *, int, FAR char **);
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static int cmd_trigger(FAR struct action_manager_s *am,
+                       int argc, FAR char **argv);
+static int cmd_start(FAR struct action_manager_s *am,
+                     int argc, FAR char **argv);
+static int cmd_stop(FAR struct action_manager_s *am,
+                    int argc, FAR char **argv);
+static int cmd_exec(FAR struct action_manager_s *am,
+                    int argc, FAR char **argv);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct cmd_map_s g_builtin[] =
+{
+  {"exec", 3, 99, cmd_exec},
+  {"start", 2, 2, cmd_start},
+  {"stop", 2, 2, cmd_stop},
+  {"trigger", 2, 2, cmd_trigger},
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static int cmd_start(FAR struct action_manager_s *am,
+                     int argc, FAR char **argv)
+{
+  FAR struct service_s *service;
+
+  service = init_service_find_by_name(am->sm, argv[1]);
+  if (!service)
+    {
+      init_err("no such service '%s'", argv[1]);
+      return -EINVAL;
+    }
+
+  return init_service_start(service);
+}
+
+static int cmd_stop(FAR struct action_manager_s *am,
+                    int argc, FAR char **argv)
+{
+  FAR struct service_s *service;
+
+  service = init_service_find_by_name(am->sm, argv[1]);
+  if (!service)
+    {
+      init_err("no such service '%s'", argv[1]);
+      return -EINVAL;
+    }
+
+  return init_service_stop(service);
+}
+
+static int cmd_trigger(FAR struct action_manager_s *am,
+                       int argc, FAR char **argv)
+{
+  return init_action_add_event(am, argv[1]);
+}
+
+static int cmd_exec(FAR struct action_manager_s *am,
+                    int argc, FAR char **argv)
+{
+  int i;
+
+  for (i = 0; i < argc; i++)
+    {
+      if (!strcmp(argv[i], "--"))
+        {
+          i++;
+          return init_builtin_run(am, argc - i, &argv[i]);
+        }
+    }
+
+  return -EINVAL;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: init_builtin_run
+ *
+ * Description:
+ *   Execute the builtin command of Init, builtin App, or NSH builtin.
+ *
+ * Input Parameters:
+ *   am   - Instance of Action Manager.
+ *   argc - Argument count.
+ *   argv - A pointer to an array of string arguments. The end of the array
+ *          is indicated with a NULL entry.
+ *
+ * Returned Value:
+ *   Returns 0 (for Init builtin) or a PID(for builtin App or NSH builtin) on
+ *   success; Returns the negative value of errno on failure.
+ ****************************************************************************/
+
+int init_builtin_run(FAR struct action_manager_s *am,
+                     int argc, FAR char **argv)
+{
+  pid_t pid;
+  size_t i;
+  int ret;
+
+  for (i = 0; i < nitems(g_builtin); i++)
+    {
+      if (!strcmp(g_builtin[i].cmd, argv[0]))
+        {
+          if (argc < g_builtin[i].minargs || argc > g_builtin[i].maxargs)
+            {
+              init_err("executing command '%s': invalid argument", argv[0]);
+              init_dump_args(argc, argv);
+              return -EINVAL;
+            }
+
+          init_info("executing command '%s'", argv[0]);
+          return g_builtin[i].func(am, argc, argv);
+        }
+    }
+
+  ret = posix_spawnp(&pid, argv[0], NULL, NULL, argv, NULL);
+  if (ret != 0)
+    {
+      init_err("executing command '%s': %d", argv[0], ret);
+      init_dump_args(argc, argv);
+      return -ret;
+    }
+
+  init_debug("executed command '%s' pid %d", argv[0], pid);
+  return pid;
+}
diff --git a/system/init/builtin.h b/system/init/builtin.h
new file mode 100644
index 000000000..928d53f94
--- /dev/null
+++ b/system/init/builtin.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/init/builtin.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_INIT_BUILTIN_H
+#define __APPS_SYSTEM_INIT_BUILTIN_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "action.h"
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+int init_builtin_run(FAR struct action_manager_s *am,
+                     int argc, FAR char **argv);
+#endif
diff --git a/system/init/import.c b/system/init/import.c
new file mode 100644
index 000000000..48e81ad0b
--- /dev/null
+++ b/system/init/import.c
@@ -0,0 +1,60 @@
+/****************************************************************************
+ * apps/system/init/import.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <errno.h>
+#include <sys/param.h>
+
+#include "import.h"
+#include "init.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int init_import_parse(FAR const struct parser_s *parser,
+                      bool create, FAR char *buf)
+{
+  FAR char *argv[2];
+  int ret;
+
+  if (create)
+    {
+      init_parse_arguments(buf, false, nitems(argv), argv);
+      ret = init_parse_config_file(parser, argv[1]);
+      if (ret < 0)
+        {
+          init_err("import %s", argv[1]);
+          return ret;
+        }
+    }
+  else
+    {
+      init_err("parse import");
+      return -EINVAL;
+    }
+
+  return 0;
+}
diff --git a/system/init/import.h b/system/init/import.h
new file mode 100644
index 000000000..4dbcecee5
--- /dev/null
+++ b/system/init/import.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/init/import.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_INIT_IMPORT_H
+#define __APPS_SYSTEM_INIT_IMPORT_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "parser.h"
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+int init_import_parse(FAR const struct parser_s *parser,
+                      bool create, FAR char *buf);
+#endif /* __APPS_SYSTEM_INIT_IMPORT_H */
diff --git a/system/init/init.c b/system/init/init.c
new file mode 100644
index 000000000..777009f21
--- /dev/null
+++ b/system/init/init.c
@@ -0,0 +1,252 @@
+/****************************************************************************
+ * apps/system/init/init.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <errno.h>
+#include <poll.h>
+#include <sys/param.h>
+#include <sys/boardctl.h>
+#include <sys/wait.h>
+
+#include <netutils/netinit.h>
+
+#include "action.h"
+#include "builtin.h"
+#include "init.h"
+#include "import.h"
+#include "service.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define MS2TIMESPEC(ts, ms) \
+          ((ms) == INT_MAX ? NULL \
+                           : ((ts)->tv_sec = (ms) / 1000, \
+                              (ts)->tv_nsec = ((ms) % 1000) * 1000000, (ts)))
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct init_event_s
+{
+  FAR struct pollfd *pfd;
+  FAR void *priv;
+  FAR struct service_manager_s *sm;
+  FAR struct action_manager_s *am;
+  CODE int  (*init)   (FAR struct init_event_s *);
+  CODE void (*handle) (FAR struct init_event_s *);
+  CODE void (*deinit) (FAR struct init_event_s *);
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void reap_process(FAR struct service_manager_s *sm,
+                         FAR struct action_manager_s *am)
+{
+  FAR const char *name = "unknown";
+  FAR const char *status;
+  FAR struct service_s *service;
+  int wstatus;
+  int pid;
+
+  for (; ; )
+    {
+      pid = waitpid(-1,
+#ifdef CONFIG_SYSTEM_INIT_DEBUG
+                    &wstatus,
+#else
+                    NULL,
+#endif
+                    WNOHANG);
+      if (pid <= 0)
+        {
+          break;
+        }
+      else if (WIFEXITED(wstatus))
+        {
+          status = "status";
+          wstatus = WEXITSTATUS(wstatus);
+        }
+      else if (WIFSIGNALED(wtatus))
+        {
+          status = "signal";
+          wstatus = WTERMSIG(wstatus);
+        }
+      else
+        {
+          continue;
+        }
+
+      service = init_service_find_by_pid(sm, pid);
+      if (service)
+        {
+          name = service->argv[1];
+          init_service_reap(service);
+        }
+      else if (pid == am->pid_running)
+        {
+          name = am->running->argv[0];
+          init_action_reap_command(am);
+        }
+
+      init_log(service ? LOG_WARNING : LOG_DEBUG,
+               "%s '%s' pid %d exited %s %d",
+               service ? "service" : "command", name, pid, status, wstatus);
+    }
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int main(int argc, FAR char *argv[])
+{
+  struct service_manager_s sm =
+    {
+      .services = LIST_INITIAL_VALUE(sm.services),
+    };
+
+  struct action_manager_s am =
+    {
+      .actions = LIST_INITIAL_VALUE(am.actions),
+      .ready_actions = LIST_INITIAL_VALUE(am.ready_actions),
+      .events = { 0 },
+      .current = NULL,
+      .running = NULL,
+      .pid_running = -1,
+      .sm = &sm,
+    };
+
+  const struct parser_s parser[] =
+    {
+      {"import", init_import_parse, NULL, NULL},
+      {"on", init_action_parse, NULL, &am},
+      {"service", init_service_parse, init_service_check, &sm},
+      {NULL},
+    };
+
+  struct init_event_s ev[] =
+    {
+    };
+
+  struct pollfd pfds[nitems(ev)];
+  size_t i;
+  int r;
+
+#ifdef CONFIG_USBDEV_TRACE
+  usbtrace_enable(TRACE_BITSET);
+#endif
+
+  for (i = 0; i < nitems(ev); i++)
+    {
+      ev[i].sm = &sm;
+      ev[i].am = &am;
+      ev[i].pfd = &pfds[i];
+      r = ev[i].init(&ev[i]);
+      if (r < 0)
+        {
+          init_err("init event %zu", i);
+          goto out;
+        }
+    }
+
+  r = init_parse_config_file(parser, "/etc/init.d/init.rc");
+  if (r < 0)
+    {
+      goto out;
+    }
+
+  init_dump_actions(&am.actions);
+  init_dump_services(&sm.services);
+
+  init_action_add_event(&am, "boot");
+
+  boardctl(BOARDIOC_INIT, 0);
+  init_action_add_event(&am, "init");
+
+#ifdef CONFIG_NETUTILS_NETINIT
+  netinit_bringup();
