/**
* Creates a new process to be executed by one of the kernel pipelines.
* The structure pointed by attr is defined in rtdal_process_attr.
*
* rtdal_process_new() configures the process parameters and loads it into the
* pipeline. The process won't execute until a success call to rtdal_process_run()
* is performed.
*
* The address pointed by arg will be passed to the process as a parameter.
*
* Notes: The shared library must conform with the rtdal_process_t requirements.
*
* @param attr Configures the process attributes
* @param arg Argument to pass to the process each execution cycle
* @return non-null value on success, zero on error
*/
r_proc_t rtdal_process_new(struct rtdal_process_attr *attr, void *arg) {
hdebug("binary=%s, proc=%d, pos=%d, finish=0x%x, arg=0x%x\n",attr->binary_path,attr->pipeline_id,
attr->exec_position,attr->finish_callback,arg);
assert(context);
RTDAL_ASSERT_PARAM_P(attr);
RTDAL_ASSERT_PARAM_P(arg);
pthread_mutex_lock(&context->mutex);
int i=0;
/* find empty space on process db */
for (i=0;i<MAX(rtdal_process);i++) {
if (!context->processes[i].pid)
break;
}
if (i == MAX(rtdal_process)) {
RTDAL_SETERROR(RTDAL_ERROR_NOSPACE);
goto out;
}
if (attr->process_group_id > MAX_PROCESS_GROUP_ID) {
RTDAL_SETERROR(RTDAL_ERROR_NOSPACE);
goto out;
}
if (attr->process_group_id < 0) {
RTDAL_SETERROR(RTDAL_ERROR_INVAL);
goto out;
}
pgroup_notified_failure[attr->process_group_id] = 0;
memset(&context->processes[i],0,sizeof(rtdal_process_t));
context->processes[i].pid=i+1;
hdebug("i=%d, pid=%d\n",context->processes[i].pid);
memcpy(&context->processes[i].attributes, attr,
sizeof(struct rtdal_process_attr));
context->processes[i].arg = arg;
context->processes[i].finish_code = FINISH_OK;
if (pipeline_add(&context->pipelines[attr->pipeline_id],
&context->processes[i]) == -1) {
goto out;
}
if (rtdal_process_launch(&context->processes[i])) {
pipeline_remove(&context->pipelines[attr->pipeline_id],
&context->processes[i]);
goto out;
}
pthread_mutex_unlock(&context->mutex);
return (r_proc_t) &context->processes[i];
out:
pthread_mutex_unlock(&context->mutex);
return NULL;
}
inline static void pipeline_run_thread_run_module(pipeline_t *pipe,
rtdal_process_t *proc, int idx) {
hdebug("pipeid=%d, pid=%d, idx=%d, run=%d\n",pipe->id,proc->pid,idx,proc->runnable);
if (proc->runnable) {
pipe->running_process = proc;
pipe->running_process_idx = idx;
proc->is_running = 1;
if (proc->run_point(proc->arg)) {
aerror_msg("Error running module %d:%d\n",
pipe->id,pipe->running_process_idx);
pipeline_remove(pipe,proc);
proc->is_running = 0;
}
proc->is_running = 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;
}