MFC r322951:

Respect MK_TCSH with build-tools and native-xtools

This helps reduce the WORLDTMP footprint slightly.

Based on a patch I submitted 5 years ago to GNATS.

PR: 174051
Relnotes: yes (anyone who cross-builds with MK_TCSH=yes will run into
build failures if the host doesn't have tcsh(1))
Reminded by: Fabian Keil <fk@fabiankeil.de>

MFC: r274394, r274399, r307802

- Default `bsdconfig timezone' and `tzsetup' to `-s' in a VM.
- Hide dialog specific code behind HAVE_DIALOG. It allows to build a
stripped down version (missing the dialog UI) but perfectly function
tzsetup when world is built WITHOUT_DIALOG.

MFC: r306375

Add a WITHOUT_DIALOG src.conf(5) knob.

It also turns off dependencies (bsdinstall, bsdconfig, dpv, tzsetup).

MFC r314579,r314785:

r314579 (by np):

Add cxgbetool(8) to the base system.

Move cxgbetool from tools/tools to usr.sbin. Compile and install it on
platforms where cxgbe(4) is built by default. Knobs (WITH_CXGBETOOL and
WITHOUT_CXGBETOOL) have been added so that the user can override the
default setting.

r314785:

Fix some trivial manlint warnings

Sentences should begin on new lines, per manlint.

Bump .Dd for the change

MFC 290102

- Include usr.sbin/mpsutil for management of mps(4) and mpr(4) utilities.

- Thanks to scottl and bapt for making this happen.

Submitted by: bapt scottl
Reviewed by: kbowling
Relnotes: yes
Differential Revision: https://reviews.freebsd.org/D5529

MFC 278320,278336,278830,285621:
Add devctl(8): a utility for manipulating new-bus devices. Note that
this version does not include the 'suspend' and 'resume' commands
present in HEAD as those depend on larger changes to the suspend and
resume code in the kernel.

278320:
Add a new device control utility for new-bus devices called devctl. This
allows the user to request administrative changes to individual devices
such as attach or detaching drivers or disabling and re-enabling devices.
- Add a new /dev/devctl2 character device which uses ioctls for device
requests. The ioctls use a common 'struct devreq' which is somewhat
similar to 'struct ifreq'.
- The ioctls identify the device to operate on via a string. This
string can either by the device's name, or it can be a bus-specific
address. (For unattached devices, a bus address is the only way to
locate a device.) Bus drivers register an eventhandler to claim
unrecognized device names that the driver recognizes as a valid address.
Two buses currently support addresses: ACPI recognizes any device
in the ACPI namespace via its full path starting with "\" and
the PCI bus driver recognizes an address specification of
'pci[<domain>:]<bus>:<slot>:<func>' (identical to the PCI selector
strings supported by pciconf).
- To make it easier to cut and paste, change the PnP location string
in the PCI bus driver to output a full PCI selector string rather
than 'slot=<slot> function=<func>'.
- Add a devctl(3) interface in libdevctl which provides a wrapper around
the ioctls and is the preferred interface for other userland code.
- Add a devctl(8) program which is a simple wrapper around the requests
supported by devctl(3).
- Add a resource_unset_value() function that can be used to remove a
hint from the kernel environment. This is used to clear a
hint.<driver>.<unit>.disabled hint when re-enabling a boot-time
disabled device.

278336:
Unbreak the build (memchr is explicitly required by devctl(9) after r278320)

278830:
install the man page...

285621:
Fix formatting.

Approved by: re (marius)

MFH (r275765): add a vigr(8) tool to mirror vipw(8)

MFC r292337, r292552, r292553:

Build mount_smbfs for arm. Also sort the subdirs.

Avoid unaligned memory accesses when encoding netbios names in libsmb.

The current code for encoding a netbios name converts each byte to a 16-bit
value and stores the result by casting a char* to u_short*, resulting in
alignment faults on strict-alignment platforms.

This change reimplements the encoding routine using only byte accesses to
memory. There is no particular reason to work with 16-bit values just
because the encoding process creates two bytes of output for every byte of
input. Working a byte at at time also avoids endian problems for big-endian
platforms.

Make the building of libsmb and mount_smbfs unconditional, now that r292552
has eliminated alignment and endian problems that were making it fail on
some platforms.

