static int ulapi_load(rtapi_switch_t **ulapi_switch)
{
int retval;
const char *errmsg;
rtapi_get_handle_t rtapi_get_handle;
char ulapi_lib_fname[PATH_MAX];
char *instance = getenv("INSTANCE");
char *debug_env = getenv("ULAPI_DEBUG");
int size = 0;
int globalkey;
// set the rtapi_instance global for this hal library instance
if (instance != NULL)
rtapi_instance = atoi(instance);
if (debug_env)
ulapi_debug = atoi(debug_env);
rtapi_set_msg_level(ulapi_debug);
// tag message origin field
rtapi_set_logtag("ulapi");
// first thing is to attach the global segment, based on
// the RTAPI instance id. This will contain the flavor
// this ULAPI HAL instance is to run with.
// Also, it's the prerequisite for common error message
// handling through the message ringbuffer; unless then
// error messages will go to stderr.
// the global segment is attached once here per ULAPI instance;
// it's address is passed to the ulapi-<flavor>.so module once loaded.
// init the common shared memory driver APU
shm_common_init();
globalkey = OS_KEY(GLOBAL_KEY, rtapi_instance);
retval = shm_common_new(globalkey, &size,
rtapi_instance, (void **) &global_data, 0);
if (retval == -ENOENT) {
// the global_data segment does not exist. Happens if the realtime
// script was not started
rtapi_print_msg(RTAPI_MSG_ERR,
"ULAPI:%d ERROR: realtime not started\n",
rtapi_instance);
return retval;
}
if (retval < 0) {
// some other error attaching global
rtapi_print_msg(RTAPI_MSG_ERR,
"ULAPI:%d ERROR: shm_common_new() failed key=0x%x %s\n",
rtapi_instance, globalkey, strerror(-retval));
return retval;
}
if (size != sizeof(global_data_t)) {
rtapi_print_msg(RTAPI_MSG_ERR,
"ULAPI:%d ERROR: global segment size mismatch,"
" expected: %zd, actual:%d\n",
rtapi_instance, sizeof(global_data_t), size);
return -EINVAL;
}
if (global_data->magic != GLOBAL_READY) {
rtapi_print_msg(RTAPI_MSG_ERR,
"ULAPI:%d ERROR: global segment invalid magic:"
" expected: 0x%x, actual: 0x%x\n",
rtapi_instance, GLOBAL_READY,
global_data->magic);
return -EINVAL;
}
// global data set up ok
// obtain handle on flavor descriptor as detected by rtapi_msgd
flavor = flavor_byid(global_data->rtapi_thread_flavor);
if (flavor == NULL) {
rtapi_print_msg(RTAPI_MSG_ERR,
"HAL_LIB:%d BUG - invalid flavor id: %d\n",
rtapi_instance, global_data->rtapi_thread_flavor);
return -EINVAL;
}
snprintf(ulapi_lib_fname,PATH_MAX,"%s/%s-%s%s",
EMC2_RTLIB_DIR, ulapi_lib, flavor->name, flavor->so_ext);
// dynload the proper ulapi.so:
if ((ulapi_so = dlopen(ulapi_lib_fname, RTLD_GLOBAL|RTLD_NOW)) == NULL) {
errmsg = dlerror();
rtapi_print_msg(RTAPI_MSG_ERR,
"HAL_LIB:%d FATAL - dlopen(%s) failed: %s\n",
rtapi_instance, ulapi_lib_fname,
errmsg ? errmsg : "NULL");
return -ENOENT;
}
// resolve rtapi_switch getter function
dlerror();
if ((rtapi_get_handle = (rtapi_get_handle_t)
dlsym(ulapi_so, "rtapi_get_handle")) == NULL) {
errmsg = dlerror();
rtapi_print_msg(RTAPI_MSG_ERR,
"HAL_LIB:%d FATAL - resolving %s: cant"
" dlsym(rtapi_get_handle): %s\n",
rtapi_instance, ulapi_lib, errmsg ? errmsg : "NULL");
return -ENOENT;
}
assert(rtapi_get_handle != NULL);
// this redirects calls to rtapi through the just-loaded ulapi
*ulapi_switch = rtapi_get_handle();
// from here on it is safe to call all RTAPI functions (i.e. including those
// which go through rtapi_switch)
// resolve main function
dlerror();
if ((ulapi_main_ref = (ulapi_main_t)
dlsym(ulapi_so, "ulapi_main")) == NULL) {
errmsg = dlerror();
rtapi_print_msg(RTAPI_MSG_ERR,
"HAL_LIB:%d FATAL - resolving %s: "
"cant dlsym(ulapi_main): %s\n",
rtapi_instance, ulapi_lib, errmsg ? errmsg : "NULL");
return -ENOENT;
}
// resolve exit function
dlerror();
if ((ulapi_exit_ref = (ulapi_exit_t)
