Ejemplo n.º 1
0
int rtdal_itfspscq_recv(r_itf_t obj, void* buffer, int len) {

	RTDAL_ASSERT_PARAM(buffer);
	RTDAL_ASSERT_PARAM(len>=0);

	int n, plen;
	void *ptr;

	if ((n = rtdal_itfspscq_pop(obj, &ptr, &plen, rtdal_time_slot())) != 1) {
		return n;
	}
	if (plen > len) {
		plen = len;
	}

	hdebug("obj=0x%x, rcv pkt=0x%x\n",obj,ptr);
	memcpy(buffer, ptr, (size_t) plen);

	if ((n = rtdal_itfspscq_release(obj)) == 1) {
		return n;
	}

	hdebug("release pkt 0x%x\n",ptr);

	return plen;
}
Ejemplo n.º 2
0
/**
 * Creates a new low-priority periodic function. If it succeeds, the function callback
 * will be called every period timeslots with low priority.
 *
 * @param callback Pointer to the periodic function
 * @param period Positive integer, in time slots
 * @return zero on success, -1 on error
 */
int rtdal_periodic_add(void (*callback)(void), int period) {
	assert(context);
	RTDAL_ASSERT_PARAM(callback);
	RTDAL_ASSERT_PARAM(period>0);

	pthread_mutex_lock(&context->mutex);

	int i;

	for (i=0;i<MAX(rtdal_periodic);i++) {
		if (!context->periodic[i].callback)
			break;
	}
	if (i == MAX(rtdal_periodic)) {
		RTDAL_SETERROR(RTDAL_ERROR_NOSPACE);
		pthread_mutex_unlock(&context->mutex);
		return -1;
	}
	context->periodic[i].counter = 0;
	context->periodic[i].period = period;
	context->periodic[i].callback = callback;
	pthread_mutex_unlock(&context->mutex);
	hdebug("i=%d, period=%d, callback=0x%x\n",i,period,callback);
	return 0;
}
Ejemplo n.º 3
0
int rtdal_itfspscq_pop(r_itf_t obj, void **ptr, int *len, int tstamp) {
	cast(obj,itf);
	RTDAL_ASSERT_PARAM(ptr);
	RTDAL_ASSERT_PARAM(len);

	*ptr = NULL;
	*len = 0;

	if (spscq_is_empty(itf)) {
		qdebug("[empty] read=%d, tstamp=%d\n",itf->read,itf->packets[itf->read].tstamp);
		return 0;
	}
	if (itf->packets[itf->read].tstamp > tstamp) {
		qdebug("[delay] read=%d, tstamp=%d\n",itf->read,itf->packets[itf->read].tstamp);
		return 0;
	}
	if (itf->packets[itf->read].tstamp < tstamp && itf->parent.delay) {
		rtdal_itfspscq_release(obj);
	}

	qdebug("[ok] read=%d, tstamp=%d (now=%d)\n",itf->read,itf->packets[itf->read].tstamp,tstamp);
	*ptr = itf->packets[itf->read].data;
	*len = itf->packets[itf->read].len;

	return 1;
}
Ejemplo n.º 4
0
/**
 * Removes the process proc from the pipeline pointed by obj.
 * @param obj Pointer to the pipeline object
 * @param proc Pointer to the process to remove
 * @return Zero on success, -1 on error
 */
int pipeline_remove(pipeline_t *obj, rtdal_process_t *proc) {
	hdebug("pipeid=%d, nof_process=%d, pid=%d, pid_pos=%d\n",obj->id,obj->nof_processes,
			proc->pid,proc->attributes.exec_position);
	RTDAL_ASSERT_PARAM(obj);
	RTDAL_ASSERT_PARAM(proc);

	rtdal_process_t *cur, *prev;

	prev = NULL;
	cur = obj->first_process;
	while(cur != proc && cur) {
		hdebug("pipeid=%d, prev=0x%x, cur=0x%x\n", obj->id,
				prev,cur);
		prev = cur;
		cur = cur->next;
	}
	if (!cur) {
		RTDAL_SETERROR(RTDAL_ERROR_NOTFOUND);
		return -1;
	}
	if (prev) {
		hdebug("pipeid=%d remove middle/end\n",obj->id);
		prev->next = cur->next;
	} else {
		hdebug("pipeid=%d remove first\n",obj->id);
		obj->first_process = cur->next;
	}

	obj->nof_processes--;
	proc->next = NULL;

