int main(int argc, char** argv)
{
ASSERT(argc > 1, "Specify a bytecode file in the first and only argument, please\n");
init_mdata(); // Initalize the instruction defs
init_adata();
init_ins_def();
rt_t* runtime = proc_init(argv[1]); // Initalize process
proc_run(runtime); // Execute runtime
proc_clean(runtime); // Once `proc_run` returns, clean
// what sort of mess it made.
return 0;
}
int init_module(void) {
int n;
struct shm_status sm;
int retval;
rtapi_switch = rtapi_get_handle();
// first thing: attach global_data
sm.key = OS_KEY(GLOBAL_KEY, rtapi_instance);
sm.size = 0;
sm.flags = 0;
if ((retval = shmdrv_attach(&sm, (void **)&global_data)) < 0) {
// cant use the message ringbuffer just yet
printk("RTAPI:%d ERROR: can attach global segment: %d\n",
rtapi_instance, retval);
return -EINVAL;
}
// fail immediately if the global segment isnt in shape yet
// this catches https://github.com/zultron/linuxcnc/issues/49 early
if (global_data->magic != GLOBAL_READY) {
printk("RTAPI:%d ERROR: bad global magic: 0x%x\n",
rtapi_instance,global_data->magic);
// TBD: remove once cause identified
printk("halsize=%d\n", global_data->hal_size);
printk("msgd pid=%d\n", global_data->rtapi_msgd_pid);
printk("magic=%x\n", global_data->magic);
printk("flavor=%d\n", global_data->rtapi_thread_flavor);
// fail the insmod
return -EINVAL;
}
// say hello - this now goes through the message ringbuffer
rtapi_print_msg(RTAPI_MSG_INFO, "RTAPI:%d %s %s init\n",
rtapi_instance,
rtapi_get_handle()->thread_flavor_name,
GIT_VERSION);
sm.key = OS_KEY(RTAPI_KEY, rtapi_instance);
sm.size = sizeof(rtapi_data_t);
sm.flags = 0;
if ((retval = shmdrv_create(&sm)) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI:%d ERROR: can create rtapi segment: %d\n",
rtapi_instance, retval);
return -EINVAL;
}
if ((retval = shmdrv_attach(&sm, (void **)&rtapi_data)) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI:%d ERROR: cant attach rtapi segment: %d\n",
rtapi_instance, retval);
return -EINVAL;
}
// make error ringbuffer accessible within RTAPI
ringbuffer_init(&global_data->rtapi_messages, &rtapi_message_buffer);
global_data->rtapi_messages.refcount += 1; // rtapi is 'attached'
// tag messages originating from RT proper
rtapi_set_logtag("rt");
/* this will take care of any threads flavor hook */
init_rtapi_data(rtapi_data);
/* check flavor and serial codes */
if (rtapi_data->thread_flavor_id != THREAD_FLAVOR_ID) {
/* mismatch - release master shared memory block */
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI: ERROR: flavor mismatch %d vs %d\n",
rtapi_data->thread_flavor_id, THREAD_FLAVOR_ID);
sm.key = OS_KEY(RTAPI_KEY, rtapi_instance);
sm.size = sizeof(global_data_t);
sm.flags = 0;
if ((retval = shmdrv_detach(&sm)) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"INSTANCE:%d ERROR: shmdrv_detach() returns %d\n",
rtapi_instance, retval);
}
sm.key = OS_KEY(GLOBAL_KEY, rtapi_instance);
sm.size = sizeof(global_data_t);
sm.flags = 0;
if ((retval = shmdrv_detach(&sm)) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"INSTANCE:%d ERROR: shmdrv_detach() returns %d\n",
rtapi_instance, retval);
}
return -EINVAL;
}
if (rtapi_data->serial != RTAPI_SERIAL) {
/* mismatch - release master shared memory block */
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI: ERROR: serial mismatch '%d' vs '%d'\n",
rtapi_data->serial, RTAPI_SERIAL);
return -EINVAL;
}
