/**
* @brief Receives bytes as many as possible, without blocking the
* calling task.
*
* rt_mbx_receive_wp receives at most @e msg_size of bytes of message
* from the mailbox @e mbx then returns immediately.
*
* @param mbx is a pointer to a user allocated mailbox structure.
*
* @param msg points to a buffer provided by the caller.
*
* @param msg_size corresponds to the size of the message to be received.
*
* @return On success, the number of bytes not received is returned. On
* failure a negative value is returned as described below:
* - @b EINVAL: mbx points to not a valid mailbox.
*/
RTAI_SYSCALL_MODE int _rt_mbx_receive_wp(MBX *mbx, void *msg, int msg_size, int space)
{
unsigned long flags;
RT_TASK *rt_current = RT_CURRENT;
int size = msg_size;
CHK_MBX_MAGIC;
flags = rt_global_save_flags_and_cli();
if (mbx->rcvsem.count > 0 && mbx->avbs) {
mbx->rcvsem.count = 0;
if (mbx->rcvsem.type > 0) {
mbx->rcvsem.owndby = rt_current;
enqueue_resqel(&mbx->rcvsem.resq, rt_current);
}
rt_global_restore_flags(flags);
msg_size = mbxget(mbx, (char **)(&msg), msg_size, space);
mbx_signal(mbx);
rt_sem_signal(&mbx->rcvsem);
} else {
rt_global_restore_flags(flags);
}
if (msg_size < size) {
rt_wakeup_pollers(&mbx->poll_send, 0);
}
return msg_size;
}
static int mbx_wait_until(MBX *mbx, int *fravbs, RTIME time, RT_TASK *rt_current)
{
unsigned long flags;
flags = rt_global_save_flags_and_cli();
if (!(*fravbs))
{
void *retp;
rt_current->blocked_on = (void *)mbx;
mbx->waiting_task = rt_current;
if ((rt_current->resume_time = time) > rt_smp_time_h[rtai_cpuid()])
{
rt_current->state |= (RT_SCHED_MBXSUSP | RT_SCHED_DELAYED);
rem_ready_current(rt_current);
enq_timed_task(rt_current);
rt_schedule();
}
if (unlikely((retp = rt_current->blocked_on) != NULL))
{
mbx->waiting_task = NULL;
rt_global_restore_flags(flags);
return likely(retp > RTP_HIGERR) ? RTE_TIMOUT : (retp == RTP_UNBLKD ? RTE_UNBLKD : RTE_OBJREM);
}
}
rt_global_restore_flags(flags);
return 0;
}
/**
* @brief Sends a message overwriting what already in the buffer
* if there is no place for the message.
*
* rt_mbx_ovrwr_send sends the message @e msg of @e msg_size bytes
* to the mailbox @e mbx overwriting what already in the mailbox
* buffer if there is no place for the message. Useful for logging
* purposes. It returns immediately and the caller is never blocked.
*
* @return On success, 0 is returned. On failure a negative value
* is returned as described below:
* - @b EINVAL: @e mbx points to an invalid mailbox.