PR: 180438
PR: 189415
Relnotes: Yes

MFC r291716, r291724, r291741, r291742

In addition to those revisions, add this change to a file that is not in
head:

sys/ia64/include/bus.h:
Guard kernel-only parts of the ia64 machine/bus.h header with
#ifdef _KERNEL.

This allows userland programs to include <machine/bus.h> to get the
definition of bus_addr_t and bus_size_t.

------------------------------------------------------------------------
r291716 | ken | 2015-12-03 15:54:55 -0500 (Thu, 03 Dec 2015) | 257 lines

Add asynchronous command support to the pass(4) driver, and the new
camdd(8) utility.

CCBs may be queued to the driver via the new CAMIOQUEUE ioctl, and
completed CCBs may be retrieved via the CAMIOGET ioctl. User
processes can use poll(2) or kevent(2) to get notification when
I/O has completed.

While the existing CAMIOCOMMAND blocking ioctl interface only
supports user virtual data pointers in a CCB (generally only
one per CCB), the new CAMIOQUEUE ioctl supports user virtual and
physical address pointers, as well as user virtual and physical
scatter/gather lists. This allows user applications to have more
flexibility in their data handling operations.

Kernel memory for data transferred via the queued interface is
allocated from the zone allocator in MAXPHYS sized chunks, and user
data is copied in and out. This is likely faster than the
vmapbuf()/vunmapbuf() method used by the CAMIOCOMMAND ioctl in
configurations with many processors (there are more TLB shootdowns
caused by the mapping/unmapping operation) but may not be as fast
as running with unmapped I/O.

The new memory handling model for user requests also allows
applications to send CCBs with request sizes that are larger than
MAXPHYS. The pass(4) driver now limits queued requests to the I/O
size listed by the SIM driver in the maxio field in the Path
Inquiry (XPT_PATH_INQ) CCB.

There are some things things would be good to add:

1. Come up with a way to do unmapped I/O on multiple buffers.
Currently the unmapped I/O interface operates on a struct bio,
which includes only one address and length. It would be nice
to be able to send an unmapped scatter/gather list down to
busdma. This would allow eliminating the copy we currently do
for data.

2. Add an ioctl to list currently outstanding CCBs in the various
queues.

3. Add an ioctl to cancel a request, or use the XPT_ABORT CCB to do
that.

4. Test physical address support. Virtual pointers and scatter
gather lists have been tested, but I have not yet tested
physical addresses or scatter/gather lists.

5. Investigate multiple queue support. At the moment there is one
queue of commands per pass(4) device. If multiple processes
open the device, they will submit I/O into the same queue and
get events for the same completions. This is probably the right
model for most applications, but it is something that could be
changed later on.

Also, add a new utility, camdd(8) that uses the asynchronous pass(4)
driver interface.

This utility is intended to be a basic data transfer/copy utility,
a simple benchmark utility, and an example of how to use the
asynchronous pass(4) interface.

It can copy data to and from pass(4) devices using any target queue
depth, starting offset and blocksize for the input and ouptut devices.
It currently only supports SCSI devices, but could be easily extended
to support ATA devices.

It can also copy data to and from regular files, block devices, tape
devices, pipes, stdin, and stdout. It does not support queueing
multiple commands to any of those targets, since it uses the standard
read(2)/write(2)/writev(2)/readv(2) system calls.

The I/O is done by two threads, one for the reader and one for the
writer. The reader thread sends completed read requests to the
writer thread in strictly sequential order, even if they complete
out of order. That could be modified later on for random I/O patterns
or slightly out of order I/O.

camdd(8) uses kqueue(2)/kevent(2) to get I/O completion events from
the pass(4) driver and also to send request notifications internally.

For pass(4) devcies, camdd(8) uses a single buffer (CAM_DATA_VADDR)
per CAM CCB on the reading side, and a scatter/gather list
(CAM_DATA_SG) on the writing side. In addition to testing both
interfaces, this makes any potential reblocking of I/O easier. No
data is copied between the reader and the writer, but rather the
reader's buffers are split into multiple I/O requests or combined
into a single I/O request depending on the input and output blocksize.

For the file I/O path, camdd(8) also uses a single buffer (read(2),
write(2), pread(2) or pwrite(2)) on reads, and a scatter/gather list
(readv(2), writev(2), preadv(2), pwritev(2)) on writes.