	return 0;
}
Ejemplo n.º 5
0
/**
 * Disables the execution of the process identified by the first argument.
 * The process must have been previously loaded using rtdal_process_new().
 * @param process Process handler given by rtdal_process_new()
 * @returns zero on success, -1 on error
 */
int rtdal_process_stop(r_proc_t process) {
	RTDAL_ASSERT_PARAM(process);
	rtdal_process_t *obj = (rtdal_process_t*) process;
	hdebug("pid=%d\n",obj->pid);
	obj->runnable = 0;
	return 0;
}
Ejemplo n.º 6
0
/**
 * Loads a process binary into memory. The process must have been created using
 *  rtdal_process_new(). This function loads the library defined in the process
 *  attributes during the call to rtdal_process_new().
 *  @param obj Pointer to the rtdal_process_t object.
 *  @return Zero on success, -1 on error.
 */
int rtdal_process_launch(rtdal_process_t *obj) {
	hdebug("path=%s\n",obj->attributes.binary_path);
	RTDAL_ASSERT_PARAM(obj);
	char *error;

	snprintf(tmp,LSTR_LEN,"/tmp/am_%d.so",obj->pid);
	snprintf(tmp2,LSTR_LEN,"cp %s/%s %s",libs_path,obj->attributes.binary_path,tmp);
	if (system(tmp2) == -1) {
		aerror("Error removing file\n");
		return -1;
	}

	obj->dl_handle = dlopen(tmp,RTLD_NOW);
	if (!obj->dl_handle) {
		RTDAL_DLERROR(dlerror());
		return -1;
	}

	dlerror();

	*(void**) (&obj->run_point) = dlsym(obj->dl_handle, "_run_cycle");
	if ((error = dlerror()) != NULL) {
		RTDAL_DLERROR(error);
		return -1;
	}

	return 0;
}
Ejemplo n.º 7
0
/**
 * Sets an error code for a process.
 * \param proc Process handler given by rtdal_process_new()
 * \returns zero on success, -1 on error
 */
int rtdal_process_seterror(r_proc_t proc, rtdal_processerrors_t code) {
	RTDAL_ASSERT_PARAM(proc);
	rtdal_process_t *obj = (rtdal_process_t*) proc;
	hdebug("pid=%d, code=%d\n",obj->pid,(int)code);
	obj->finish_code = code;
	return 0;
}
Ejemplo n.º 8
0
/**
 * Adds a process to the pipeline. It is inserted in the position
 * min(n,exec_position) where n is the number of
 * elements in the spscq and exec_position is defined in the process attributes
 * used in the call to rtdal_process_new().
 * Returns the position it has finally been inserted.
 *
 *  @param obj Pointer to the pipeline_t object where the process is inserted
 *  @param process pointer to the rtdal_process_t object to insert.
 *  @returns non-negative integer number indicating the position it has been
 *  inserted, or -1 on error.
 */
int pipeline_add(pipeline_t *obj, rtdal_process_t *process) {
	hdebug("pipeid=%d, nof_process=%d, pid=%d, exec_pos=%d\n",obj->id,obj->nof_processes,
			process->pid,process->attributes.exec_position);
	RTDAL_ASSERT_PARAM(obj);
	RTDAL_ASSERT_PARAM(process);
	int exec_pos, i;
	rtdal_process_t *p = NULL;

	exec_pos = process->attributes.exec_position;

	/* head because empty list */
	if (!obj->first_process) {
		hdebug("pipeid=%d add pid=%d to head\n", obj->id, process->pid);
		obj->first_process = process;
		process->next = NULL;
		goto end;
	}
	/* head because first exec position */
	if (exec_pos < obj->first_process->attributes.exec_position) {
		hdebug("pipeid=%d add pid=%d to head\n", obj->id, process->pid);
		process->next = obj->first_process;
		obj->first_process = process;
		goto end;
	}
	/* middle */
	i=0;
	p = obj->first_process;
	while(p->next && exec_pos < p->next->attributes.exec_position) {
		p=p->next;
		i++;
	}
	process->next = p->next;
	p->next = process;

	hdebug("pipeid=%d, add pid=%d to pos=%d\n", obj->id, process->pid,i);

end:
	obj->nof_processes++;
	/* assign pipeline to object */
	process->pipeline = obj;

	return i;
}
Ejemplo n.º 9
0
/**
 * Acknowledges that the process group error notification has been processed, enabling another
 * future call to the finish_callback function.
 * \returns 0 on success, -1 on error
 */
int rtdal_process_group_notified(r_proc_t proc) {
	RTDAL_ASSERT_PARAM(proc);
	rtdal_process_t *obj = (rtdal_process_t*) proc;
	hdebug("pid=%d, running=%d\n",obj->pid,obj->runnable);
	if (obj->attributes.process_group_id < 0 || obj->attributes.process_group_id > MAX_PROCESS_GROUP_ID) {
		RTDAL_SETERROR(RTDAL_ERROR_INVAL);
		return -1;
	}
	pgroup_notified_failure[obj->attributes.process_group_id] = 0;
	return 0;
}
Ejemplo n.º 10
0
int rtdal_itfspscq_send(r_itf_t obj, void* buffer, int len, int tstamp) {
	cast(obj,itf);
	RTDAL_ASSERT_PARAM(buffer);
	RTDAL_ASSERT_PARAM(len>=0);