*/
RTAI_SYSCALL_MODE int _rt_mbx_ovrwr_send(MBX *mbx, void *msg, int msg_size, int space)
{
unsigned long flags;
RT_TASK *rt_current = RT_CURRENT;
CHK_MBX_MAGIC;
flags = rt_global_save_flags_and_cli();
if (mbx->sndsem.count > 0)
{
mbx->sndsem.count = 0;
if (mbx->sndsem.type > 0)
{
mbx->sndsem.owndby = rt_current;
enqueue_resqel(&mbx->sndsem.resq, rt_current);
}
rt_global_restore_flags(flags);
msg_size = mbxovrwrput(mbx, (char **)(&msg), msg_size, space);
mbx_signal(mbx);
rt_sem_signal(&mbx->sndsem);
}
else
{
rt_global_restore_flags(flags);
}
return msg_size;
}
static inline int tbx_check_room(TBX *tbx, int *fravbs, int msgsize)
{
unsigned long flags;
flags = rt_global_save_flags_and_cli();
if (((*fravbs) < msgsize) || !tbx->sndsmx.count) {
rt_global_restore_flags(flags);
return 0;
}
tbx->sndsmx.count = 0;
rt_global_restore_flags(flags);
return msgsize;
}
static inline void asgn_min_prio(int cpuid)
{
// find minimum priority in timers_struct
RT_TASK *timer_manager;
struct rt_tasklet_struct *timer, *timerl;
spinlock_t *lock;
unsigned long flags;
int priority;
priority = (timer = (timerl = &timers_list[LIST_CPUID])->next)->priority;
flags = rt_spin_lock_irqsave(lock = &timers_lock[LIST_CPUID]);
while ((timer = timer->next) != timerl) {
if (timer->priority < priority) {
priority = timer->priority;
}
rt_spin_unlock_irqrestore(flags, lock);
flags = rt_spin_lock_irqsave(lock);
}
rt_spin_unlock_irqrestore(flags, lock);
flags = rt_global_save_flags_and_cli();
if ((timer_manager = &timers_manager[LIST_CPUID])->priority > priority) {
timer_manager->priority = priority;
if (timer_manager->state == RT_SCHED_READY) {
rem_ready_task(timer_manager);
enq_ready_task(timer_manager);
}
}
rt_global_restore_flags(flags);
}
static inline int tbx_smx_wait_until(TBX *tbx, SEM *smx, RTIME time, RT_TASK *rt_current)
{
int timed = 0;
unsigned long flags;
flags = rt_global_save_flags_and_cli();
if (!(smx->count)) {
tbx->waiting_nr++;
rt_current->blocked_on = &smx->queue;
rt_current->resume_time = time;
rt_current->state |= (SEMAPHORE | DELAYED);
rt_rem_ready_current(rt_current);
enqueue_blocked(rt_current, &smx->queue, smx->qtype);
rt_enq_timed_task(rt_current);
rt_schedule();
if (rt_current->blocked_on) {
dequeue_blocked(rt_current);
timed = 1;
tbx->waiting_nr--;
}
} else {
smx->count = 0;
}
rt_global_restore_flags(flags);
return timed;
}
static inline int tbx_wait_room_until(TBX *tbx, int *fravbs, int msgsize, RTIME time, RT_TASK *rt_current)
{
int timed = 0;
unsigned long flags;
flags = rt_global_save_flags_and_cli();
if ((*fravbs) < msgsize) {
tbx->waiting_nr++;
rt_current->blocked_on = SOMETHING;
rt_current->resume_time = time;
rt_current->state |= DELAYED;
rt_rem_ready_current(rt_current);
tbx->waiting_task = rt_current;
rt_enq_timed_task(rt_current);
rt_schedule();
if (rt_current->blocked_on) {
tbx->waiting_nr--;
rt_current->blocked_on = NOTHING;
tbx->waiting_task = NOTHING;
timed = 1;
}
}
rt_global_restore_flags(flags);
return timed;
}
RTAI_SYSCALL_MODE int _rt_bits_wait_if(BITS *bits, int testfun, unsigned long testmasks, int exitfun, unsigned long exitmasks, unsigned long *resulting_mask, int space)
{
unsigned long flags, mask;
int retval;
CHECK_BITS_MAGIC(bits);