Things that would be nice to do for camdd(8) eventually:

1. Add support for I/O pattern generation. Patterns like all
zeros, all ones, LBA-based patterns, random patterns, etc. Right
Now you can always use /dev/zero, /dev/random, etc.

2. Add support for a "sink" mode, so we do only reads with no
writes. Right now, you can use /dev/null.

3. Add support for automatic queue depth probing, so that we can
figure out the right queue depth on the input and output side
for maximum throughput. At the moment it defaults to 6.

4. Add support for SATA device passthrough I/O.

5. Add support for random LBAs and/or lengths on the input and
output sides.

6. Track average per-I/O latency and busy time. The busy time
and latency could also feed in to the automatic queue depth
determination.

sys/cam/scsi/scsi_pass.h:
Define two new ioctls, CAMIOQUEUE and CAMIOGET, that queue
and fetch asynchronous CAM CCBs respectively.

Although these ioctls do not have a declared argument, they
both take a union ccb pointer. If we declare a size here,
the ioctl code in sys/kern/sys_generic.c will malloc and free
a buffer for either the CCB or the CCB pointer (depending on
how it is declared). Since we have to keep a copy of the
CCB (which is fairly large) anyway, having the ioctl malloc
and free a CCB for each call is wasteful.

sys/cam/scsi/scsi_pass.c:
Add asynchronous CCB support.

Add two new ioctls, CAMIOQUEUE and CAMIOGET.

CAMIOQUEUE adds a CCB to the incoming queue. The CCB is
executed immediately (and moved to the active queue) if it
is an immediate CCB, but otherwise it will be executed
in passstart() when a CCB is available from the transport layer.

When CCBs are completed (because they are immediate or
passdone() if they are queued), they are put on the done
queue.

If we get the final close on the device before all pending
I/O is complete, all active I/O is moved to the abandoned
queue and we increment the peripheral reference count so
that the peripheral driver instance doesn't go away before
all pending I/O is done.

The new passcreatezone() function is called on the first
call to the CAMIOQUEUE ioctl on a given device to allocate
the UMA zones for I/O requests and S/G list buffers. This
may be good to move off to a taskqueue at some point.
The new passmemsetup() function allocates memory and
scatter/gather lists to hold the user's data, and copies
in any data that needs to be written. For virtual pointers
(CAM_DATA_VADDR), the kernel buffer is malloced from the
new pass(4) driver malloc bucket. For virtual
scatter/gather lists (CAM_DATA_SG), buffers are allocated
from a new per-pass(9) UMA zone in MAXPHYS-sized chunks.
Physical pointers are passed in unchanged. We have support
for up to 16 scatter/gather segments (for the user and
kernel S/G lists) in the default struct pass_io_req, so
requests with longer S/G lists require an extra kernel malloc.

The new passcopysglist() function copies a user scatter/gather
list to a kernel scatter/gather list. The number of elements
in each list may be different, but (obviously) the amount of data
stored has to be identical.

The new passmemdone() function copies data out for the
CAM_DATA_VADDR and CAM_DATA_SG cases.

The new passiocleanup() function restores data pointers in
user CCBs and frees memory.

Add new functions to support kqueue(2)/kevent(2):

passreadfilt() tells kevent whether or not the done
queue is empty.

passkqfilter() adds a knote to our list.

passreadfiltdetach() removes a knote from our list.

Add a new function, passpoll(), for poll(2)/select(2)
to use.

Add devstat(9) support for the queued CCB path.

sys/cam/ata/ata_da.c:
Add support for the BIO_VLIST bio type.

sys/cam/cam_ccb.h:
Add a new enumeration for the xflags field in the CCB header.
(This doesn't change the CCB header, just adds an enumeration to
use.)

sys/cam/cam_xpt.c:
Add a new function, xpt_setup_ccb_flags(), that allows specifying
CCB flags.

sys/cam/cam_xpt.h:
Add a prototype for xpt_setup_ccb_flags().

sys/cam/scsi/scsi_da.c:
Add support for BIO_VLIST.

sys/dev/md/md.c:
Add BIO_VLIST support to md(4).

sys/geom/geom_disk.c:
Add BIO_VLIST support to the GEOM disk class. Re-factor the I/O size
limiting code in g_disk_start() a bit.

sys/kern/subr_bus_dma.c:
Change _bus_dmamap_load_vlist() to take a starting offset and
length.