+  init_action_add_event(&am, "netinit");
+#endif
+
+#ifdef CONFIG_BOARDCTL_FINALINIT
+  boardctl(BOARDIOC_FINALINIT, 0);
+  init_action_add_event(&am, "finalinit");
+#endif
+
+  for (; ; )
+    {
+      int t1 = init_service_refresh(&sm);
+      int t2 = init_action_run_command(&am);
+      struct timespec timeout;
+      int t = MIN(t1, t2);
+
+      if (t1 < 0)
+        {
+          r = t1;
+          break;
+        }
+
+      if (t2 < 0)
+        {
+          r = t2;
+          break;
+        }
+
+      r = ppoll(pfds, nitems(pfds), MS2TIMESPEC(&timeout, t), NULL);
+      if (r < 0 && errno != EINTR)
+        {
+          init_err("wait event");
+          break;
+        }
+
+      for (i = 0; i < nitems(ev); i++)
+        {
+          if (ev[i].pfd->revents & ev[i].pfd->events)
+            {
+              ev[i].handle(&ev[i]);
+            }
+        }
+
+      reap_process(&sm, &am);
+    }
+
+out:
+  while (i--)
+    {
+      if (ev[i].deinit)
+        {
+          ev[i].deinit(&ev[i]);
+        }
+    }
+
+  return r;
+}
diff --git a/system/init/init.h b/system/init/init.h
new file mode 100644
index 000000000..f82d4419a
--- /dev/null
+++ b/system/init/init.h
@@ -0,0 +1,91 @@
+/****************************************************************************
+ * apps/system/init/init.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_INIT_INIT_H
+#define __APPS_SYSTEM_INIT_INIT_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <syslog.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#ifdef CONFIG_SYSTEM_INIT_DEBUG
+#define init_debug(...) syslog(LOG_DEBUG, ##__VA_ARGS__)
+#define init_dump_args(argc, argv) \
+          { \
+            int _i; \
+            for (_i = 0; _i < (argc); _i++) \
+              { \
+                init_debug("  argv[%d] '%s'", _i, (argv)[_i]); \
+              } \
+          }
+#else
+#define init_debug(...)
+#define init_dump_args(...)
+#endif
+
+#ifdef CONFIG_SYSTEM_INIT_INFO
+#define init_info(...) syslog(LOG_INFO, ##__VA_ARGS__)
+#else
+#define init_info(...)
+#endif
+
+#ifdef CONFIG_SYSTEM_INIT_WARN
+#define init_warn(...) syslog(LOG_WARNING, ##__VA_ARGS__)
+#else
+#define init_warn(...)
+#endif
+
+#ifdef CONFIG_SYSTEM_INIT_ERR
+#define init_err(f, ...) syslog(LOG_ERR, "Error " f, ##__VA_ARGS__)
+#else
+#define init_err(...)
+#endif
+
+#define init_log(p, ...) \
+        do \
+          { \
+            if ((p) <= LOG_ERR) \
+              { \
+                init_err(__VA_ARGS__); \
+              } \
+            else if ((p) <= LOG_WARNING) \
+              { \
+                init_warn(__VA_ARGS__); \
+              } \
+            else if ((p) <= LOG_INFO) \
+              { \
+                init_info(__VA_ARGS__); \
+              } \
+            else \
+              { \
+                init_debug(__VA_ARGS__); \
+              } \
+          } \
+        while (0)
+
+#endif /* __APPS_SYSTEM_INIT_INIT_H */
diff --git a/system/init/parser.c b/system/init/parser.c
new file mode 100644
index 000000000..ce33414e1
--- /dev/null
+++ b/system/init/parser.c
@@ -0,0 +1,288 @@
+/****************************************************************************
+ * apps/system/init/parser.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <ctype.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <unistd.h>
+
+#include "init.h"
+#include "parser.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int init_parse_arguments(FAR char *buf, bool dup, int argc, FAR char **argv)
+{
+  bool quote = false;
+  bool new = true;
+  int i = 0;
+
+  while (*buf != '\0')
+    {
+      while (isblank(*buf))
+        {
+          if (!quote)
+            {
+              *buf = '\0';
+              new = true;
+            }
+
+          buf++;
+        }
+
+      if (*buf == '-' && *(buf + 1) == '-')
+        {
+          argv[i++] = buf;
+          if (i >= argc || *(buf += 2) == '\0')
+            {
+              break;
+            }
+
+          while (isblank(*buf))
+            {
+              *buf++ = '\0';
+            }
+
+          argv[i++] = buf;
+          break;
+        }
+
+      if (*buf == '\"')
+        {
+          *buf = '\0';
+          if (quote)
+            {
+              quote = false;
+            }
+          else
+            {
+              quote = true;
+              new = true;
+              buf++;
+            }
+        }
+
+      if (new)
+        {
+          argv[i++] = buf;
+          if (i >= argc)
+            {
+              break;
+            }
+
+          new = false;
+        }
+
+      buf++;
+    }
+
+  if (dup && i > 0)
+    {
+      argc = i;
+      for (i = 0; i < argc; i++)
+        {
+          argv[i] = strdup(argv[i]);
+          if (!argv[i])
+            {
+              while (i-- > 0)
+                {
+                  free(argv[i]);
+                }
+
+              return -errno;
+            }
+        }
+    }
+
+  return i;
+}
+
+int init_parse_config_file(FAR const struct parser_s *parser,
+                           FAR const char *file)
+{
+  char buf[CONFIG_SYSTEM_INIT_RC_LINE_MAX];
+  FAR const struct parser_s *cur = NULL;
+  bool create = false;
+  FAR char *nl;
+  size_t n = 0;
+  int ret = 0;
+  int fd;
+#ifdef CONFIG_SYSTEM_INIT_DEBUG
+  int line = 0;
+#endif
+
+  init_debug("parsing %s", file);
+
+  fd = open(file, O_RDONLY | O_CLOEXEC);
+  if (fd < 0)
+    {
+      init_err("opening %s %d", file, errno);
+      return -errno;
+    }
+
+  for (; ; )
+    {
+      ssize_t r = read(fd, &buf[n], sizeof(buf) - n);
+      if (r < 0)
+        {
+          if (errno == EINTR)
+            {
+              continue;
+            }
+
+          ret = -errno;
+          goto out;
+        }
+      else if (r == 0)
+        {
+          if (n == 0)
+            {
+              break;
+            }
+
+          buf[n++] = '\n';
+        }
+
+      n += r;
+      while ((nl = memchr(buf, '\n', n)))
+        {
+          *(nl++) = '\0';
+          n -= nl - buf;
+          init_debug("line %3d: '%s'", ++line, buf);
+
+          for (ret = 0; parser[ret].key; ret++)
+            {
+              if (!strncmp(parser[ret].key, buf, strlen(parser[ret].key)))
+                {
+                  create = true;
+                  cur = &parser[ret];
+                  init_debug("new section (%s)", parser[ret].key);
+                  break;
+                }
+            }
+
+          if (!cur)
+            {
+              ret = -EINVAL;
+              goto out;
+            }
+
+          ret = cur->parse(cur, create, buf);
+          create = false;
+          if (ret < 0)
+            {
+              goto out;
+            }
+
+          memmove(buf, nl, n);
+        }
+
+      if (n == sizeof(buf))
+        {
+          ret = -E2BIG;
+          goto out;
+        }
+    }
+
+  for (n = 0; parser[n].key; n++)
+    {
+      if (parser[n].check)
+        {
+          ret = parser[n].check(&parser[n]);
+          if (ret < 0)
+            {
+              break;
+            }
+        }
+    }
+
+out:
+  close(fd);
+  if (ret < 0)
+    {
+      init_err("parse %s %d", file, ret);
+    }
+
+  return ret;
+}
+
+int init_parse_configs(FAR const struct parser_s *parser,
+                       FAR const char *path)
+{
+  FAR struct dirent *entry;
+  char file[PATH_MAX];
+  struct stat sb;
+  FAR DIR *dir;
+  int ret = 0;
+  size_t i;
+
+  if (stat(path, &sb) < 0)
+    {
+      init_err("stat %s", path);
+      return -errno;
+    }
+
+  if (S_ISDIR(sb.st_mode))
+    {
+      dir = opendir(path);
+      if (dir == NULL)
+        {
+          init_err("opening directory %s", path);
+          return -errno;
+        }
+
+      while ((entry = readdir(dir)) != NULL)
+        {
+          if (DIRENT_ISFILE(entry->d_type))
+            {
+              i = strlen(entry->d_name);
+              if (i >= 3 && !strcmp(entry->d_name + i - 3, ".rc"))
+                {
+                  snprintf(file, sizeof(file), "%s/%s", path, entry->d_name);
+                  ret = init_parse_config_file(parser, file);
+                  if (ret < 0)
+                    {
+                      break;
+                    }
+                }
+            }
+        }
+
+      closedir(dir);
+    }
+  else if (S_ISREG(sb.st_mode))
+    {
+      ret = init_parse_config_file(parser, path);
+    }
+
+  return ret;
+}
diff --git a/system/init/parser.h b/system/init/parser.h
new file mode 100644
index 000000000..5b831f773
--- /dev/null
+++ b/system/init/parser.h
@@ -0,0 +1,60 @@
+/****************************************************************************
+ * apps/system/init/parser.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_INIT_PARSER_H
+#define __APPS_SYSTEM_INIT_PARSER_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <stdbool.h>
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+struct parser_s
+{
+  FAR const char *key;
+
+  CODE int (*parse)(FAR const struct parser_s *, bool, FAR char *);
+  CODE int (*check)(FAR const struct parser_s *);
+
+  /* Type
+   *  a. struct action_manager_s
+   *  b. struct service_manager_s
+   */
+
+  FAR void *priv;
+};
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+int init_parse_arguments(FAR char *buf, bool dup, int argc, FAR char **argv);
+int init_parse_configs(FAR const struct parser_s *parser,
+                       FAR const char *path);
+int init_parse_config_file(FAR const struct parser_s *parser,
+                           FAR const char *file);
+#endif
diff --git a/system/init/service.c b/system/init/service.c
new file mode 100644
