include/native/task.h

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#ifndef _XENO_TASK_H
#define _XENO_TASK_H

#include <nucleus/core.h>
#include <nucleus/thread.h>
#include <native/types.h>

/* Creation flags. */
#define T_FPU     XNFPU
#define T_SUSP    XNSUSP
/* <!> High bits must not conflict with XNFPU|XNSHADOW|XNSHIELD|XNSUSP. */
#define T_CPU(cpu) (1 << (24 + (cpu & 7))) /* Up to 8 cpus [0-7] */
#define T_CPUMASK  0xff000000

#define T_BLOCKED  XNPEND     
#define T_DELAYED  XNDELAY    
#define T_READY    XNREADY    
#define T_DORMANT  XNDORMANT  
#define T_STARTED  XNSTARTED  
#define T_BOOST    XNBOOST    
#define T_LOCK     XNLOCK     
#define T_RRB      XNRRB      
#define T_NOSIG    XNASDI     
#define T_SHIELD   XNSHIELD   
#define T_WARNSW   XNTRAPSW   
#define T_RPIOFF   XNRPIOFF   
#define T_PRIMARY  0x00000200   /* Recycle internal bits status which */
#define T_JOINABLE 0x00000400   /* won't be passed to the nucleus.  */
 /* Ends doxygen-group native_task_status */

/* Task hook types. */
#define T_HOOK_START  XNHOOK_THREAD_START
#define T_HOOK_SWITCH XNHOOK_THREAD_SWITCH
#define T_HOOK_DELETE XNHOOK_THREAD_DELETE
#define T_DESC(cookie) thread2rtask(cookie)

/* Priority range (POSIXish, same bounds as Xenomai's). */
#define T_LOPRIO  XNCORE_LOW_PRIO
#define T_HIPRIO  XNCORE_HIGH_PRIO

typedef struct rt_task_placeholder {
    xnhandle_t opaque;
    unsigned long opaque2;
} RT_TASK_PLACEHOLDER;

struct rt_queue_msg;
struct rt_task;

typedef struct rt_task_info {
    
    int bprio;  
    int cprio; 
    unsigned status; 
    RTIME relpoint; 
    char name[XNOBJECT_NAME_LEN];  
    RTIME exectime; 
    int modeswitches; 
    int ctxswitches; 
    int pagefaults; 
} RT_TASK_INFO;

#define RT_MCB_FSTORE_LIMIT  64

typedef struct rt_task_mcb {

    int flowid;   
    int opcode;   
    caddr_t data; 
    size_t size;  
} RT_TASK_MCB;

#if (defined(__KERNEL__) || defined(__XENO_SIM__)) && !defined(DOXYGEN_CPP)

#include <nucleus/synch.h>

#define XENO_TASK_MAGIC 0x55550101

typedef struct rt_task {

    unsigned magic;   /* !< Magic code - must be first */

    xnholder_t link;

#define link2rtask(ln)          container_of(ln, RT_TASK, link)

    xnthread_t thread_base;

    char rname[XNOBJECT_NAME_LEN]; /* !< Name in registry. Not the same as
                                      thread name for anonymous threads. */
    int suspend_depth;

    int overrun;

    xnsynch_t safesynch;        /* !< Safe synchronization object. */

    u_long safelock;            /* !< Safe lock count. */

    u_long cstamp;              /* !< Creation stamp. */

    xnarch_cpumask_t affinity;

    union { /* Saved args for current synch. wait operation. */

        struct {
            int mode;
            unsigned long mask;
        } event;

        struct rt_queue_msg *qmsg;

        struct {
            size_t size;
            void *block;
        } heap;
        
#ifdef CONFIG_XENO_OPT_NATIVE_MPS
        struct {
            RT_TASK_MCB mcb_s; /* Send area. */
            RT_TASK_MCB mcb_r; /* Reply area. */
        } mps;
#endif /* CONFIG_XENO_OPT_NATIVE_MPS */