dlsym(ulapi_so, "ulapi_exit")) == NULL) {
errmsg = dlerror();
rtapi_print_msg(RTAPI_MSG_ERR,
"HAL_LIB: FATAL - resolving %s:"
" cant dlsym(ulapi_exit): %s\n",
ulapi_lib, errmsg ? errmsg : "NULL");
return -ENOENT;
}
assert(ulapi_main_ref != NULL);
assert(ulapi_exit_ref != NULL);
// call the ulapi init method, passing in the global segment
if ((retval = ulapi_main_ref(rtapi_instance,
flavor->id, global_data)) < 0) {
// check shmdrv, permissions
rtapi_print_msg(RTAPI_MSG_ERR,
"HAL_LIB: FATAL - cannot attach to instance %d"
" - realtime not started?\n",
rtapi_instance);
return -ENOENT;
}
// pretty bad - we loaded the wrong ulapi.so
if (flavor->id != rtapi_switch->thread_flavor_id) {
rtapi_print_msg(RTAPI_MSG_ERR, "HAL_LIB: BUG: thread flavors disagree:"
" hal_lib.c=%d rtapi=%d\n",
flavor->id, rtapi_switch->thread_flavor_id);
}
// sanity check - may be harmless
if (strcmp(GIT_VERSION, rtapi_switch->git_version)) {
rtapi_print_msg(RTAPI_MSG_WARN,
"HAL_LIB: UP API warning - git versions disagree:"
" hal_lib.c=%s %s=%s\n",
GIT_VERSION, ulapi_lib, rtapi_switch->git_version);
}
// declare victory
return 0;
}
int _rtapi_shmem_new_inst(int userkey, int instance, int module_id, unsigned long int size) {
shmem_data *shmem;
int i, ret, actual_size;
int is_new = 0;
int key = OS_KEY(userkey, instance);
static int page_size;
if (!page_size)
page_size = sysconf(_SC_PAGESIZE);
rtapi_mutex_get(&(rtapi_data->mutex));
for (i = 1 ; i < RTAPI_MAX_SHMEMS; i++) {
if (shmem_array[i].magic == SHMEM_MAGIC && shmem_array[i].key == key) {
shmem_array[i].count ++;
rtapi_mutex_give(&(rtapi_data->mutex));
return i;
}
if (shmem_array[i].magic != SHMEM_MAGIC)
break;
}
if (i == RTAPI_MAX_SHMEMS) {
rtapi_mutex_give(&(rtapi_data->mutex));
rtapi_print_msg(RTAPI_MSG_ERR,
"rtapi_shmem_new failed due to RTAPI_MAX_SHMEMS\n");
return -ENOMEM;
}
shmem = &shmem_array[i];
// redefine size == 0 to mean 'attach only, dont create'
actual_size = size;
ret = shm_common_new(key, &actual_size, instance, &shmem->mem, size > 0);
if (ret > 0)
is_new = 1;
if (ret < 0) {
rtapi_mutex_give(&(rtapi_data->mutex));
rtapi_print_msg(RTAPI_MSG_ERR,
"shm_common_new:%d failed key=0x%x size=%ld\n",
instance, key, size);
return ret;
}
// a non-zero size was given but it didn match what we found:
if (size && (actual_size != size)) {
rtapi_print_msg(RTAPI_MSG_ERR,
"rtapi_shmem_new:%d 0x8.8%x: requested size %ld and actual size %d dont match\n",
instance, key, size, actual_size);
}
/* Touch each page by either zeroing the whole mem (if it's a new
SHM region), or by reading from it. */
if (is_new) {
memset(shmem->mem, 0, size);
} else {
unsigned int i;
for (i = 0; i < size; i += page_size) {
unsigned int x = *(volatile unsigned int *)
((unsigned char *)shmem->mem + i);
/* Use rand_r to clobber the read so GCC won't optimize it
out. */
rand_r(&x);
}
}
/* label as a valid shmem structure */
shmem->magic = SHMEM_MAGIC;
/* fill in the other fields */
shmem->size = actual_size;
shmem->key = key;
shmem->count = 1;
shmem->instance = instance;
rtapi_mutex_give(&(rtapi_data->mutex));
/* return handle to the caller */
return i;
}
static int create_global_segment()
{
int retval = 0;
int globalkey = OS_KEY(GLOBAL_KEY, rtapi_instance);
int rtapikey = OS_KEY(RTAPI_KEY, rtapi_instance);
int halkey = OS_KEY(HAL_KEY, rtapi_instance);
int global_exists = shm_common_exists(globalkey);
int hal_exists = shm_common_exists(halkey);
int rtapi_exists = shm_common_exists(rtapikey);
if (global_exists || rtapi_exists || hal_exists) {
// hm, something is wrong here
pid_t msgd_pid = pid_of("msgd:%d", rtapi_instance);
if (rtapi_instance == kernel_instance_id()) {
// collision with a running kernel instance - not good.