index 000000000..ab7ed6f11
--- /dev/null
+++ b/system/init/service.c
@@ -0,0 +1,622 @@
+/****************************************************************************
+ * apps/system/init/service.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/clock.h>
+
+#include <assert.h>
+#include <errno.h>
+#include <string.h>
+#include <stdlib.h>
+#include <time.h>
+#include <signal.h>
+#include <spawn.h>
+#include <sys/param.h>
+
+#include "init.h"
+#include "parser.h"
+#include "service.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define SYSTEM_INIT_SERVICE_GENTLE_KILL_TIMEOUT 200
+#define TIMESPEC2MS(t) (((t).tv_sec * 1000) + (t).tv_nsec / 1000000)
+
+#define check_flags(s, f) ((s)->flags & (f))
+
+#ifdef CONFIG_SYSTEM_INIT_DEBUG
+#  define dump_flags(fmt, flags) \
+          do \
+            { \
+              size_t _i; \
+              for (_i = 0; _i < nitems(g_flag_str); _i++) \
+                { \
+                  if (g_flag_str[_i].flag & (flags)) \
+                    { \
+                      init_debug(fmt, g_flag_str[_i].str); \
+                    } \
+                } \
+            } \
+          while(0)
+#else
+#  define dump_flags(...)
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct cmd_map_s
+{
+  FAR const char *cmd;
+  uint8_t minargs;
+  uint8_t maxargs;
+  int (*func)(FAR struct service_manager_s *, int, FAR char **);
+};
+
+#ifdef CONFIG_SYSTEM_INIT_DEBUG
+struct flag_str_s
+{
+  uint32_t flag;
+  FAR const char *str;
+};
+#endif
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static int option_class(FAR struct service_manager_s *sm,
+                        int argc, FAR char **argv);
+static int option_gentle_kill(FAR struct service_manager_s *sm,
+                              int argc, FAR char **argv);
+static int option_restart_period(FAR struct service_manager_s *sm,
+                                 int argc, FAR char **argv);
+static int option_override(FAR struct service_manager_s *sm,
+                           int argc, FAR char **argv);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct cmd_map_s g_option[] =
+{
+  {"class", 2, 99, option_class},
+  {"gentle_kill", 1, 1, option_gentle_kill},
+  {"restart_period", 2, 2, option_restart_period},
+  {"override", 1, 1, option_override},
+};
+
+#ifdef CONFIG_SYSTEM_INIT_DEBUG
+static const struct flag_str_s g_flag_str[] =
+{
+  {SVC_DISABLED, "disabled"},
+  {SVC_ONESHOT, "oneshot"},
+  {SVC_RUNNING, "running"},
+  {SVC_RESTARTING, "restarting"},
+  {SVC_GENTLE_KILL, "gentle_kill"},
+  {SVC_REMOVE, "remove"},
+  {SVC_SIGKILL, "sigkill"},
+  {SVC_OVERRIDE, "override"},
+};
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void add_flags(FAR struct service_s *service, uint32_t flags)
+{
+  init_debug("service '%s' flag 0x%" PRIx32 " add 0x%" PRIx32 "",
+             service->argv[1], service->flags, flags);
+  dump_flags("  +flag '%s'", flags);
+
+  service->flags |= flags;
+}
+
+static void remove_flags(FAR struct service_s *service, uint32_t flags)
+{
+  init_debug("service '%s' flag 0x%" PRIx32 " add 0x%" PRIx32 "",
+             service->argv[1], service->flags, flags);
+  dump_flags("  -flag '%s'", flags);
+
+  service->flags &= ~flags;
+}
+
+static int kill_service(FAR struct service_s *service, int signo)
+{
+  int ret;
+
+  ret = kill(service->pid, signo);
+  if (ret < 0)
+    {
+      ret = -errno;
+      if (ret == -ESRCH)
+        {
+          init_service_reap(service);
+        }
+    }
+
+  init_log(ret < 0 ? LOG_ERR : LOG_WARNING,
+           "sent signal %d to service '%s' pid %d %d",
+           signo, service->argv[1], service->pid, ret);
+
+  return ret;
+}
+
+static void remove_service(FAR struct service_s *service)
+{
+  FAR struct service_class_s *class;
+  FAR struct service_class_s *tmp;
+  int i;
+
+  init_warn("removing service '%s' ...", service->argv[1]);
+  list_for_every_entry_safe(&service->classes, class, tmp,
+                            struct service_class_s, node)
+    {
+      list_delete(&class->node);
+      free(class);
+    }
+
+  for (i = 0; i < service->argc; i++)
+    {
+      free(service->argv[i]);
+    }
+
+  list_delete(&service->node);
+  free(service);
+}
+
+static int option_class(FAR struct service_manager_s *sm,
+                        int argc, FAR char **argv)
+{
+  FAR struct service_s *s = list_last_entry(&sm->services, struct service_s,
+                                            node);
+  size_t len = strlen(argv[1]) + 1;
+  FAR struct service_class_s *c;
+
+  list_for_every_entry(&s->classes, c, struct service_class_s, node)
+    {
+      if (!strcmp(c->name, argv[1]))
+        {
+          return 0;
+        }
+    }
+
+  c = malloc(sizeof(*c) + len);
+  if (!c)
+    {
+      init_err("alloc class");
+      return -errno;
+    }
+
+  memcpy(c->name, argv[1], len);
+  list_add_tail(&s->classes, &c->node);
+  return 0;
+}
+
+static int option_gentle_kill(FAR struct service_manager_s *sm,
+                              int argc, FAR char **argv)
+{
+  FAR struct service_s *s = list_last_entry(&sm->services, struct service_s,
+                                            node);
+
+  add_flags(s, SVC_GENTLE_KILL);
+  return 0;
+}
+
+static int option_restart_period(FAR struct service_manager_s *sm,
+                                 int argc, FAR char **argv)
+{
+  FAR struct service_s *s = list_last_entry(&sm->services, struct service_s,
+                                            node);
+
+  s->restart_period = atoi(argv[1]);
+  return 0;
+}
+
+static int option_override(FAR struct service_manager_s *sm,
+                           int argc, FAR char **argv)
+{
+  FAR struct service_s *s = list_last_entry(&sm->services, struct service_s,
+                                            node);
+
+  add_flags(s, SVC_OVERRIDE);
+  return 0;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: init_service_refresh
+ *
+ * Description:
+ *   Check if any services need to be restarted, force terminate(SIGKILL), or
+ *   deleted.
+ *
+ * Input Parameters:
+ *   sm - Instance of Service Manager
+ *
+ * Returned Value:
+ *   The expected time interval until the next call is returned, INT_MAX for
+ *   block indefinitely;
+ ****************************************************************************/
+
+int init_service_refresh(FAR struct service_manager_s *sm)
+{
+  FAR struct service_s *service;
+  FAR struct service_s *tmp;
+  struct timespec diff;
+  struct timespec cur;
+  int min = INT_MAX;
+  int ms;
+
+  clock_gettime(CLOCK_MONOTONIC, &cur);
+  list_for_every_entry_safe(&sm->services, service, tmp, struct service_s,
+                            node)
+    {
+      if (check_flags(service, SVC_RESTARTING))
+        {
+          clock_timespec_subtract(&cur, &service->time_started, &diff);
+          ms = TIMESPEC2MS(diff);
+          if (ms >= service->restart_period)
+            {
+              init_service_start(service);
+              continue;
+            }
+
+          min = MIN(min, service->restart_period - ms);
+        }
+      else if (check_flags(service, SVC_RUNNING) &&
+               check_flags(service, SVC_GENTLE_KILL) &&
+               check_flags(service, SVC_DISABLED))
+        {
+          if (check_flags(service, SVC_SIGKILL))
+            {
+              continue;
+            }
+
+          clock_timespec_subtract(&cur, &service->time_kill, &diff);
+          ms = TIMESPEC2MS(diff);
+          if (ms >= SYSTEM_INIT_SERVICE_GENTLE_KILL_TIMEOUT)
+            {
+              init_warn("service '%s' pid %d timeout for gentle kill",
+                        service->argv[1], service->pid);
+              kill_service(service, SIGKILL);
+              add_flags(service, SVC_SIGKILL);
+              continue;
+            }
+
+          min = MIN(min, SYSTEM_INIT_SERVICE_GENTLE_KILL_TIMEOUT - ms);
+        }
+      else if (check_flags(service, SVC_REMOVE) &&
+               check_flags(service, SVC_DISABLED) &&
+               !check_flags(service, SVC_RUNNING))
+        {
+          remove_service(service);
+        }
+    }
+
+  return min;
+}
+
+FAR struct service_s *
+init_service_find_by_name(FAR struct service_manager_s *sm,
+                          FAR const char *name)
+{
+  FAR struct service_s *service;
+
+  list_for_every_entry(&sm->services, service, struct service_s, node)
+    {
+      if (!strcmp(name, service->argv[1]))
+        {
+          return service;
+        }
+    }
+
+  return NULL;
+}
+
+FAR struct service_s *
+init_service_find_by_pid(FAR struct service_manager_s *sm, const int pid)
+{
+  FAR struct service_s *service;
+
+  list_for_every_entry(&sm->services, service, struct service_s, node)
+    {
+      if (pid == service->pid)
+        {
+          return service;
+        }
+    }
+
+  return NULL;
+}
+
+void init_service_reap(FAR struct service_s *service)
+{
+  remove_flags(service, SVC_RUNNING);
+  if (!check_flags(service, SVC_DISABLED))
+    {
+      add_flags(service, SVC_RESTARTING);
+    }
+}
+
+int init_service_start(FAR struct service_s *service)
+{
+  int ret;
+  int pid;
+
+  init_debug("starting service '%s' ...", service->argv[1]);
+
+  if (check_flags(service, SVC_RUNNING))
+    {
+      init_info("service '%s' already started pid %d", service->argv[1],
+                service->pid);
+      return service->pid;
+    }
+
+  ret = posix_spawnp(&pid, service->argv[2], NULL, NULL, &service->argv[2],
+                     environ);
+  if (ret != 0)
+    {
+      init_err("starting service '%s': %d", service->argv[1], ret);
+      return -ret;
+    }
+
+  service->pid = pid;