    } wait_args;

#ifdef CONFIG_XENO_OPT_NATIVE_MPS
    xnsynch_t mrecv,
              msendq;

    int flowgen;                /* !< Flow id. generator. */
#endif /* CONFIG_XENO_OPT_NATIVE_MPS */

} RT_TASK;

static inline RT_TASK *thread2rtask (xnthread_t *t)
{
    return t ? container_of(t, RT_TASK, thread_base) : NULL;
}

#define xeno_current_task() thread2rtask(xnpod_current_thread())

#ifdef __cplusplus
extern "C" {
#endif

void __native_task_safe(RT_TASK *task);

void __native_task_unsafe(RT_TASK *task);

int __native_task_safewait(RT_TASK *task);

int __native_task_pkg_init(void);

void __native_task_pkg_cleanup(void);

/* Public kernel interface */

int rt_task_add_hook(int type,
                     void (*routine)(void *cookie));

int rt_task_remove_hook(int type,
                        void (*routine)(void *cookie));

int rt_task_catch(void (*handler)(rt_sigset_t));

#ifdef __cplusplus
}
#endif

#else /* !(__KERNEL__ || __XENO_SIM__) */

typedef RT_TASK_PLACEHOLDER RT_TASK;

#ifdef __cplusplus
extern "C" {
#endif

int rt_task_shadow(RT_TASK *task,
                   const char *name,
                   int prio,
                   int mode);

int rt_task_bind(RT_TASK *task,
                 const char *name,
                 RTIME timeout);

static inline int rt_task_unbind (RT_TASK *task)

{
    task->opaque = XN_NO_HANDLE;
    return 0;
}

int rt_task_join(RT_TASK *task);

#ifdef __cplusplus
}
#endif

#endif /* __KERNEL__ || __XENO_SIM__ */

#ifdef __cplusplus
extern "C" {
#endif

/* Public interface */

int rt_task_create(RT_TASK *task,
                   const char *name,
                   int stksize,
                   int prio,
                   int mode);

int rt_task_start(RT_TASK *task,
                  void (*fun)(void *cookie),
                  void *cookie);

int rt_task_suspend(RT_TASK *task);

int rt_task_resume(RT_TASK *task);

int rt_task_delete(RT_TASK *task);

int rt_task_yield(void);

int rt_task_set_periodic(RT_TASK *task,
                         RTIME idate,
                         RTIME period);

int rt_task_wait_period(unsigned long *overruns_r);

int rt_task_set_priority(RT_TASK *task,
                         int prio);

int rt_task_sleep(RTIME delay);

int rt_task_sleep_until(RTIME date);

int rt_task_unblock(RT_TASK *task);

int rt_task_inquire(RT_TASK *task,
                     RT_TASK_INFO *info);

int rt_task_notify(RT_TASK *task,
                   rt_sigset_t signals);

int rt_task_set_mode(int clrmask,
                     int setmask,
                     int *mode_r);

RT_TASK *rt_task_self(void);

int rt_task_slice(RT_TASK *task,
                  RTIME quantum);

ssize_t rt_task_send(RT_TASK *task,
                     RT_TASK_MCB *mcb_s,
                     RT_TASK_MCB *mcb_r,
                     RTIME timeout);

int rt_task_receive(RT_TASK_MCB *mcb_r,
                    RTIME timeout);

int rt_task_reply(int flowid,
                  RT_TASK_MCB *mcb_s);

static inline int rt_task_spawn(RT_TASK *task,
                                const char *name,
                                int stksize,
                                int prio,
                                int mode,
                                void (*entry)(void *cookie),
                                void *cookie)
{
    int err = rt_task_create(task,name,stksize,prio,mode);

    if (!err)
        err = rt_task_start(task,entry,cookie);

    return err;
}

#ifdef __cplusplus
}
#endif

#endif /* !_XENO_TASK_H */

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