/* set up local pointers to global data */
module_array = rtapi_data->module_array;
task_array = rtapi_data->task_array;
shmem_array = rtapi_data->shmem_array;
/* perform local init */
for (n = 0; n <= RTAPI_MAX_TASKS; n++) {
ostask_array[n] = NULL;
}
for (n = 0; n <= RTAPI_MAX_SHMEMS; n++) {
shmem_addr_array[n] = NULL;
}
rtapi_data->timer_running = 0;
rtapi_data->timer_period = 0;
max_delay = DEFAULT_MAX_DELAY;
#ifdef RT_LINUX_USE_FPU
rt_linux_use_fpu(1);
#endif
#if LINUX_VERSION_CODE > KERNEL_VERSION(2,6,0)
/* on SMP machines, we want to put RT code on the last CPU */
n = NR_CPUS-1;
while ( ! cpu_online(n) ) {
n--;
}
rtapi_data->rt_cpu = n;
#else
/* old kernel, the SMP hooks aren't available, so use CPU 0 */
rtapi_data->rt_cpu = 0;
#endif
#ifdef CONFIG_PROC_FS
/* set up /proc/rtapi */
if (proc_init() != 0) {
rtapi_print_msg(RTAPI_MSG_WARN,
"RTAPI: WARNING: Could not activate /proc entries\n");
proc_clean();
}
#endif
#ifdef HAVE_RTAPI_MODULE_INIT_HOOK
_rtapi_module_init_hook();
#endif
/* done */
rtapi_print_msg(RTAPI_MSG_INFO, "RTAPI:%d Init complete\n",
rtapi_instance);
return 0;
}
void cleanup_module(void) {
int n;
struct shm_status sm;
int retval;
if (rtapi_data == NULL) {
/* never got inited, nothing to do */
return;
}
#ifdef HAVE_RTAPI_MODULE_EXIT_HOOK
_rtapi_module_exit_hook();
#endif
/* grab the mutex */
rtapi_mutex_get(&(rtapi_data->mutex));
rtapi_print_msg(RTAPI_MSG_INFO, "RTAPI:%d exit\n", rtapi_instance);
/* clean up leftover modules (start at 1, we don't use ID 0 */
for (n = 1; n <= RTAPI_MAX_MODULES; n++) {
if (module_array[n].state == REALTIME) {
rtapi_print_msg(RTAPI_MSG_WARN,
"RTAPI: WARNING: module '%s' (ID: %02d) did not "
"call rtapi_exit()\n",
module_array[n].name, n);
module_delete(n);
}
}
/* cleaning up modules should clean up everything, if not there has
probably been an unrecoverable internal error.... */
for (n = 1; n <= RTAPI_MAX_SHMEMS; n++) {
if (shmem_array[n].rtusers > 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI: ERROR: shared memory block %02d not deleted\n", n);
}
}
for (n = 1; n <= RTAPI_MAX_TASKS; n++) {
if (task_array[n].state != EMPTY) {
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI: ERROR: task %02d not deleted\n", n);
/* probably un-recoverable, but try anyway */
_rtapi_task_pause(n);
/* rtapi_task_delete should not grab mutex */
task_array[n].state = DELETE_LOCKED;
_rtapi_task_delete(n);
}
}
if (rtapi_data->timer_running != 0) {
#ifdef HAVE_RTAPI_MODULE_TIMER_STOP
_rtapi_module_timer_stop();
#endif
rtapi_data->timer_period = 0;
timer_counts = 0;
rtapi_data->timer_running = 0;
max_delay = DEFAULT_MAX_DELAY;
}
rtapi_mutex_give(&(rtapi_data->mutex));
#ifdef CONFIG_PROC_FS
proc_clean();
#endif
sm.key = OS_KEY(RTAPI_KEY, rtapi_instance);
sm.size = sizeof(rtapi_data_t);
sm.flags = 0;
if ((retval = shmdrv_detach(&sm)) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI:%d ERROR: detach rtapi returns %d\n",
rtapi_instance, retval);
}
rtapi_data = NULL;
global_data->rtapi_messages.refcount -= 1; // detach rtapi end
sm.key = OS_KEY(GLOBAL_KEY, rtapi_instance);
sm.size = sizeof(global_data_t);
sm.flags = 0;
if ((retval = shmdrv_detach(&sm)) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI:%d ERROR: detach global returns %d\n",
rtapi_instance, retval);
}
global_data = NULL;
rtapi_print_msg(RTAPI_MSG_INFO, "RTAPI:%d Exit complete\n",
rtapi_instance);
return;
}