flags = rt_global_save_flags_and_cli();
mask = bits->mask;
if (test_fun[testfun](bits, testmasks)) {
exec_fun[exitfun](bits, exitmasks);
retval = 1;
} else {
retval = 0;
}
rt_global_restore_flags(flags);
if (resulting_mask) {
if (space) {
*resulting_mask = mask;
} else {
rt_copy_to_user(resulting_mask, &mask, sizeof(mask));
}
}
return retval;
}
int rt_bits_delete(BITS *bits)
{
unsigned long flags, schedmap;
RT_TASK *task;
QUEUE *q;
CHECK_BITS_MAGIC(bits);
schedmap = 0;
q = &bits->queue;
flags = rt_global_save_flags_and_cli();
bits->magic = 0;
while ((q = q->next) != &bits->queue && (task = q->task)) {
rem_timed_task(task);
if (task->state != RT_SCHED_READY && (task->state &= ~(RT_SCHED_SEMAPHORE | RT_SCHED_DELAYED)) == RT_SCHED_READY) {
task->blocked_on = RTP_OBJREM;
enq_ready_task(task);
#ifdef CONFIG_SMP
set_bit(task->runnable_on_cpus & 0x1F, &schedmap);
#endif
}
}
RT_SCHEDULE_MAP(schedmap);
rt_global_restore_flags(flags);
return 0;
}
static inline void asgn_min_prio(void)
{
// find minimum priority in timers_struct
struct rt_tasklet_struct *timer;
unsigned long flags;
int priority;
priority = (timer = timers_list.next)->priority;
flags = rt_spin_lock_irqsave(&timers_lock);
while ((timer = timer->next) != &timers_list) {
if (timer->priority < priority) {
priority = timer->priority;
}
}
rt_spin_unlock_irqrestore(flags, &timers_lock);
flags = rt_global_save_flags_and_cli();
if (timers_manager.priority > priority) {
timers_manager.priority = priority;
if (timers_manager.state == READY || timers_manager.state == (READY | RUNNING)) {
rt_rem_ready_task(&timers_manager);
rt_enq_ready_task(&timers_manager);
}
}
rt_global_restore_flags(flags);
}
static inline int tbxget(TBX *tbx, char **msg, int msg_size)
{
int tocpy;
unsigned long flags;
flags = rt_global_save_flags_and_cli();
while (tbx->avbs && msg_size > 0) {
tocpy = tbx->size - tbx->fbyte;
if (tocpy > msg_size) {
tocpy = msg_size;
}
if (tocpy > tbx->avbs) {
tocpy = tbx->avbs;
}
// rt_global_restore_flags(flags);
memcpy(*msg, tbx->bufadr + tbx->fbyte, tocpy);
msg_size -= tocpy;
*msg += tocpy;
// flags = rt_global_save_flags_and_cli();
tbx->fbyte = TBX_MOD_SIZE(tbx->fbyte + tocpy);
tbx->frbs += tocpy;
tbx->avbs -= tocpy;
}
rt_global_restore_flags(flags);
return msg_size;
}
RTAI_SYSCALL_MODE unsigned long rt_bits_reset(BITS *bits, unsigned long mask)
{
unsigned long flags, schedmap, oldmask;
RT_TASK *task;
QUEUE *q;
CHECK_BITS_MAGIC(bits);
schedmap = 0;
q = &bits->queue;
flags = rt_global_save_flags_and_cli();
oldmask = bits->mask;
bits->mask = mask;
while ((q = q->next) != &bits->queue) {
dequeue_blocked(task = q->task);
rem_timed_task(task);
if (task->state != RT_SCHED_READY && (task->state &= ~(RT_SCHED_SEMAPHORE | RT_SCHED_DELAYED)) == RT_SCHED_READY) {
enq_ready_task(task);
#ifdef CONFIG_SMP
set_bit(task->runnable_on_cpus & 0x1F, &schedmap);
#endif
}
}
bits->queue.prev = bits->queue.next = &bits->queue;
RT_SCHEDULE_MAP(schedmap);
rt_global_restore_flags(flags);
return oldmask;
}
static inline int tbxput(TBX *tbx, char **msg, int msg_size, unsigned char type)
{
int tocpy, last_byte;
unsigned long flags;
int msgpacksize;
msgpacksize = msg_size + sizeof(type);
flags = rt_global_save_flags_and_cli();