Add a new function, _bus_dmamap_load_pages(), that will load a list
of physical pages starting at an offset.

Update _bus_dmamap_load_bio() to allow loading BIO_VLIST bios.
Allow unmapped I/O to start at an offset.

sys/kern/subr_uio.c:
Add two new functions, physcopyin_vlist() and physcopyout_vlist().

sys/pc98/include/bus.h:
Guard kernel-only parts of the pc98 machine/bus.h header with
#ifdef _KERNEL.

This allows userland programs to include <machine/bus.h> to get the
definition of bus_addr_t and bus_size_t.

sys/sys/bio.h:
Add a new bio flag, BIO_VLIST.

sys/sys/uio.h:
Add prototypes for physcopyin_vlist() and physcopyout_vlist().

share/man/man4/pass.4:
Document the CAMIOQUEUE and CAMIOGET ioctls.

usr.sbin/Makefile:
Add camdd.

usr.sbin/camdd/Makefile:
Add a makefile for camdd(8).

usr.sbin/camdd/camdd.8:
Man page for camdd(8).

usr.sbin/camdd/camdd.c:
The new camdd(8) utility.

Sponsored by: Spectra Logic

------------------------------------------------------------------------
r291724 | ken | 2015-12-03 17:07:01 -0500 (Thu, 03 Dec 2015) | 6 lines

Fix typos in the camdd(8) usage() function output caused by an error in
my diff filter script.

Sponsored by: Spectra Logic

------------------------------------------------------------------------
r291741 | ken | 2015-12-03 22:38:35 -0500 (Thu, 03 Dec 2015) | 10 lines

Fix g_disk_vlist_limit() to work properly with deletes.

Add a new bp argument to g_disk_maxsegs(), and add a new function,
g_disk_maxsize() tha will properly determine the maximum I/O size for a
delete or non-delete bio.

Submitted by: will
Sponsored by: Spectra Logic

------------------------------------------------------------------------
------------------------------------------------------------------------
r291742 | ken | 2015-12-03 22:44:12 -0500 (Thu, 03 Dec 2015) | 5 lines

Fix a style issue in g_disk_limit().

Noticed by: bdrewery

------------------------------------------------------------------------

Sponsored by: Spectra Logic

MFC r271401:
r271401 (by asomers):

Conditionalize build of etcupdate(8) on MK_RCS. Since etcupdate calls
merge(1), which is part of the RCS package, it must not be installed if
WITHOUT_RCS update is set. Otherwise, it will produce confusing errors.

CR: https://reviews.freebsd.org/D691
Sponsored by: Spectra Logic

Hook sesutil(8) to the build (forgotten in previous MFC)

MFC r279315:

Add uefisign(8), UEFI Secure Boot signing utility.

Relnotes: yes
Sponsored by: The FreeBSD Foundation

MFC of r277177 and r279894 with the fixes for the PMC for Haswell.

Sponsored by: Netflix Inc.

MFC r278192:

Add the following options to enable/disable several features in the base system

WITHOUT_BOOTPARAMD - bootparamd
WITHOUT_BOOTPD - bootpd
WITHOUT_FINGER - finger, fingerd
WITHOUT_FTP - ftp, ftpd
WITHOUT_INETD - inetd
WITHOUT_RBOOTD - rbootd
WITHOUT_TCP_WRAPPERS - tcpd, et al
WITHOUT_TFTP - tftp, tftp-server
WITHOUT_TIMED - timed

Sponsored by: EMC / Isilon Storage Division

MFC r277677:

r277677:

Add MK_BSDINSTALL knob for building and installing bsdinstall

Sponsored by: EMC / Isilon Storage Division

MFC r277728:

r277728:

Add MK_AUTOFS knob for building and installing autofs(4), et al

Sponsored by: EMC / Isilon Storage Division

MFC r277675,r277726,r278070:

r277675:

Add MK_ISCSI knob for building the iscsi initiator, iscsi daemon, kernel
modules, etc

Sponsored by: EMC / Isilon Storage Division

r277726:

Build sbin/iscontrol again if MK_ISCSI != no

Pointyhat to: me

r278070:

Remove duplicate MK_ISCSI block and sort the conditional blocks so this error
won't crop up again in the future

Reported by: gjb

MFC r275680:

Add fstyp(8). This utility, named after its SVR4 counterpart, detects
filesystems. It differs from file(1) in that it gives machine-parseable
output, it outputs filesystem labels, doesn't get confused by other
formats metadata, and runs in Capsicum sandbox.

