ER slp_tsk(void)
{
return XENOMAI_SKINCALL0(__uitron_muxid, __uitron_slp_tsk);
}
ER dis_dsp(void)
{
return XENOMAI_SKINCALL0(__uitron_muxid, __uitron_dis_dsp);
}
ER ena_dsp(void)
{
return XENOMAI_SKINCALL0(__uitron_muxid, __uitron_ena_dsp);
}
void exd_tsk(void)
{
XENOMAI_SKINCALL0(__uitron_muxid, __uitron_exd_tsk);
}
BOOL intContext(void)
{
return XENOMAI_SKINCALL0(__vxworks_muxid, __vxworks_int_context);
}
void sc_unlock(void)
{
XENOMAI_SKINCALL0(__vrtx_muxid, __vrtx_unlock);
}
static __constructor__ void __init_posix_interface(void)
{
struct sched_param parm;
int policy;
int muxid, err;
const char *noshadow;
rt_print_auto_init(1);
muxid =
xeno_bind_skin(PSE51_SKIN_MAGIC, "POSIX", "xeno_posix");
#ifdef XNARCH_HAVE_NONPRIV_TSC
pse51_clock_init(muxid);
#endif /* XNARCH_HAVE_NONPRIV_TSC */
__pse51_muxid = __xn_mux_shifted_id(muxid);
muxid = XENOMAI_SYSBIND(RTDM_SKIN_MAGIC,
XENOMAI_FEAT_DEP, XENOMAI_ABI_REV, NULL);
if (muxid > 0) {
__pse51_rtdm_muxid = __xn_mux_shifted_id(muxid);
__pse51_rtdm_fd_start = FD_SETSIZE - XENOMAI_SKINCALL0(__pse51_rtdm_muxid,
__rtdm_fdcount);
}
pse51_mutex_init();
noshadow = getenv("XENO_NOSHADOW");
if ((!noshadow || !*noshadow) && xeno_get_current() == XN_NO_HANDLE) {
err = __real_pthread_getschedparam(pthread_self(), &policy,
&parm);
if (err) {
fprintf(stderr, "Xenomai Posix skin init: "
"pthread_getschedparam: %s\n", strerror(err));
exit(EXIT_FAILURE);
}
err = __wrap_pthread_setschedparam(pthread_self(), policy,
&parm);
if (err) {
fprintf(stderr, "Xenomai Posix skin init: "
"pthread_setschedparam: %s\n", strerror(err));
exit(EXIT_FAILURE);
}
}
if (fork_handler_registered)
return;
err = pthread_atfork(NULL, NULL, &__init_posix_interface);
if (err) {
fprintf(stderr, "Xenomai Posix skin init: "
"pthread_atfork: %s\n", strerror(err));
exit(EXIT_FAILURE);
}
fork_handler_registered = 1;
if (sizeof(struct __shadow_mutex) > sizeof(pthread_mutex_t)) {
fprintf(stderr, "sizeof(pthread_mutex_t): %d <"
" sizeof(shadow_mutex): %d !\n",
(int) sizeof(pthread_mutex_t),
(int) sizeof(struct __shadow_mutex));
exit(EXIT_FAILURE);
}
}
void __init_posix_interface(void)
{
struct xnbindreq breq;
#ifndef CONFIG_XENO_LIBS_DLOPEN
struct sched_param parm;
int policy;
#endif /* !CONFIG_XENO_LIBS_DLOPEN */
int muxid, err;
rt_print_auto_init(1);
muxid =
xeno_bind_skin(PSE51_SKIN_MAGIC, "POSIX", "xeno_posix");
pse51_clock_init(muxid);
__pse51_muxid = __xn_mux_shifted_id(muxid);
breq.feat_req = XENOMAI_FEAT_DEP;
breq.abi_rev = XENOMAI_ABI_REV;
muxid = XENOMAI_SYSBIND(RTDM_SKIN_MAGIC, &breq);
if (muxid > 0) {
__rtdm_muxid = __xn_mux_shifted_id(muxid);
__rtdm_fd_start = FD_SETSIZE - XENOMAI_SKINCALL0(__rtdm_muxid,
__rtdm_fdcount);
}
/* If not dlopening, we are going to shadow the main thread, so mlock
the whole memory for the time of the syscall, in order to avoid the
SIGXCPU signal. */
#if defined(CONFIG_XENO_POSIX_AUTO_MLOCKALL) || !defined(CONFIG_XENO_LIBS_DLOPEN)
if (mlockall(MCL_CURRENT | MCL_FUTURE)) {
perror("Xenomai Posix skin init: mlockall");
exit(EXIT_FAILURE);
}
#endif /* auto mlockall || !dlopen */
/* Don't use auto-shadowing if we are likely invoked from dlopen. */
#ifndef CONFIG_XENO_LIBS_DLOPEN
err = __STD(pthread_getschedparam(pthread_self(), &policy, &parm));
if (err) {
fprintf(stderr, "Xenomai Posix skin init: "
"pthread_getschedparam: %s\n", strerror(err));
exit(EXIT_FAILURE);
}
err = __wrap_pthread_setschedparam(pthread_self(), policy, &parm);
if (err) {
fprintf(stderr, "Xenomai Posix skin init: "
"pthread_setschedparam: %s\n", strerror(err));
exit(EXIT_FAILURE);
}
#ifndef CONFIG_XENO_POSIX_AUTO_MLOCKALL
if (munlockall()) {
perror("Xenomai Posix skin init: munlockall");
exit(EXIT_FAILURE);
}
#endif /* !CONFIG_XENO_POSIX_AUTO_MLOCKALL */
#endif /* !CONFIG_XENO_LIBS_DLOPEN */
if (fork_handler_registered)
return;
err = pthread_atfork(NULL, NULL, &__init_posix_interface);
if (err) {
fprintf(stderr, "Xenomai Posix skin init: "
"pthread_atfork: %s\n", strerror(err));
exit(EXIT_FAILURE);
}
fork_handler_registered = 1;
if (sizeof(struct __shadow_mutex) > sizeof(pthread_mutex_t)) {
fprintf(stderr, "sizeof(pthread_mutex_t): %d <"
" sizeof(shadow_mutex): %d !\n",
(int) sizeof(pthread_mutex_t),
(int) sizeof(struct __shadow_mutex));
exit(EXIT_FAILURE);
}
}