+  clock_gettime(CLOCK_MONOTONIC, &service->time_started);
+  add_flags(service, SVC_RUNNING);
+  remove_flags(service, SVC_RESTARTING);
+  remove_flags(service, SVC_DISABLED);
+  init_info("started service '%s' pid %d", service->argv[1], service->pid);
+
+  return 0;
+}
+
+int init_service_stop(FAR struct service_s *service)
+{
+  init_info("stopping service '%s' ...", service->argv[1]);
+
+  if (check_flags(service, SVC_RUNNING | SVC_RESTARTING))
+    {
+      if (check_flags(service, SVC_DISABLED))
+        {
+          init_warn("service '%s' is exiting", service->argv[1]);
+          return -EINPROGRESS;
+        }
+    }
+  else
+    {
+      init_warn("service '%s' is not running", service->argv[1]);
+      return -ESRCH;
+    }
+
+  add_flags(service, SVC_DISABLED);
+  if (check_flags(service, SVC_RESTARTING))
+    {
+      remove_flags(service, SVC_RESTARTING);
+    }
+
+  if (check_flags(service, SVC_GENTLE_KILL))
+    {
+      init_debug("gentel kill");
+      remove_flags(service, SVC_SIGKILL);
+      kill_service(service, SIGTERM);
+      clock_gettime(CLOCK_MONOTONIC, &service->time_kill);
+      return 0;
+    }
+
+  return kill_service(service, SIGKILL);
+}
+
+int init_service_start_by_class(FAR struct service_manager_s *sm,
+                                FAR const char *name)
+{
+  FAR struct service_class_s *class;
+  FAR struct service_s *service;
+  int ret;
+
+  list_for_every_entry(&sm->services, service, struct service_s, node)
+    {
+      list_for_every_entry(&service->classes, class, struct service_class_s,
+                           node)
+        {
+          if (!strcmp(name, class->name))
+            {
+              ret = init_service_start(service);
+              if (ret < 0)
+                {
+                  return ret;
+                }
+
+              break;
+            }
+        }
+    }
+
+  return 0;
+}
+
+int init_service_stop_by_class(FAR struct service_manager_s *sm,
+                               FAR const char *name)
+{
+  FAR struct service_class_s *class;
+  FAR struct service_s *service;
+  int ret;
+
+  list_for_every_entry(&sm->services, service, struct service_s, node)
+    {
+      list_for_every_entry(&service->classes, class, struct service_class_s,
+                           node)
+        {
+          if (!strcmp(name, class->name))
+            {
+              ret = init_service_stop(service);
+              if (ret < 0)
+                {
+                  return ret;
+                }
+
+              break;
+            }
+        }
+    }
+
+  return 0;
+}
+
+int init_service_parse(FAR const struct parser_s *parser,
+                       bool create, FAR char *buf)
+{
+  FAR char *argv[CONFIG_SYSTEM_INIT_SERVICE_ARGS_MAX];
+  FAR struct service_manager_s *sm = parser->priv;
+  FAR struct service_s *s;
+  int argc;
+  size_t i;
+
+  if (create)
+    {
+      s = calloc(1, sizeof(*s));
+      if (!s)
+        {
+          init_err("alloc");
+          return -errno;
+        }
+
+      s->argc = init_parse_arguments(buf, true, nitems(s->argv), s->argv);
+      if (s->argc < 3)
+        {
+          init_err("get arguments %d", s->argc);
+          free(s);
+          return -EINVAL;
+        }
+
+      s->restart_period = CONFIG_SYSTEM_INIT_SERVICE_RESTART_PERIOD;
+      list_initialize(&s->classes);
+      list_add_tail(&sm->services, &s->node);
+    }
+  else
+    {
+      argc = init_parse_arguments(buf, false, nitems(argv), argv);
+      for (i = 0; i < nitems(g_option); i++)
+        {
+          if (!strcmp(g_option[i].cmd, argv[0]))
+            {
+              init_info("apply option[%zu] %p for %s", i, g_option[i].func,
+                        argv[0]);
+              if (argc < g_option[i].minargs || argc > g_option[i].maxargs)
+                {
+                  break;
+                }
+
+              init_dump_args(argc, argv);
+              return g_option[i].func(sm, argc, argv);
+            }
+        }
+
+      init_err("'%s': unknown option / invalid argument", argv[0]);
+      return -EINVAL;
+    }
+
+  return 0;
+}
+
+int init_service_check(FAR const struct parser_s *parser)
+{
+  FAR struct service_manager_s *sm = parser->priv;
+  FAR struct service_s *tmp;
+  FAR struct service_s *s;
+
+  list_for_every_entry(&sm->services, s, struct service_s, node)
+    {
+      tmp = list_next_entry(s, struct service_s, node);
+      list_for_every_entry_from(&sm->services, tmp, struct service_s, node)
+        {
+          if (!strcmp(s->argv[1], tmp->argv[1]))
+            {
+              if (!check_flags(tmp, SVC_OVERRIDE))
+                {
+                  init_err("redefined service '%s'", tmp->argv[1]);
+                  init_dump_service(s);
+                  init_dump_service(tmp);
+                  return -EEXIST;
+                }
+
+              init_info("remove duplicate definition of service '%s'",
+                        tmp->argv[1]);
+              add_flags(s, SVC_DISABLED | SVC_REMOVE);
+            }
+        }
+    }
+
+  return 0;
+}
+
+#ifdef CONFIG_SYSTEM_INIT_DEBUG
+void init_dump_service(FAR struct service_s *s)
+{
+  FAR struct service_class_s *c;
+  int i;
+
+  init_debug("Service %p name '%s' path '%s'", s, s->argv[1], s->argv[2]);
+
+  init_debug("  pid: %d", s->pid);
+  init_debug("  arguments:");
+  for (i = 0; s->argv[i] && i < nitems(s->argv); i++)
+    {
+      init_debug("      [%d] '%s'", i, s->argv[i]);
+    }
+
+  init_debug("  classes:");
+  list_for_every_entry(&s->classes, c, struct service_class_s, node)
+    {
+      init_debug("    '%s'", c->name);
+    }
+
+  init_debug("  restart_period: %d", s->restart_period);
+
+  if (s->flags)
+    {
+      init_debug("  flags:");
+      dump_flags("    '%s'", s->flags);
+    }
+}
+
+void init_dump_services(FAR struct list_node *head)
+{
+  FAR struct service_s *service;
+
+  init_debug("== Dump Services ==");
+  list_for_every_entry(head, service, struct service_s, node)
+    {
+      init_dump_service(service);
+    }
+}
+#endif
diff --git a/system/init/service.h b/system/init/service.h
new file mode 100644
index 000000000..a1eb0fdce
--- /dev/null
+++ b/system/init/service.h
@@ -0,0 +1,138 @@
+/****************************************************************************
+ * apps/system/init/service.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_INIT_SERVICE_H
+#define __APPS_SYSTEM_INIT_SERVICE_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/list.h>
+
+#include <stdint.h>
+#include <sys/types.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Ref to Android Init
+ * URL: https://android.googlesource.com/platform/system/core/+/
+ *      android16-release/init/service.h#42
+ */
+#define SVC_DISABLED    (1 << 0)  /* do not autostart with class */
+#define SVC_ONESHOT     (1 << 1)  /* do not restart on exit */
+#define SVC_RUNNING     (1 << 2)  /* currently active */
+#define SVC_RESTARTING  (1 << 3)  /* waiting to restart */
+
+/* This service should be stopped with SIGTERM instead of SIGKILL.
+ * Will still be SIGKILLed after timeout period of 200 ms.
+ */
+
+#define SVC_GENTLE_KILL (1 << 13)
+
+/* Flags below are new added.
+ */
+
+/* Override the previous definition for a service with the same name */
+
+#define SVC_OVERRIDE    (1 << 29)
+
+/* Already sent SIGKILL, and should not send again. */
+
+#define SVC_SIGKILL     (1 << 30)
+
+/* Should be removed immediately after stopped */
+
+#define SVC_REMOVE      (1 << 31)
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+struct service_class_s
+{
+  struct list_node node;
+  FAR char name[0];
+};
+
+struct service_s
+{
+  struct list_node node;
+  struct list_node classes;  /* struct service_class_s */
+
+  uint32_t flags;
+
+  /* The explanation of the `argv` parameter.
+   *
+   * | Index   |   Value     |      Details      |
+   * |---------|-------------|-------------------|
+   * | argv[0] | "service"   | Statement keyword |
+   * | argv[1] | name        | Service name      |
+   * | argv[2] | argv[0]     | Service pathname  |
+   * | argv[n] | argv[n - 2] | Service arguments |
+   */
+
+  FAR char *argv[CONFIG_SYSTEM_INIT_SERVICE_ARGS_MAX];
+  int argc;
+
+  struct timespec time_started;
+  struct timespec time_kill;
+  int restart_period;
+  pid_t pid;
+};
+
+struct service_manager_s
+{
+  struct list_node services; /* struct service_s */
+};
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+int  init_service_refresh(FAR struct service_manager_s *sm);
+void init_service_reap(FAR struct service_s *service);
+int  init_service_start(FAR struct service_s *service);
+int  init_service_stop(FAR struct service_s *service);
+int  init_service_start_by_class(FAR struct service_manager_s *sm,
+                                 FAR const char *name);
+int  init_service_stop_by_class(FAR struct service_manager_s *sm,
+                                FAR const char *name);
+FAR struct service_s *
+init_service_find_by_name(FAR struct service_manager_s *sm,
+                          FAR const char *name);
+FAR struct service_s *
+init_service_find_by_pid(FAR struct service_manager_s *sm, const int pid);
+int init_service_parse(FAR const struct parser_s *parser,
+                       bool create, FAR char *buf);
+int init_service_check(FAR const struct parser_s *parser);
+
+#ifdef CONFIG_SYSTEM_INIT_DEBUG
+void init_dump_service(FAR struct service_s *s);
+void init_dump_services(FAR struct list_node *head);
+#else
+#  define init_dump_service(s)
+#  define init_dump_services(h)
+#endif
+#endif /* __APPS_SYSTEM_INIT_SERVICE_H */

