129 lines
4.0 KiB
C
129 lines
4.0 KiB
C
/*
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* Copyright (C) 2006 Paolo Mantegazza <mantegazza@aero.polimi.it>
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, see <http://www.gnu.org/licenses/>.
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*
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*
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*/
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#ifndef _RTAI_SIGNAL_H_
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#define _RTAI_SIGNAL_H_
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#define RTAI_SIGNALS_IDX BIDX
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#include <rtai_sched.h>
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#define MAXSIGNALS 16
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#define SIGNAL_TASK_INIPRIO 0
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struct rt_signal_t { unsigned long flags; RT_TASK *sigtask; };
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struct sigsuprt_t { RT_TASK *sigtask; RT_TASK *task; long signal; void (*sighdl)(long, RT_TASK *); unsigned long cpuid; };
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#ifdef __KERNEL__
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#define SIGNAL_ENBIT 0
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#define SIGNAL_PNDBIT 1
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#define SIGNAL_TASK_STACK_SIZE 8192
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RTAI_SYSCALL_MODE int rt_signal_helper(RT_TASK *task);
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int rt_request_signal(long signal, void (*sighdl)(long, RT_TASK *));
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RTAI_SYSCALL_MODE int rt_request_signal_(RT_TASK *sigtask, RT_TASK *task, long signal);
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RTAI_SYSCALL_MODE int rt_release_signal(long signal, RT_TASK *task);
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RTAI_SYSCALL_MODE void rt_enable_signal(long signal, RT_TASK *task);
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RTAI_SYSCALL_MODE void rt_disable_signal(long signal, RT_TASK *task);
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RTAI_SYSCALL_MODE void rt_trigger_signal(long signal, RT_TASK *task);
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RTAI_SYSCALL_MODE int rt_wait_signal(RT_TASK *sigtask, RT_TASK *task);
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#else /* !__KERNEL__ */
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#include <sys/mman.h>
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#include <rtai_lxrt.h>
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#define SIGNAL_TASK_STACK_SIZE 64*1024
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#ifndef __SIGNAL_SUPPORT_FUN__
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#define __SIGNAL_SUPPORT_FUN__
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static void signal_suprt_fun(struct sigsuprt_t *funarg)
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{
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struct sigtsk_t { RT_TASK *sigtask; RT_TASK *task; };
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struct sigreq_t { RT_TASK *sigtask; RT_TASK *task; long signal; void (*sighdl)(int, RT_TASK *); };
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struct sigsuprt_t arg = *funarg;
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if ((arg.sigtask = rt_thread_init(rt_get_name(0), SIGNAL_TASK_INIPRIO, 0, SCHED_FIFO, 1 << arg.cpuid))) {
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if (!rtai_lxrt(RTAI_SIGNALS_IDX, sizeof(struct sigreq_t), RT_SIGNAL_REQUEST, &arg).i[LOW]) {
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rt_grow_and_lock_stack(SIGNAL_TASK_STACK_SIZE/2);
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rt_make_hard_real_time();
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while (rtai_lxrt(RTAI_SIGNALS_IDX, sizeof(struct sigtsk_t), RT_SIGNAL_WAITSIG, &arg).i[LOW]) {
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arg.sighdl(arg.signal, arg.task);
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}
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rt_make_soft_real_time();
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}
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rt_task_delete(arg.sigtask);
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}
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}
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#endif /* __SIGNAL_SUPPORT_FUN__ */
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RTAI_PROTO(int, rt_request_signal, (long signal, void (*sighdl)(long, RT_TASK *)))
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{
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if (signal >= 0 && sighdl) {
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struct sigsuprt_t arg = { NULL, rt_buddy(), signal, sighdl };
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arg.cpuid = rtai_lxrt(RTAI_SIGNALS_IDX, sizeof(void *), RT_SIGNAL_HELPER, &arg.sigtask).i[LOW];
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if (rt_thread_create((void *)signal_suprt_fun, &arg, SIGNAL_TASK_STACK_SIZE)) {
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return rtai_lxrt(RTAI_SIGNALS_IDX, sizeof(RT_TASK *), RT_SIGNAL_HELPER, &arg.task).i[LOW];
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}
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}
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return -EINVAL;
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}
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RTAI_PROTO(int, rt_release_signal, (long signal, RT_TASK *task))
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{
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struct { long signal; RT_TASK *task; } arg = { signal, task };
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return rtai_lxrt(RTAI_SIGNALS_IDX, SIZARG, RT_SIGNAL_RELEASE, &arg).i[LOW];
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}
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RTAI_PROTO(void, rt_enable_signal, (long signal, RT_TASK *task))
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{
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struct { long signal; RT_TASK *task; } arg = { signal, task };
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rtai_lxrt(RTAI_SIGNALS_IDX, SIZARG, RT_SIGNAL_ENABLE, &arg);
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}
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RTAI_PROTO(void, rt_disable_signal, (long signal, RT_TASK *task))
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{
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struct { long signal; RT_TASK *task; } arg = { signal, task };
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rtai_lxrt(RTAI_SIGNALS_IDX, SIZARG, RT_SIGNAL_DISABLE, &arg);
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}
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RTAI_PROTO(void, rt_trigger_signal, (long signal, RT_TASK *task))
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{
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struct { long signal; RT_TASK *task; } arg = { signal, task };
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rtai_lxrt(RTAI_SIGNALS_IDX, SIZARG, RT_SIGNAL_TRIGGER, &arg);
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}
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#endif /* __KERNEL__ */
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#endif /* !_RTAI_SIGNAL_H_ */
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