while (tbx->frbs && msgpacksize > 0) {
last_byte = TBX_MOD_SIZE(tbx->fbyte + tbx->avbs);
tocpy = tbx->size - last_byte;
if (tocpy > msgpacksize) {
tocpy = msgpacksize;
}
// rt_global_restore_flags(flags);
if (type != TYPE_NONE) {
tocpy = sizeof(type);
*(tbx->bufadr + last_byte) = type;
msgpacksize -= tocpy;
type = TYPE_NONE;
} else {
memcpy(tbx->bufadr + last_byte, *msg, tocpy);
msgpacksize -= tocpy;
*msg += tocpy;
}
// flags = rt_global_save_flags_and_cli();
tbx->frbs -= tocpy;
tbx->avbs += tocpy;
}
rt_global_restore_flags(flags);
return msgpacksize;
}
RTAI_SYSCALL_MODE unsigned long rt_bits_signal(BITS *bits, int setfun, unsigned long masks)
{
unsigned long flags, schedmap;
RT_TASK *task;
QUEUE *q;
CHECK_BITS_MAGIC(bits);
schedmap = 0;
q = &bits->queue;
flags = rt_global_save_flags_and_cli();
exec_fun[setfun](bits, masks);
masks = bits->mask;
while ((q = q->next) != &bits->queue) {
task = q->task;
if (test_fun[TEST_FUN(task)](bits, TEST_MASK(task))) {
dequeue_blocked(task);
rem_timed_task(task);
if (task->state != RT_SCHED_READY && (task->state &= ~(RT_SCHED_SEMAPHORE | RT_SCHED_DELAYED)) == RT_SCHED_READY) {
enq_ready_task(task);
#ifdef CONFIG_SMP
set_bit(task->runnable_on_cpus & 0x1F, &schedmap);
#endif
}
}
}
RT_SCHEDULE_MAP(schedmap);
rt_global_restore_flags(flags);
return masks;
}
RTAI_SYSCALL_MODE int _rt_bits_wait(BITS *bits, int testfun, unsigned long testmasks, int exitfun, unsigned long exitmasks, unsigned long *resulting_mask, int space)
{
RT_TASK *rt_current;
unsigned long flags, mask = 0;
int retval;
CHECK_BITS_MAGIC(bits);
flags = rt_global_save_flags_and_cli();
if (!test_fun[testfun](bits, testmasks))
{
void *retpnt;
long bits_test[2];
rt_current = RT_CURRENT;
TEST_BUF(rt_current, bits_test);
TEST_FUN(rt_current) = testfun;
TEST_MASK(rt_current) = testmasks;
rt_current->state |= RT_SCHED_SEMAPHORE;
rem_ready_current(rt_current);
enqueue_blocked(rt_current, &bits->queue, 1);
rt_schedule();
if (unlikely((retpnt = rt_current->blocked_on) != NULL))
{
if (likely(retpnt != RTP_OBJREM))
{
dequeue_blocked(rt_current);
retval = RTE_UNBLKD;
}
else
{
rt_current->prio_passed_to = NULL;
retval = RTE_OBJREM;
}
goto retmask;
}
}
retval = 0;
mask = bits->mask;
exec_fun[exitfun](bits, exitmasks);
retmask:
rt_global_restore_flags(flags);
if (resulting_mask)
{
if (space)
{
*resulting_mask = mask;
}
else
{
rt_copy_to_user(resulting_mask, &mask, sizeof(mask));
}
}
return retval;
}
RTAI_SYSCALL_MODE int rt_insert_timer(struct rt_tasklet_struct *timer, int priority, RTIME firing_time, RTIME period, void (*handler)(unsigned long), unsigned long data, int pid)
{
spinlock_t *lock;
unsigned long flags, cpuid;
RT_TASK *timer_manager;
// timer initialization
timer->uses_fpu = 0;
if (pid >= 0) {
if (!handler) {
return -EINVAL;
}
timer->handler = handler;
timer->data = data;
} else {
if (timer->handler != NULL || timer->handler == (void *)1) {
timer->handler = (void *)1;
timer->data = data;
}
}
timer->priority = priority;
REALTIME2COUNT(firing_time)
timer->firing_time = firing_time;
timer->period = period;
if (!pid) {
timer->task = 0;
timer->cpuid = cpuid = NUM_CPUS > 1 ? rtai_cpuid() : 0;
} else {
timer->cpuid = cpuid = NUM_CPUS > 1 ? (timer->task)->runnable_on_cpus : 0;