From 024910b4e469f845e974df75e352308086ce2701 Mon Sep 17 00:00:00 2001
From: wangjianyu3 <wangjianyu3@xiaomi.com>
Date: Sat, 16 Aug 2025 20:48:51 +0800
Subject: [PATCH 02/10] system/init: Add class start/stop for service

Usage:
  class_start <classname>
  class_stop <classname>

Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
---
 system/init/builtin.c | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/system/init/builtin.c b/system/init/builtin.c
index 0df7e8224..695a69930 100644
--- a/system/init/builtin.c
+++ b/system/init/builtin.c
@@ -57,6 +57,10 @@ static int cmd_stop(FAR struct action_manager_s *am,
                     int argc, FAR char **argv);
 static int cmd_exec(FAR struct action_manager_s *am,
                     int argc, FAR char **argv);
+static int cmd_class_start(FAR struct action_manager_s *am,
+                           int argc, FAR char **argv);
+static int cmd_class_stop(FAR struct action_manager_s *am,
+                          int argc, FAR char **argv);
 
 /****************************************************************************
  * Private Data
@@ -64,6 +68,8 @@ static int cmd_exec(FAR struct action_manager_s *am,
 
 static const struct cmd_map_s g_builtin[] =
 {
+  {"class_start", 2, 2, cmd_class_start},
+  {"class_stop", 2, 2, cmd_class_stop},
   {"exec", 3, 99, cmd_exec},
   {"start", 2, 2, cmd_start},
   {"stop", 2, 2, cmd_stop},
@@ -74,6 +80,18 @@ static const struct cmd_map_s g_builtin[] =
  * Private Functions
  ****************************************************************************/
 
+static int cmd_class_start(FAR struct action_manager_s *am,
+                           int argc, FAR char **argv)
+{
+  return init_service_start_by_class(am->sm, argv[1]);
+}
+
+static int cmd_class_stop(FAR struct action_manager_s *am,
+                          int argc, FAR char **argv)
+{
+  return init_service_stop_by_class(am->sm, argv[1]);
+}
+
 static int cmd_start(FAR struct action_manager_s *am,
                      int argc, FAR char **argv)
 {

From c50bad10486934b2a350fc93a499fe62c0a0018b Mon Sep 17 00:00:00 2001
From: wangjianyu3 <wangjianyu3@xiaomi.com>
Date: Sat, 30 Aug 2025 20:23:05 +0800
Subject: [PATCH 03/10] system/init: Add NSH builtin support for action

Enable CONFIG_SYSTEM_SYSTEM to support nsh builtins, which depends on nsh.

Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
---
 system/init/builtin.c | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/system/init/builtin.c b/system/init/builtin.c
index 695a69930..1877f8212 100644
--- a/system/init/builtin.c
+++ b/system/init/builtin.c
@@ -25,9 +25,11 @@
  ****************************************************************************/
 
 #include <errno.h>
+#include <stdlib.h>
 #include <string.h>
 #include <spawn.h>
 #include <sys/param.h>
+#include <sys/wait.h>
 
 #include "builtin.h"
 #include "init.h"
@@ -192,6 +194,27 @@ int init_builtin_run(FAR struct action_manager_s *am,
   ret = posix_spawnp(&pid, argv[0], NULL, NULL, argv, NULL);
   if (ret != 0)
     {
+#ifdef CONFIG_SYSTEM_SYSTEM
+      char cmd[CONFIG_SYSTEM_INIT_RC_LINE_MAX];
+
+      for (i = 0, cmd[i] = '\0'; i < argc; i++)
+        {
+          strlcat(cmd, argv[i], sizeof(cmd));
+          if (i < argc - 1)
+            {
+              strcat(cmd, " ");
+            }
+        }
+
+      init_debug("executing NSH command '%s'", cmd);
+      ret = system(cmd);
+      if (WIFEXITED(ret))
+        {
+          init_debug("NSH command '%s' exited %d", cmd, WEXITSTATUS(ret));
+          return -WEXITSTATUS(ret);
+        }
+#endif
+
       init_err("executing command '%s': %d", argv[0], ret);
       init_dump_args(argc, argv);
       return -ret;