Differential Revision: https://reviews.freebsd.org/D1255
Relnotes: yes
Sponsored by: The FreeBSD Foundation

MFC r270096:

Bring in the new automounter, similar to what's provided in most other
UNIX systems, eg. MacOS X and Solaris. It uses Sun-compatible map format,
has proper kernel support, and LDAP integration.

There are still a few outstanding problems; they will be fixed shortly.

Reviewed by: allanjude@, emaste@, kib@, wblock@ (earlier versions)
Phabric: D523
Relnotes: yes
Sponsored by: The FreeBSD Foundation

MFC r264269, r264282, r264280, r264291, r264276, r264314

Merge sson's binmiscctl and image activator features to stable/10

Submitted by: sson@freebsd.org

MFC various moves of tools/regressions/ tests to the new infrastructure.

- r263220 Migrate tools/regression/sbin/ to the new tests layout.
- r263222 Add Makefile missed in r263220.
- r263226 Migrate tools/regression/{usr.bin/lastcomm,usr.sbin}/ to the new tests layout.
- r263227 Migrate most of tools/regression/usr.bin/ to the new tests layout.
- r263345 Expand tabs that sneaked in into spaces.
- r263346 Migrate tools/regression/usr.bin/make/ to the new tests layout.
- r263348 Add Makefiles missed in r263346.
- r263351 Migrate tools/regression/usr.bin/pkill/ to the new tests layout.
- r263388 Mark multi_test as requiring /usr/share/dict/words.
- r263814 Fix path to the run.pl script to let these tests run.
- r264742 Prevent building tests when bootstrapping make.

This is 'make tinderbox' clean.

MFC r263778:

Add a SUBDIR_PARALLEL option to bsd.subdir.mk, to allow make to process
all the SUBDIR entries in parallel, instead of serially. Apply this
option to a selected number of Makefiles, which can greatly speed up the
build on multi-core machines, when using make -j.

This can be extended to more Makefiles later on, whenever they are
verified to work correctly with parallel building.

I tested this on a 24-core machine, with make -j48 buildworld (N = 6):

before stddev after stddev
======= ====== ======= ======
real time 1741.1 16.5 959.8 2.7
user time 12468.7 16.4 14393.0 16.8
sys time 1825.0 54.8 2110.6 22.8

(user+sys)/real 8.2 17.1

E.g. the build was approximately 45% faster in real time. On machines
with less cores, or with lower -j settings, the speedup will not be as
impressive. But at least you can now almost max out a machine with
buildworld!

Submitted by: jilles

MFC r263833:

Enable parallel building for gnu/usr.bin and usr.bin/clang too.

MFC r261299:

Merge from CheriBSD:
commit 2d581e8caf79d7a0f5a24590eccd06da90cccb74
Author: Brooks Davis <brooks@one-eyed-alien.net>
Date: Mon Jan 27 22:57:51 2014 +0000

Add WITHOUT_FMTREE to disable building fmtree.

Sponsored by: DARPA, AFRL

MFC r256865

Remove the isf(4) driver. It was created by accident and is subset of
the cfi(4) driver. It remained in the tree longer than would be ideal
due to the time required to bring cfi(4) to feature parity.

Sponsored by: DARPA/AFRL
Approved by: re (gjb)

MFC r279315:

Add uefisign(8), UEFI Secure Boot signing utility.

Relnotes: yes
Sponsored by: The FreeBSD Foundation

MFC of r277177 and r279894 with the fixes for the PMC for Haswell.

Sponsored by: Netflix Inc.