(timer->task)->priority = priority;
rt_copy_to_user(timer->usptasklet, timer, sizeof(struct rt_usp_tasklet_struct));
}
// timer insertion in timers_list
flags = rt_spin_lock_irqsave(lock = &timers_lock[LIST_CPUID]);
enq_timer(timer);
rt_spin_unlock_irqrestore(flags, lock);
// timers_manager priority inheritance
if (timer->priority < (timer_manager = &timers_manager[LIST_CPUID])->priority) {
timer_manager->priority = timer->priority;
}
// timers_task deadline inheritance
flags = rt_global_save_flags_and_cli();
if (timers_list[LIST_CPUID].next == timer && (timer_manager->state & RT_SCHED_DELAYED) && firing_time < timer_manager->resume_time) {
timer_manager->resume_time = firing_time;
rem_timed_task(timer_manager);
enq_timed_task(timer_manager);
rt_schedule();
}
rt_global_restore_flags(flags);
return 0;
}
static int mbx_wait(MBX *mbx, int *fravbs, RT_TASK *rt_current)
{
unsigned long flags;
flags = rt_global_save_flags_and_cli();
if (!(*fravbs)) {
unsigned long retval;
rt_current->state |= RT_SCHED_MBXSUSP;
rem_ready_current(rt_current);
rt_current->blocked_on = (void *)mbx;
mbx->waiting_task = rt_current;
rt_schedule();
if (unlikely(retval = (unsigned long)rt_current->blocked_on)) {
mbx->waiting_task = NULL;
rt_global_restore_flags(flags);
return retval;
}
}
rt_global_restore_flags(flags);
return 0;
}
static inline unsigned char tbx_check_msg(TBX *tbx, int *fravbs, int msgsize, unsigned char* type)
{
unsigned long flags;
flags = rt_global_save_flags_and_cli();
if (tbx->rcvsmx.count == 0 || (*fravbs) < msgsize ) {
rt_global_restore_flags(flags);
return 0;
}
tbx->rcvsmx.count = 0;
if (*tbx->bcbadr == TYPE_BROADCAST) {
*type = TYPE_BROADCAST;
} else {
*type = *(tbx->bufadr + tbx->fbyte);
tbx->fbyte = TBX_MOD_SIZE(tbx->fbyte + sizeof(*type));
tbx->frbs += sizeof(*type);
tbx->avbs -= sizeof(*type);
}
rt_global_restore_flags(flags);
return *type;
}
void rt_set_timer_firing_time(struct rt_tasklet_struct *timer, RTIME firing_time)
{
unsigned long flags;
set_timer_firing_time(timer, firing_time);
flags = rt_global_save_flags_and_cli();
if (timers_list.next == timer && (timers_manager.state & DELAYED) && firing_time < timers_manager.resume_time) {
timers_manager.resume_time = firing_time;
rt_rem_timed_task(&timers_manager);
rt_enq_timed_task(&timers_manager);
RT_SCHEDULE();
}
rt_global_restore_flags(flags);
}
static inline int tbx_wait_msg_until(TBX *tbx, int *fravbs, int msgsize, RTIME time, unsigned char *type, RT_TASK *rt_current)
{
int timed = 0;
unsigned long flags;
flags = rt_global_save_flags_and_cli();
if (*tbx->bcbadr == TYPE_BROADCAST) {
*type = TYPE_BROADCAST;
} else {
*type = *(tbx->bufadr + tbx->fbyte);
if ((*fravbs) < msgsize && *tbx->bcbadr == TYPE_NONE) {
tbx->waiting_nr++;
rt_current->blocked_on = SOMETHING;
rt_current->resume_time = time;
rt_current->state |= DELAYED;
rt_rem_ready_current(rt_current);
tbx->waiting_task = rt_current;
rt_enq_timed_task(rt_current);
rt_schedule();
if (rt_current->blocked_on) {
tbx->waiting_nr--;
rt_current->blocked_on = NOTHING;
tbx->waiting_task = NOTHING;
timed = 1;
*type = TYPE_NONE;
rt_global_restore_flags(flags);
return timed;
}
}
tbx->fbyte = TBX_MOD_SIZE(tbx->fbyte + sizeof(*type));
tbx->frbs += sizeof(*type);