	int n;
	void *ptr;

	if (len > itf->max_msg_sz) {
		RTDAL_SETERROR(RTDAL_ERROR_LARGE);
		return -1;
	}

	if ((n = rtdal_itfspscq_request(obj, &ptr)) != 1) {
		return n;
	}

	memcpy(ptr, buffer, (size_t) len);

	return rtdal_itfspscq_push(obj,ptr,len,tstamp);
}
Ejemplo n.º 11
0
int rtdal_itfspscq_pop(r_itf_t obj, void **ptr, int *len, int tstamp) {
	cast(obj,itf);
	RTDAL_ASSERT_PARAM(ptr);
	RTDAL_ASSERT_PARAM(len);

	*ptr = NULL;
	*len = 0;

	if (spscq_is_empty(itf,tstamp)) {
		if (itf->parent.delay==-2) {
			usleep(1000);
		}
		qdebug("[empty] read=%d write=%d\n",itf->read,itf->write);
		return 0;
	}

	if (itf->parent.delay >= 0 ) {
#ifdef USE_SYSTEM_TSTAMP
		tstamp=rtdal_time_slot();
#endif
		if (itf->packets[itf->read].tstamp > tstamp) {
			qdebug("[delay] read=%d, tstamp=%d now=%d\n",itf->read,itf->packets[itf->read].tstamp,tstamp);
			return 0;
		}
/*
		if (itf->packets[itf->read].tstamp < tstamp-1) {
			qdebug("[old] read=%d, tstamp=%d now=%d\n",itf->read,itf->packets[itf->read].tstamp,tstamp);
			rtdal_itfspscq_release(obj,NULL,0);
			return 2;
		}
*/
	}

	qdebug("[ok] read=%d, tstamp=%d (now=%d)\n",itf->read,itf->packets[itf->read].tstamp,tstamp);
	*ptr = itf->packets[itf->read].data;
	*len = itf->packets[itf->read].len;

	return 1;
}
Ejemplo n.º 12
0
int rtdal_itfspscq_send(r_itf_t obj, void* buffer, int len) {
	cast(obj,itf);
	RTDAL_ASSERT_PARAM(buffer);
	RTDAL_ASSERT_PARAM(len>=0);

	int n;
	void *ptr;

	if (len > itf->max_msg_sz) {
		RTDAL_SETERROR(RTDAL_ERROR_LARGE);
		return -1;
	}

	hdebug("requesting pkt for 0x%x\n",obj);
	if ((n = rtdal_itfspscq_request(obj, &ptr)) != 1) {
		return n;
	}

	memcpy(ptr, buffer, (size_t) len);

	hdebug("put pkt for 0x%x pkt 0x%x\n",obj,ptr);
	return rtdal_itfspscq_push(obj,len,rtdal_time_slot());
}
Ejemplo n.º 13
0
int rtdal_itfspscq_recv(r_itf_t obj, void* buffer, int len, int tstamp) {
	RTDAL_ASSERT_PARAM(buffer);
	RTDAL_ASSERT_PARAM(len>=0);

	int n, plen;
	void *ptr=NULL;

	do {
		if ((n = rtdal_itfspscq_pop(obj, &ptr, &plen, tstamp)) < 1) {
			return n;
		}
	} while (n == 2);

	if (plen > len) {
		plen = len;
	}

	memcpy(buffer, ptr, (size_t) plen);

	if ((n = rtdal_itfspscq_release(obj,NULL,0)) != 1) {
		printf("Caution packet could not be released (%d)\n",n);
	}
	return plen;
}
Ejemplo n.º 14
0
/**  sleep the calling thread for the time specified by the time_t structure.
 */
int rtdal_sleep(time_t *t) {
	assert(context);
	RTDAL_ASSERT_PARAM(t);
	hdebug("sleep_for=%d:%d\n",t->tv_sec,t->tv_usec);
	struct timespec sleep;

	sleep.tv_sec = t->tv_sec;
	sleep.tv_nsec = t->tv_usec*1000;

	if (clock_nanosleep(CLOCK_REALTIME,0,&sleep,NULL)) {
		RTDAL_SYSERROR("clock_nanosleep");
		return -1;
	}

	hdebug("waking up at %d\n",rtdal_time_slot());
	return 0;
}
Ejemplo n.º 15
0
int rtdal_itfspscq_request(r_itf_t obj, void **ptr) {
	cast(obj,itf);
	RTDAL_ASSERT_PARAM(ptr);