MFC r278192:

Add the following options to enable/disable several features in the base system

WITHOUT_BOOTPARAMD - bootparamd
WITHOUT_BOOTPD - bootpd
WITHOUT_FINGER - finger, fingerd
WITHOUT_FTP - ftp, ftpd
WITHOUT_INETD - inetd
WITHOUT_RBOOTD - rbootd
WITHOUT_TCP_WRAPPERS - tcpd, et al
WITHOUT_TFTP - tftp, tftp-server
WITHOUT_TIMED - timed

Sponsored by: EMC / Isilon Storage Division

MFC r277677:

r277677:

Add MK_BSDINSTALL knob for building and installing bsdinstall

Sponsored by: EMC / Isilon Storage Division

MFC r277728:

r277728:

Add MK_AUTOFS knob for building and installing autofs(4), et al

Sponsored by: EMC / Isilon Storage Division

MFC r277675,r277726,r278070:

r277675:

Add MK_ISCSI knob for building the iscsi initiator, iscsi daemon, kernel
modules, etc

Sponsored by: EMC / Isilon Storage Division

r277726:

Build sbin/iscontrol again if MK_ISCSI != no

Pointyhat to: me

r278070:

Remove duplicate MK_ISCSI block and sort the conditional blocks so this error
won't crop up again in the future

Reported by: gjb

MFC r275680:

Add fstyp(8). This utility, named after its SVR4 counterpart, detects
filesystems. It differs from file(1) in that it gives machine-parseable
output, it outputs filesystem labels, doesn't get confused by other
formats metadata, and runs in Capsicum sandbox.

Differential Revision: https://reviews.freebsd.org/D1255
Relnotes: yes
Sponsored by: The FreeBSD Foundation

MFC r270096:

Bring in the new automounter, similar to what's provided in most other
UNIX systems, eg. MacOS X and Solaris. It uses Sun-compatible map format,
has proper kernel support, and LDAP integration.

There are still a few outstanding problems; they will be fixed shortly.

Reviewed by: allanjude@, emaste@, kib@, wblock@ (earlier versions)
Phabric: D523
Relnotes: yes
Sponsored by: The FreeBSD Foundation

MFC r264269, r264282, r264280, r264291, r264276, r264314

Merge sson's binmiscctl and image activator features to stable/10

Submitted by: sson@freebsd.org

MFC various moves of tools/regressions/ tests to the new infrastructure.

- r263220 Migrate tools/regression/sbin/ to the new tests layout.
- r263222 Add Makefile missed in r263220.
- r263226 Migrate tools/regression/{usr.bin/lastcomm,usr.sbin}/ to the new tests layout.
- r263227 Migrate most of tools/regression/usr.bin/ to the new tests layout.
- r263345 Expand tabs that sneaked in into spaces.
- r263346 Migrate tools/regression/usr.bin/make/ to the new tests layout.
- r263348 Add Makefiles missed in r263346.
- r263351 Migrate tools/regression/usr.bin/pkill/ to the new tests layout.
- r263388 Mark multi_test as requiring /usr/share/dict/words.
- r263814 Fix path to the run.pl script to let these tests run.
- r264742 Prevent building tests when bootstrapping make.

This is 'make tinderbox' clean.

MFC r263778:

Add a SUBDIR_PARALLEL option to bsd.subdir.mk, to allow make to process
all the SUBDIR entries in parallel, instead of serially. Apply this
option to a selected number of Makefiles, which can greatly speed up the
build on multi-core machines, when using make -j.

This can be extended to more Makefiles later on, whenever they are
verified to work correctly with parallel building.

I tested this on a 24-core machine, with make -j48 buildworld (N = 6):

before stddev after stddev
======= ====== ======= ======
real time 1741.1 16.5 959.8 2.7
user time 12468.7 16.4 14393.0 16.8
sys time 1825.0 54.8 2110.6 22.8

(user+sys)/real 8.2 17.1

E.g. the build was approximately 45% faster in real time. On machines
with less cores, or with lower -j settings, the speedup will not be as
impressive. But at least you can now almost max out a machine with
buildworld!

Submitted by: jilles

MFC r263833:

Enable parallel building for gnu/usr.bin and usr.bin/clang too.

MFC r261299:

Merge from CheriBSD:
commit 2d581e8caf79d7a0f5a24590eccd06da90cccb74
Author: Brooks Davis <brooks@one-eyed-alien.net>
Date: Mon Jan 27 22:57:51 2014 +0000

Add WITHOUT_FMTREE to disable building fmtree.

Sponsored by: DARPA, AFRL

MFC r256865

Remove the isf(4) driver. It was created by accident and is subset of
the cfi(4) driver. It remained in the tree longer than would be ideal
due to the time required to bring cfi(4) to feature parity.

Sponsored by: DARPA/AFRL
Approved by: re (gjb)