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/*
* Copyright (C) 2001,2002,2003 Philippe Gerum <rpm@xenomai.org>.
*
* Xenomai is free software; you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* Xenomai is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Xenomai; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* As a special exception, the RTAI project gives permission
* for additional uses of the text contained in its release of
* Xenomai.
*
* The exception is that, if you link the Xenomai libraries with other
* files to produce an executable, this does not by itself cause the
* resulting executable to be covered by the GNU General Public License.
* Your use of that executable is in no way restricted on account of
* linking the Xenomai libraries code into it.
*
* This exception does not however invalidate any other reasons why
* the executable file might be covered by the GNU General Public
* License.
*
* This exception applies only to the code released by the
* RTAI project under the name Xenomai. If you copy code from other
* RTAI project releases into a copy of Xenomai, as the General Public
* License permits, the exception does not apply to the code that you
* add in this way. To avoid misleading anyone as to the status of
* such modified files, you must delete this exception notice from
* them.
*
* If you write modifications of your own for Xenomai, it is your
* choice whether to permit this exception to apply to your
* modifications. If you do not wish that, delete this exception
* notice.
*/
#include <sys/types.h>
#include <sys/mman.h>
#include <stdio.h>
#include <memory.h>
#include <errno.h>
#include <unistd.h>
#include <xenomai/fusion.h>
static int __fusion_muxid;
static xnsysinfo_t __fusion_info;
static inline int __init_skin (void)
{
__fusion_muxid = XENOMAI_SYSCALL2(__xn_sys_attach,FUSION_SKIN_MAGIC,&__fusion_info);
return __fusion_muxid;
}
/* Public RTAI/fusion interface. */
int pthread_info_rt (xnsysinfo_t *infop)
{
if (__fusion_muxid == 0 && __init_skin() < 0)
return -1;
memcpy(infop,&__fusion_info,sizeof(*infop));
return 0;
}
int pthread_init_rt (const char *name, void *uhandle, void **khandlep)
{
char stack[32768];
if (__fusion_muxid == 0 && __init_skin() < 0)
return -1;
XENOMAI_SYSCALL1(__xn_sys_migrate,0);
mlockall(MCL_CURRENT|MCL_FUTURE);
memset(stack,0,sizeof(stack));
/* Move the current thread into the RTAI realm. */
return XENOMAI_SKINCALL3(__fusion_muxid,__xn_fusion_init,name,khandlep,uhandle);
}
int pthread_create_rt (const char *name,
void *uhandle,
pid_t syncpid,
int *syncp,
void **khandlep)
{
char stack[32768];
if (__fusion_muxid == 0 && __init_skin() < 0)
return -1;
XENOMAI_SYSCALL1(__xn_sys_migrate,0);
mlockall(MCL_CURRENT|MCL_FUTURE);
memset(stack,0,sizeof(stack));
/* Move the current thread into the RTAI realm. */
return XENOMAI_SKINCALL5(__fusion_muxid,__xn_fusion_create,name,khandlep,uhandle,syncpid,syncp);
}
int pthread_start_rt (void *khandle) {
return XENOMAI_SKINCALL1(__fusion_muxid,__xn_fusion_start,khandle);
}
int pthread_sync_rt (int *syncp)
{
XENOMAI_SYSCALL1(__xn_sys_migrate,0);
return XENOMAI_SYSCALL1(__xn_sys_sync,syncp);
}
int pthread_time_rt (unsigned long long *tp) {
return XENOMAI_SKINCALL1(__fusion_muxid,__xn_fusion_time,tp);
}
int pthread_inquire_rt (xninquiry_t *buf) {
return XENOMAI_SKINCALL1(__fusion_muxid,__xn_fusion_inquire,buf);
}
int pthread_migrate_rt (int domain) {
return XENOMAI_SKINCALL1(__fusion_muxid,__xn_fusion_migrate,domain);
}
/* Private RTAI/vm interface. */
int __pthread_idle_vm (int *lockp) {
return XENOMAI_SKINCALL1(__fusion_muxid,__xn_fusion_idle,lockp);
}
int __pthread_cancel_vm (void *deadhandle, void *nexthandle) {
return XENOMAI_SKINCALL2(__fusion_muxid,__xn_fusion_cancel,deadhandle,nexthandle);
}
int __pthread_activate_vm (void *nexthandle, void *prevhandle) {
return XENOMAI_SKINCALL2(__fusion_muxid,__xn_fusion_activate,nexthandle,prevhandle);
}
int __pthread_hold_vm (int *pendp) {
return XENOMAI_SKINCALL1(__fusion_muxid,__xn_fusion_hold,pendp);
}
int __pthread_release_vm (int *lockp) {
return XENOMAI_SKINCALL1(__fusion_muxid,__xn_fusion_release,lockp);
}
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