From 55d99fde90da0628c96e05d94b135756ea4ee813 Mon Sep 17 00:00:00 2001
From: wangjianyu3 <wangjianyu3@xiaomi.com>
Date: Wed, 27 Aug 2025 23:54:36 +0800
Subject: [PATCH 04/10] system/init: Warning for long commands

If the command of an action takes too long (greater than
CONFIG_SYSTEM_INIT_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>
---
 system/init/Kconfig   |  7 +++++++
 system/init/action.c  | 26 ++++++++++++++++++++++++++
 system/init/action.h  |  4 ++++
 system/init/init.h    |  2 ++
 system/init/service.c |  1 -
 5 files changed, 39 insertions(+), 1 deletion(-)

diff --git a/system/init/Kconfig b/system/init/Kconfig
index e2d07cf50..41ed04cbf 100644
--- a/system/init/Kconfig
+++ b/system/init/Kconfig
@@ -58,6 +58,13 @@ config SYSTEM_INIT_ACTION_CMD_ARGS_MAX
 		   ...
 		```
 
+config SYSTEM_INIT_ACTION_WARN_SLOW
+	int "Warn if command takes too long"
+	default 50
+	depends on SYSTEM_INIT_WARN
+	---help---
+		Warning if command took more than `SYSTEM_INIT_ACTION_WARN_SLOW` ms.
+
 config SYSTEM_INIT_ACTION_MANAGER_EVENT_MAX
 	int "Max number of action manager events"
 	default 32
diff --git a/system/init/action.c b/system/init/action.c
index c77153a49..b7e679221 100644
--- a/system/init/action.c
+++ b/system/init/action.c
@@ -210,6 +210,10 @@ int init_action_run_command(FAR struct action_manager_s *am)
                                         struct action_cmd_s, node);
     }
 
+#if defined(CONFIG_SYSTEM_INIT_ACTION_WARN_SLOW) && \
+    CONFIG_SYSTEM_INIT_ACTION_WARN_SLOW > 0
+  clock_gettime(CLOCK_MONOTONIC, &am->time_run);
+#endif
   ret = init_builtin_run(am, am->running->argc, am->running->argv);
   if (ret > 0)
     {
@@ -229,6 +233,28 @@ void init_action_reap_command(FAR struct action_manager_s *am)
                                                    struct action_s,
                                                    ready_node);
 
+#if defined(CONFIG_SYSTEM_INIT_ACTION_WARN_SLOW) && \
+    CONFIG_SYSTEM_INIT_ACTION_WARN_SLOW > 0
+  struct timespec time;
+  int ms;
+
+  clock_gettime(CLOCK_MONOTONIC, &time);
+  clock_timespec_subtract(&time, &am->time_run, &time);
+  ms = TIMESPEC2MS(time);
+  if (ms > CONFIG_SYSTEM_INIT_ACTION_WARN_SLOW)
+    {
+      if (am->pid_running <= 0)
+        {
+          init_warn("command '%s' took %d ms", am->running->argv[0], ms);
+        }
+      else
+        {
+          init_warn("command '%s' pid %d took %d ms", am->running->argv[0],
+                    am->pid_running, ms);
+        }
+    }
+#endif
+
   am->pid_running = -1;
   if (list_is_tail(&ready->cmds, &am->running->node))
     {
diff --git a/system/init/action.h b/system/init/action.h
index b5d142b8a..a99f58b95 100644
--- a/system/init/action.h
+++ b/system/init/action.h
@@ -64,6 +64,10 @@ struct action_manager_s
 
   FAR struct action_cmd_s *running;
   int pid_running;
+#if defined(CONFIG_SYSTEM_INIT_ACTION_WARN_SLOW) && \
+    CONFIG_SYSTEM_INIT_ACTION_WARN_SLOW > 0
+  struct timespec time_run;
+#endif
   FAR struct service_manager_s *sm;
 };
 
diff --git a/system/init/init.h b/system/init/init.h
index f82d4419a..e5d948074 100644
--- a/system/init/init.h
+++ b/system/init/init.h
@@ -33,6 +33,8 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
+#define TIMESPEC2MS(t) (((t).tv_sec * 1000) + (t).tv_nsec / 1000000)
+
 #ifdef CONFIG_SYSTEM_INIT_DEBUG
 #define init_debug(...) syslog(LOG_DEBUG, ##__VA_ARGS__)
 #define init_dump_args(argc, argv) \
diff --git a/system/init/service.c b/system/init/service.c
index ab7ed6f11..7be0702eb 100644
--- a/system/init/service.c
+++ b/system/init/service.c
@@ -44,7 +44,6 @@
  ****************************************************************************/
 
 #define SYSTEM_INIT_SERVICE_GENTLE_KILL_TIMEOUT 200
-#define TIMESPEC2MS(t) (((t).tv_sec * 1000) + (t).tv_nsec / 1000000)
 
 #define check_flags(s, f) ((s)->flags & (f))
 

From e65904ee14a65266bef770e7dd0d638c572a1657 Mon Sep 17 00:00:00 2001
From: wangjianyu3 <wangjianyu3@xiaomi.com>
Date: Fri, 10 Oct 2025 22:38:15 +0800
Subject: [PATCH 05/10] system/init: Add oneshot support for service

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>
---
 system/init/service.c | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/system/init/service.c b/system/init/service.c
index 7be0702eb..591c7575e 100644
--- a/system/init/service.c
+++ b/system/init/service.c
@@ -97,6 +97,8 @@ static int option_restart_period(FAR struct service_manager_s *sm,
                                  int argc, FAR char **argv);
 static int option_override(FAR struct service_manager_s *sm,
                            int argc, FAR char **argv);
+static int option_oneshot(FAR struct service_manager_s *sm,
+                          int argc, FAR char **argv);
 
 /****************************************************************************
  * Private Data
@@ -108,6 +110,7 @@ static const struct cmd_map_s g_option[] =
   {"gentle_kill", 1, 1, option_gentle_kill},
   {"restart_period", 2, 2, option_restart_period},
   {"override", 1, 1, option_override},
+  {"oneshot", 1, 1, option_oneshot},
 };
 
 #ifdef CONFIG_SYSTEM_INIT_DEBUG
@@ -248,6 +251,16 @@ static int option_override(FAR struct service_manager_s *sm,
   return 0;
 }
 
+static int option_oneshot(FAR struct service_manager_s *sm,
+                          int argc, FAR char **argv)
+{
+  FAR struct service_s *s = list_last_entry(&sm->services, struct service_s,
+                                            node);
+
+  add_flags(s, SVC_ONESHOT);
+  return 0;
+}
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -361,6 +374,11 @@ init_service_find_by_pid(FAR struct service_manager_s *sm, const int pid)
 void init_service_reap(FAR struct service_s *service)
 {
   remove_flags(service, SVC_RUNNING);
+  if (check_flags(service, SVC_ONESHOT))
+    {
+      add_flags(service, SVC_DISABLED | SVC_REMOVE);
+    }
+
   if (!check_flags(service, SVC_DISABLED))
     {
       add_flags(service, SVC_RESTARTING);

From f983d8b0556baaeb03fc1aa4a5e09f241c732eb6 Mon Sep 17 00:00:00 2001
From: wangjianyu3 <wangjianyu3@xiaomi.com>
Date: Sat, 11 Oct 2025 21:10:28 +0800
Subject: [PATCH 06/10] system/init: Add exec_start support for action

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>
---
 system/init/builtin.c | 16 ++++++++++++++--
 system/init/init.c    | 11 ++++++-----
 system/init/service.c |  2 +-
 3 files changed, 21 insertions(+), 8 deletions(-)

diff --git a/system/init/builtin.c b/system/init/builtin.c
index 1877f8212..71137c5d3 100644
--- a/system/init/builtin.c
+++ b/system/init/builtin.c
@@ -53,6 +53,8 @@ struct cmd_map_s
 
 static int cmd_trigger(FAR struct action_manager_s *am,
                        int argc, FAR char **argv);
+static int cmd_exec_start(FAR struct action_manager_s *am,
+                          int argc, FAR char **argv);
 static int cmd_start(FAR struct action_manager_s *am,
                      int argc, FAR char **argv);
 static int cmd_stop(FAR struct action_manager_s *am,
@@ -73,6 +75,7 @@ static const struct cmd_map_s g_builtin[] =
   {"class_start", 2, 2, cmd_class_start},
   {"class_stop", 2, 2, cmd_class_stop},
   {"exec", 3, 99, cmd_exec},
+  {"exec_start", 2, 2, cmd_exec_start},
   {"start", 2, 2, cmd_start},
   {"stop", 2, 2, cmd_stop},
   {"trigger", 2, 2, cmd_trigger},
@@ -94,8 +97,8 @@ static int cmd_class_stop(FAR struct action_manager_s *am,
   return init_service_stop_by_class(am->sm, argv[1]);
 }
 
-static int cmd_start(FAR struct action_manager_s *am,
-                     int argc, FAR char **argv)
+static int cmd_exec_start(FAR struct action_manager_s *am,
+                          int argc, FAR char **argv)
 {
   FAR struct service_s *service;
 
@@ -109,6 +112,15 @@ static int cmd_start(FAR struct action_manager_s *am,
   return init_service_start(service);
 }
 
+static int cmd_start(FAR struct action_manager_s *am,
+                     int argc, FAR char **argv)
+{
+  int ret;
+
+  ret = cmd_exec_start(am, argc, argv);
+  return ret < 0 ? ret : 0;
+}
+
 static int cmd_stop(FAR struct action_manager_s *am,
                     int argc, FAR char **argv)
 {
diff --git a/system/init/init.c b/system/init/init.c
index 777009f21..4e0d5d187 100644
--- a/system/init/init.c
+++ b/system/init/init.c
@@ -105,17 +105,18 @@ static void reap_process(FAR struct service_manager_s *sm,
           continue;
         }
 
+      if (pid == am->pid_running)
+        {
+          name = am->running->argv[0];
+          init_action_reap_command(am);
+        }
+
       service = init_service_find_by_pid(sm, pid);
       if (service)
         {
           name = service->argv[1];
           init_service_reap(service);
         }
-      else if (pid == am->pid_running)
-        {
-          name = am->running->argv[0];
-          init_action_reap_command(am);
-        }
 
       init_log(service ? LOG_WARNING : LOG_DEBUG,
                "%s '%s' pid %d exited %s %d",
diff --git a/system/init/service.c b/system/init/service.c
index 591c7575e..bd11d2c44 100644
--- a/system/init/service.c
+++ b/system/init/service.c
@@ -414,7 +414,7 @@ int init_service_start(FAR struct service_s *service)
   remove_flags(service, SVC_DISABLED);
   init_info("started service '%s' pid %d", service->argv[1], service->pid);
 
-  return 0;
+  return service->pid;
 }
 
 int init_service_stop(FAR struct service_s *service)

From c30099921907f3fef02349fb27bc9c5e76ff57c8 Mon Sep 17 00:00:00 2001
From: wangjianyu3 <wangjianyu3@xiaomi.com>