	*ptr = NULL;
	qdebug("write=%d, tstamp=%d\n",itf->write,itf->packets[itf->write].tstamp);

	if (spscq_is_full(itf)) {
		RTDAL_SETERROR(RTDAL_ERROR_NOSPACE);
		return 0;
	}

	qdebug("[ok] write=%d/%d, addr=0x%x\n",itf->write,itf->max_msg,
			itf->packets[itf->write].data);
	*ptr = itf->packets[itf->write].data;

	return 1;
}
Ejemplo n.º 16
0
int rtdal_itfspscq_init(rtdal_itfspscq_t *itf) {
	RTDAL_ASSERT_PARAM(itf);
	int i;

	itf->parent.is_external = 0;
	itf->read = 0;
	itf->write = 0;
	itf->data = malloc(itf->max_msg*itf->max_msg_sz);
	itf->packets = calloc(itf->max_msg,sizeof(r_pkt_t));
	if (!itf->data || !itf->packets) {
		return -1;
	}
	for (i=0;i<itf->max_msg;i++) {
		itf->packets[i].data = &itf->data[i*itf->max_msg_sz];
		itf->packets[i].valid = 0;
	}

	return 0;
}
Ejemplo n.º 17
0
int rtdal_itfspscq_request(r_itf_t obj, void **ptr) {
	cast(obj,itf);
	RTDAL_ASSERT_PARAM(ptr);

	*ptr = NULL;
	qdebug("write=%d read=%d\n",itf->write,itf->read);

	if (spscq_is_full(itf)) {

		qdebug("[full] id=%d write=%d, valid=%d\n",itf->parent.id,itf->write,itf->packets[itf->write].valid);
		RTDAL_SETERROR(RTDAL_ERROR_NOSPACE);
		return 0;
	}

	qdebug("[ok] write=%d/%d\n",itf->write,itf->max_msg);
	*ptr = itf->packets[itf->write].data;


	return 1;
}
Ejemplo n.º 18
0
/**
 * Removes a process from the system, previously loaded using rtdal_process_new().
 * rtdal_process_remove() removes the process from the allocated pipeline and
 * then unloads the program code from memory. After, if a finish_callback function
 * was provided in the process attributes during rtdal_process_new(), it is now
 * called.

 *  @param obj Pointer to the rtdal_process_t object.
 *  @return Zero on success, -1 on error.
 */
int rtdal_process_remove(r_proc_t process) {
	RTDAL_ASSERT_PARAM(process);
	rtdal_process_t *obj = (rtdal_process_t*) process;
	hdebug("pid=%d\n",obj->pid)

	if (pipeline_remove((pipeline_t*) obj->pipeline, obj)) {
		return -1;
	}

	dlclose(obj->dl_handle);

	snprintf(tmp,LSTR_LEN,"/tmp/am_%d.so",obj->pid);
	snprintf(tmp2,LSTR_LEN,"rm %s",tmp);
	if (system(tmp2) == -1) {
		aerror("Error removing file\n");
		return -1;
	}

	obj->pid = 0;

	return 0;
}
Ejemplo n.º 19
0
/**
 * Removes the function pointed by callback from the kernel periodic callback functions,
 * previously added with rtdal_periodic_add().
 *
 * @param callback Pointer to the periodic function
 * @returns zero on success, -1 on error
 */
int rtdal_periodic_remove(void (*callback)(void)) {
	assert(context);
	RTDAL_ASSERT_PARAM(callback);

	int i;
	pthread_mutex_lock(&context->mutex);
	for (i=0;i<MAX(rtdal_periodic);i++) {
		if (context->periodic[i].callback == callback)
			break;
	}

	if (i == MAX(rtdal_periodic)) {
		RTDAL_SETERROR(RTDAL_ERROR_NOTFOUND);
		return -1;
	}
	context->periodic[i].counter = 0;
	context->periodic[i].period = 0;
	context->periodic[i].callback = NULL;
	pthread_mutex_unlock(&context->mutex);
	hdebug("i=%d\n",i);
	return 0;
}
Ejemplo n.º 20
0
/**
 * Returns the id of the process identified by the first argument.
 * The process must have been previously loaded using rtdal_process_new().
 * @param process Handler to the process
 * @returns non-negative id on success, -1 on error
 */
int rtdal_process_pid(r_proc_t process) {
	RTDAL_ASSERT_PARAM(process);
	rtdal_process_t *obj = (rtdal_process_t*) process;
	return obj->pid;
}
Ejemplo n.º 21
0
/**
 * Returns 1 if the process is running or zero otherwise
 */
int rtdal_process_isrunning(r_proc_t proc) {
	RTDAL_ASSERT_PARAM(proc);
	rtdal_process_t *obj = (rtdal_process_t*) proc;
	hdebug("pid=%d, running=%d\n",obj->pid,obj->runnable);
	return obj->is_running;
}