tbx->avbs -= sizeof(*type);
}
rt_global_restore_flags(flags);
return timed;
}
RTAI_SYSCALL_MODE void rt_set_timer_firing_time(struct rt_tasklet_struct *timer, RTIME firing_time)
{
unsigned long flags;
RT_TASK *timer_manager;
set_timer_firing_time(timer, firing_time);
flags = rt_global_save_flags_and_cli();
if (timers_list[TIMER_CPUID].next == timer && ((timer_manager = &timers_manager[TIMER_CPUID])->state & RT_SCHED_DELAYED) && firing_time < timer_manager->resume_time) {
timer_manager->resume_time = firing_time;
rem_timed_task(timer_manager);
enq_timed_task(timer_manager);
rt_schedule();
}
rt_global_restore_flags(flags);
}
static inline int tbx_smx_wait(TBX* tbx, SEM *smx, RT_TASK *rt_current)
{
unsigned long flags;
flags = rt_global_save_flags_and_cli();
if (!(smx->count)) {
tbx->waiting_nr++;
rt_current->state |= SEMAPHORE;
rt_rem_ready_current(rt_current);
enqueue_blocked(rt_current, &smx->queue, smx->qtype);
rt_schedule();
} else {
smx->count = 0;
}
rt_global_restore_flags(flags);
return (int)(rt_current->blocked_on);
}
static inline int tbx_wait_room(TBX *tbx, int *fravbs, int msgsize, RT_TASK *rt_current)
{
unsigned long flags;
flags = rt_global_save_flags_and_cli();
if ((*fravbs) < msgsize) {
tbx->waiting_nr++;
rt_current->suspdepth = 1;
rt_current->state |= SUSPENDED;
rt_rem_ready_current(rt_current);
rt_current->blocked_on = SOMETHING;
tbx->waiting_task = rt_current;
rt_schedule();
}
rt_global_restore_flags(flags);
return (int)(rt_current->blocked_on);
}
int rt_insert_timer(struct rt_tasklet_struct *timer, int priority, RTIME firing_time, RTIME period, void (*handler)(unsigned long), unsigned long data, int pid)
{
unsigned long flags;
struct rt_tasklet_struct *tmr;
// timer initialization
if (!handler) {
return -EINVAL;
}
timer->uses_fpu = 0;
timer->priority = priority;
timer->firing_time = firing_time;
timer->period = period;
timer->handler = handler;
timer->data = data;
if (!pid) {
timer->task = 0;
} else {
(timer->task)->priority = priority;
copy_to_user(timer->usptasklet, timer, sizeof(struct rt_tasklet_struct));
}
// timer insertion in timers_list
tmr = &timers_list;
flags = rt_spin_lock_irqsave(&timers_lock);
while (firing_time >= (tmr = tmr->next)->firing_time);
timer->next = tmr;
timer->prev = tmr->prev;
(tmr->prev)->next = timer;
tmr->prev = timer;
rt_spin_unlock_irqrestore(flags, &timers_lock);
// timers_manager priority inheritance
if (timer->priority < timers_manager.priority) {
timers_manager.priority = timer->priority;
}
// timers_task deadline inheritance
flags = rt_global_save_flags_and_cli();
if (timers_list.next == timer && (timers_manager.state & DELAYED) && firing_time < timers_manager.resume_time) {
timers_manager.resume_time = firing_time;
rt_rem_timed_task(&timers_manager);
rt_enq_timed_task(&timers_manager);
RT_SCHEDULE();
}
rt_global_restore_flags(flags);
return 0;
}
static inline void tbx_signal(TBX *tbx)
{
unsigned long flags;
RT_TASK *task;
flags = rt_global_save_flags_and_cli();
if ((task = tbx->waiting_task)) {
tbx->waiting_nr--;
rt_rem_timed_task(task);
task->blocked_on = NOTHING;
tbx->waiting_task = NOTHING;
if ((task->state &= ~(SUSPENDED | DELAYED)) == READY) {
rt_enq_ready_task(task);
rt_schedule();
}
}
rt_global_restore_flags(flags);