Date: Fri, 10 Oct 2025 21:48:38 +0800
Subject: [PATCH 07/10] system/init: Add reboot_on_failure for service

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), init 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>
---
 system/init/init.c    |  9 +++++----
 system/init/service.c | 47 +++++++++++++++++++++++++++++++++++++++++--
 system/init/service.h |  8 +++++++-
 3 files changed, 57 insertions(+), 7 deletions(-)

diff --git a/system/init/init.c b/system/init/init.c
index 4e0d5d187..3f29f7f1d 100644
--- a/system/init/init.c
+++ b/system/init/init.c
@@ -75,6 +75,7 @@ static void reap_process(FAR struct service_manager_s *sm,
   FAR const char *status;
   FAR struct service_s *service;
   int wstatus;
+  int ret;
   int pid;
 
   for (; ; )
@@ -93,12 +94,12 @@ static void reap_process(FAR struct service_manager_s *sm,
       else if (WIFEXITED(wstatus))
         {
           status = "status";
-          wstatus = WEXITSTATUS(wstatus);
+          ret = WEXITSTATUS(wstatus);
         }
       else if (WIFSIGNALED(wtatus))
         {
           status = "signal";
-          wstatus = WTERMSIG(wstatus);
+          ret = WTERMSIG(wstatus);
         }
       else
         {
@@ -115,12 +116,12 @@ static void reap_process(FAR struct service_manager_s *sm,
       if (service)
         {
           name = service->argv[1];
-          init_service_reap(service);
+          init_service_reap(service, ret);
         }
 
       init_log(service ? LOG_WARNING : LOG_DEBUG,
                "%s '%s' pid %d exited %s %d",
-               service ? "service" : "command", name, pid, status, wstatus);
+               service ? "service" : "command", name, pid, status, ret);
     }
 }
 
diff --git a/system/init/service.c b/system/init/service.c
index bd11d2c44..b410f2068 100644
--- a/system/init/service.c
+++ b/system/init/service.c
@@ -25,6 +25,7 @@
  ****************************************************************************/
 
 #include <nuttx/clock.h>
+#include <sys/boardctl.h>
 
 #include <assert.h>
 #include <errno.h>
@@ -99,6 +100,10 @@ static int option_override(FAR struct service_manager_s *sm,
                            int argc, FAR char **argv);
 static int option_oneshot(FAR struct service_manager_s *sm,
                           int argc, FAR char **argv);
+#ifdef CONFIG_BOARDCTL_RESET
+static int option_reboot_on_failure(FAR struct service_manager_s *sm,
+                                    int argc, FAR char **argv);
+#endif
 
 /****************************************************************************
  * Private Data
@@ -111,6 +116,9 @@ static const struct cmd_map_s g_option[] =
   {"restart_period", 2, 2, option_restart_period},
   {"override", 1, 1, option_override},
   {"oneshot", 1, 1, option_oneshot},
+#ifdef CONFIG_BOARDCTL_RESET
+  {"reboot_on_failure", 2, 2, option_reboot_on_failure},
+#endif
 };
 
 #ifdef CONFIG_SYSTEM_INIT_DEBUG
@@ -159,7 +167,7 @@ static int kill_service(FAR struct service_s *service, int signo)
       ret = -errno;
       if (ret == -ESRCH)
         {
-          init_service_reap(service);
+          init_service_reap(service, 0);
         }
     }
 
@@ -261,6 +269,17 @@ static int option_oneshot(FAR struct service_manager_s *sm,
   return 0;
 }
 
+#ifdef CONFIG_BOARDCTL_RESET
+static int option_reboot_on_failure(FAR struct service_manager_s *sm,
+                                    int argc, FAR char **argv)
+{
+  FAR struct service_s *s = list_last_entry(&sm->services, struct service_s,
+                                            node);
+  s->reset_reason = atoi(argv[1]);
+  return 0;
+}
+#endif
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -371,8 +390,25 @@ init_service_find_by_pid(FAR struct service_manager_s *sm, const int pid)
   return NULL;
 }
 
-void init_service_reap(FAR struct service_s *service)
+void init_service_reap(FAR struct service_s *service, int status)
 {
+#ifdef CONFIG_BOARDCTL_RESET
+  int ret;
+
+  if (status && service->reset_reason >= 0)
+    {
+      init_err("reboot on failure of service '%s' reason %d",
+               service->argv[1], service->reset_reason);
+      ret = boardctl(BOARDIOC_RESET, service->reset_reason);
+      if (ret < 0)
+        {
+          init_err("reset failed %d", errno);
+        }
+    }
+#else
+  UNUSED(status);
+#endif
+
   remove_flags(service, SVC_RUNNING);
   if (check_flags(service, SVC_ONESHOT))
     {
@@ -404,6 +440,7 @@ int init_service_start(FAR struct service_s *service)
   if (ret != 0)
     {
       init_err("starting service '%s': %d", service->argv[1], ret);
+      init_service_reap(service, ret);
       return -ret;
     }
 
@@ -536,6 +573,9 @@ int init_service_parse(FAR const struct parser_s *parser,
         }
 
       s->restart_period = CONFIG_SYSTEM_INIT_SERVICE_RESTART_PERIOD;
+#ifdef CONFIG_BOARDCTL_RESET
+      s->reset_reason = -1;
+#endif
       list_initialize(&s->classes);
       list_add_tail(&sm->services, &s->node);
     }
@@ -618,6 +658,9 @@ void init_dump_service(FAR struct service_s *s)
     }
 
   init_debug("  restart_period: %d", s->restart_period);
+#ifdef CONFIG_BOARDCTL_RESET
+  init_debug("  reboot_on_failure: %d", s->reset_reason);
+#endif
 
   if (s->flags)
     {
diff --git a/system/init/service.h b/system/init/service.h
index a1eb0fdce..09f617b11 100644
--- a/system/init/service.h
+++ b/system/init/service.h
@@ -100,6 +100,12 @@ struct service_s
   struct timespec time_kill;
   int restart_period;
   pid_t pid;
+
+  /* The "target" of service option "reboot_on_failure" */
+
+#ifdef CONFIG_BOARDCTL_RESET
+  int reset_reason;
+#endif
 };
 
 struct service_manager_s
@@ -112,7 +118,7 @@ struct service_manager_s
  ****************************************************************************/
 
 int  init_service_refresh(FAR struct service_manager_s *sm);
-void init_service_reap(FAR struct service_s *service);
+void init_service_reap(FAR struct service_s *service, int status);
 int  init_service_start(FAR struct service_s *service);
 int  init_service_stop(FAR struct service_s *service);
 int  init_service_start_by_class(FAR struct service_manager_s *sm,

From 48557d3dba56bc814b0dd10f2515d1891c2c9eee Mon Sep 17 00:00:00 2001
From: wangjianyu3 <wangjianyu3@xiaomi.com>
Date: Mon, 13 Oct 2025 16:49:39 +0800
Subject: [PATCH 08/10] system/init: Add boot support for action

Add support for booting a new application firmware image.
Depends on `BOARDCTL_BOOT_IMAGE`.

When the built-in boot command of nsh is enabled, the built-in boot
command of Init will take precedence (see init_builtin_run()). To use
the built-in boot command of nsh, use: `exec -- sh boot [args...]`.

Referred to nshlib/nsh_syscmds.c: cmd_boot()

Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
---
 system/init/builtin.c | 35 +++++++++++++++++++++++++++++++++++
 1 file changed, 35 insertions(+)

diff --git a/system/init/builtin.c b/system/init/builtin.c
index 71137c5d3..6481ff420 100644
--- a/system/init/builtin.c
+++ b/system/init/builtin.c
@@ -24,6 +24,8 @@
  * Included Files
  ****************************************************************************/
 
+#include <sys/boardctl.h>
+
 #include <errno.h>
 #include <stdlib.h>
 #include <string.h>
@@ -65,6 +67,10 @@ static int cmd_class_start(FAR struct action_manager_s *am,
                            int argc, FAR char **argv);
 static int cmd_class_stop(FAR struct action_manager_s *am,
                           int argc, FAR char **argv);
+#ifdef CONFIG_BOARDCTL_BOOT_IMAGE
+static int cmd_boot(FAR struct action_manager_s *am,
+                    int argc, FAR char **argv);
+#endif
 
 /****************************************************************************
  * Private Data
@@ -72,6 +78,9 @@ static int cmd_class_stop(FAR struct action_manager_s *am,
 
 static const struct cmd_map_s g_builtin[] =
 {
+#ifdef CONFIG_BOARDCTL_BOOT_IMAGE
+  {"boot", 1, 3, cmd_boot},
+#endif
   {"class_start", 2, 2, cmd_class_start},
   {"class_stop", 2, 2, cmd_class_stop},
   {"exec", 3, 99, cmd_exec},
@@ -85,6 +94,32 @@ static const struct cmd_map_s g_builtin[] =
  * Private Functions
  ****************************************************************************/
 
+#ifdef CONFIG_BOARDCTL_BOOT_IMAGE
+static int cmd_boot(FAR struct action_manager_s *am,
+                    int argc, FAR char **argv)
+{
+  struct boardioc_boot_info_s info;
+
+  UNUSED(am);
+  memset(&info, 0, sizeof(info));
+
+  if (argc > 1)
+    {
+      info.path = argv[1];
+    }
+
+  if (argc > 2)
+    {
+      info.header_size = strtoul(argv[2], NULL, 0);
+    }
+
+  boardctl(BOARDIOC_BOOT_IMAGE, (uintptr_t)&info);
+  init_err("boot image '%s' %" PRIu32 "", info.path ? info.path : "",
+           info.header_size);
+  return -ENOENT;
+}
+#endif
+
 static int cmd_class_start(FAR struct action_manager_s *am,
                            int argc, FAR char **argv)
 {

From 21a3041cb7e8f71e1f50453d011f48ee85ddf71b Mon Sep 17 00:00:00 2001
From: wangjianyu3 <wangjianyu3@xiaomi.com>
Date: Thu, 16 Oct 2025 16:58:21 +0800
Subject: [PATCH 09/10] system/init: Handle trailing file '\0'

When ETC_ROMFS is disabled to reduce the bin size, we can provide the init.rc
file via a pseudo-file in the boards/vendor directory. For example:
  - CONFIG_ETC_ROMFS=n
  - CONFIG_PSEUDOFS_FILE=y
  - CONFIG_DISABLE_PSEUDOFS_OPERATIONS=n
  ```C
  FAR const char *init_rc =
    "on init\n"
    "    start console\n";
    "service console sh\n"
    "    restart_period 100\n";