}
static inline void tbx_smx_signal(TBX* tbx, SEM *smx)
{
unsigned long flags;
RT_TASK *task;
flags = rt_global_save_flags_and_cli();
if ((task = (smx->queue.next)->task)) {
tbx->waiting_nr--;
dequeue_blocked(task);
rt_rem_timed_task(task);
if ((task->state &= ~(SEMAPHORE | DELAYED)) == READY) {
rt_enq_ready_task(task);
rt_schedule();
}
} else {
smx->count = 1;
}
rt_global_restore_flags(flags);
}
RTAI_SYSCALL_MODE int rt_wait_signal(RT_TASK *sigtask, RT_TASK *task)
{
unsigned long flags;
if (sigtask->rt_signals != NULL) {
flags = rt_global_save_flags_and_cli();
if (!sigtask->suspdepth++) {
sigtask->state |= RT_SCHED_SIGSUSP;
rem_ready_current(sigtask);
if (task->pstate > 0 && !(--task->pstate) && (task->state &= ~RT_SCHED_SIGSUSP) == RT_SCHED_READY) {
enq_ready_task(task);
}
rt_schedule();
}
rt_global_restore_flags(flags);
return sigtask->retval;
}
return 0;
}
static inline void rt_exec_signal(RT_TASK *sigtask, RT_TASK *task)
{
unsigned long flags;
flags = rt_global_save_flags_and_cli();
if (sigtask->suspdepth > 0 && !(--sigtask->suspdepth)) {
if (task) {
sigtask->priority = task->priority;
if (!task->pstate++) {
rem_ready_task(task);
task->state |= RT_SCHED_SIGSUSP;
}
}
sigtask->state &= ~RT_SCHED_SIGSUSP;
sigtask->retval = (long)task;
enq_ready_task(sigtask);
RT_SCHEDULE(sigtask, rtai_cpuid());
}
rt_global_restore_flags(flags);
}
static inline int tbx_wait_msg(TBX *tbx, int *fravbs, int msgsize, unsigned char*type, RT_TASK *rt_current)
{
unsigned long flags;
flags = rt_global_save_flags_and_cli();
if (*tbx->bcbadr == TYPE_BROADCAST) {
*type = TYPE_BROADCAST;
} else {
if ((*fravbs) < msgsize ) {
tbx->waiting_nr++;
rt_current->state |= SUSPENDED;
rt_rem_ready_current(rt_current);
rt_current->blocked_on = SOMETHING;
tbx->waiting_task = rt_current;
rt_schedule();
}
*type = *(tbx->bufadr + tbx->fbyte);
tbx->fbyte = TBX_MOD_SIZE(tbx->fbyte + sizeof(*type));
tbx->frbs += sizeof(*type);
tbx->avbs -= sizeof(*type);
}
rt_global_restore_flags(flags);
return (int)(rt_current->blocked_on);
}
RTAI_SYSCALL_MODE int rt_timer_insert(struct rtdm_timer_struct *timer, int priority, RTIME firing_time, RTIME period, void (*handler)(unsigned long), unsigned long data)
{
spinlock_t *lock;
unsigned long flags, cpuid;
RT_TASK *timer_manager;
if (!handler) {
return -EINVAL;
}
timer->handler = handler;
timer->data = data;
timer->priority = priority;
timer->firing_time = firing_time;
timer->period = period;
REALTIME2COUNT(firing_time)
timer->cpuid = cpuid = NUM_CPUS > 1 ? rtai_cpuid() : 0;
// timer insertion in timers_list
flags = rt_spin_lock_irqsave(lock = &timers_lock[LIST_CPUID]);
enq_timer(timer);
rt_spin_unlock_irqrestore(flags, lock);
// timers_manager priority inheritance
if (timer->priority < (timer_manager = &timers_manager[LIST_CPUID])->priority) {
timer_manager->priority = timer->priority;
}
// timers_task deadline inheritance
flags = rt_global_save_flags_and_cli();
if (timers_list[LIST_CPUID].next == timer && (timer_manager->state & RT_SCHED_DELAYED) && firing_time < timer_manager->resume_time) {
timer_manager->resume_time = firing_time;
rem_timed_task(timer_manager);
enq_timed_task(timer_manager);
rt_schedule();
}
rt_global_restore_flags(flags);
return 0;
}