  int fd = open("/etc/init.d/init.rc", O_WRONLY | O_CREAT);
  /* ... */
  ssize_t n = write(fd, init_rc, strlen(init_rc) + 1);
  /* ... */
  close(fd);
  ```

The last character '\0' in the file content will be treated as a new line,
and the number of parsed parameters will be zero (abnormal, there should be
at least one keyword).

Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
---
 system/init/parser.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/system/init/parser.c b/system/init/parser.c
index ce33414e1..ac3951aa0 100644
--- a/system/init/parser.c
+++ b/system/init/parser.c
@@ -178,6 +178,10 @@ int init_parse_config_file(FAR const struct parser_s *parser,
           *(nl++) = '\0';
           n -= nl - buf;
           init_debug("line %3d: '%s'", ++line, buf);
+          if (*buf == '\0')
+            {
+              continue;
+            }
 
           for (ret = 0; parser[ret].key; ret++)
             {

From 208fd0b29c3b0fcf90011fafeeb00965a6d7cda8 Mon Sep 17 00:00:00 2001
From: wangjianyu3 <wangjianyu3@xiaomi.com>
Date: Wed, 22 Oct 2025 16:04:09 +0800
Subject: [PATCH 10/10] system/init: Parse default cpu-specific configs

On the basis of init.rc, add default parsing of cpu-specific configs.
- /etc/init.d/init.rc
- /etc/init.d/init.cpu${CPUID}.rc

Refactor function `init_parse_configs()` to parse files from the default path
instead of identifying and parsing directories or files, as the functionality
is unnecessary.

Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
---
 system/init/init.c   |  2 +-
 system/init/parser.c | 55 +++++++++++---------------------------------
 system/init/parser.h |  3 +--
 3 files changed, 16 insertions(+), 44 deletions(-)

diff --git a/system/init/init.c b/system/init/init.c
index 3f29f7f1d..e7ca51680 100644
--- a/system/init/init.c
+++ b/system/init/init.c
@@ -180,7 +180,7 @@ int main(int argc, FAR char *argv[])
         }
     }
 
-  r = init_parse_config_file(parser, "/etc/init.d/init.rc");
+  r = init_parse_configs(parser);
   if (r < 0)
     {
       goto out;
diff --git a/system/init/parser.c b/system/init/parser.c
index ac3951aa0..3efd376af 100644
--- a/system/init/parser.c
+++ b/system/init/parser.c
@@ -26,6 +26,7 @@
 
 #include <ctype.h>
 #include <fcntl.h>
+#include <sched.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -239,54 +240,26 @@ int init_parse_config_file(FAR const struct parser_s *parser,
   return ret;
 }
 
-int init_parse_configs(FAR const struct parser_s *parser,
-                       FAR const char *path)
+int init_parse_configs(FAR const struct parser_s *parser)
 {
-  FAR struct dirent *entry;
+  static FAR const char *base = "/etc/init.d/init.";
   char file[PATH_MAX];
-  struct stat sb;
-  FAR DIR *dir;
-  int ret = 0;
-  size_t i;
+  int ret;
 
-  if (stat(path, &sb) < 0)
+  snprintf(file, sizeof(file), "%src", base);
+  ret = init_parse_config_file(parser, file);
+  if (ret < 0)
     {
-      init_err("stat %s", path);
-      return -errno;
+      return ret;
     }
 
-  if (S_ISDIR(sb.st_mode))
-    {
-      dir = opendir(path);
-      if (dir == NULL)
-        {
-          init_err("opening directory %s", path);
-          return -errno;
-        }
-
-      while ((entry = readdir(dir)) != NULL)
-        {
-          if (DIRENT_ISFILE(entry->d_type))
-            {
-              i = strlen(entry->d_name);
-              if (i >= 3 && !strcmp(entry->d_name + i - 3, ".rc"))
-                {
-                  snprintf(file, sizeof(file), "%s/%s", path, entry->d_name);
-                  ret = init_parse_config_file(parser, file);
-                  if (ret < 0)
-                    {
-                      break;
-                    }
-                }
-            }
-        }
-
-      closedir(dir);
-    }
-  else if (S_ISREG(sb.st_mode))
+  snprintf(file, sizeof(file), "%scpu%d.rc", base, sched_getcpu());
+  ret = access(file, F_OK);
+  if (ret < 0)
     {
-      ret = init_parse_config_file(parser, path);
+      init_debug("skipping non-exist file %s", file);
+      return 0;
     }
 
-  return ret;
+  return init_parse_config_file(parser, file);
 }
diff --git a/system/init/parser.h b/system/init/parser.h
index 5b831f773..149e859d4 100644
--- a/system/init/parser.h
+++ b/system/init/parser.h
@@ -53,8 +53,7 @@ struct parser_s
  ****************************************************************************/
 
 int init_parse_arguments(FAR char *buf, bool dup, int argc, FAR char **argv);
-int init_parse_configs(FAR const struct parser_s *parser,
-                       FAR const char *path);
+int init_parse_configs(FAR const struct parser_s *parser);
 int init_parse_config_file(FAR const struct parser_s *parser,
                            FAR const char *file);
 #endif