int shmdrv_loaded = is_module_loaded("shmdrv");
int rtapi_loaded = is_module_loaded("rtapi");
int hal_loaded = is_module_loaded("hal_lib");
fprintf(stderr, "ERROR: found existing kernel "
"instance with the same instance id (%d)\n",
rtapi_instance);
fprintf(stderr,"kernel modules loaded: %s%s%s\n",
shmdrv_loaded ? "shmdrv " : "",
rtapi_loaded ? "rtapi " : "",
hal_loaded ? "hal_lib " : "");
if (msgd_pid > 0)
fprintf(stderr,"the msgd process msgd:%d is "
"already running, pid: %d\n",
rtapi_instance, msgd_pid);
else
fprintf(stderr,"msgd:%d not running!\n",
rtapi_instance);
return -EEXIST;
}
// running userthreads instance?
pid_t app_pid = pid_of("rtapi:%d", rtapi_instance);
if ((msgd_pid > -1) || (app_pid > -1)) {
fprintf(stderr, "ERROR: found existing user RT "
"instance with the same instance id (%d)\n",
rtapi_instance);
if (msgd_pid > 0)
fprintf(stderr,"the msgd process msgd:%d is "
"already running, pid: %d\n",
rtapi_instance, msgd_pid);
else
fprintf(stderr,"msgd:%d not running!\n",
rtapi_instance);
if (app_pid > 0)
fprintf(stderr,"the RT process rtapi:%d is "
"already running, pid: %d\n",
rtapi_instance, app_pid);
else
fprintf(stderr,"the RT process rtapi:%d not running!\n",
rtapi_instance);
// TBD: might check for other user HAL processes still
// around. This might work with fuser on the HAL segment
// but might be tricky wit shmdrv.
return -EEXIST;
}
// leftover shared memory segments were around, but no using
// entities (user process or kernel modules).
// Remove and keep going:
if (shmdrv_loaded) {
// since neiter rtapi.ko nor hal_lib.ko is loaded
// cause a garbage collect in shmdrv
shmdrv_gc();
} else {
// Posix shm case.
char segment_name[LINELEN];
if (hal_exists) {
sprintf(segment_name, SHM_FMT, rtapi_instance, halkey);
fprintf(stderr,"warning: removing unused HAL shm segment %s\n",
segment_name);
if (shm_unlink(segment_name))
perror(segment_name);
}
if (rtapi_exists) {
sprintf(segment_name, SHM_FMT, rtapi_instance, rtapikey);
fprintf(stderr,"warning: removing unused RTAPI"
" shm segment %s\n",
segment_name);
if (shm_unlink(segment_name))
perror(segment_name);
}
if (global_exists) {
sprintf(segment_name, SHM_FMT, rtapi_instance, globalkey);
fprintf(stderr,"warning: removing unused global"
" shm segment %s\n",
segment_name);
if (shm_unlink(segment_name))
perror(segment_name);
}
}
}
// now try again:
if (shm_common_exists(globalkey)) {
fprintf(stderr,
"MSGD:%d ERROR: found existing global segment key=0x%x\n",
rtapi_instance, globalkey);
return -EEXIST;
}
int size = sizeof(global_data_t);
retval = shm_common_new(globalkey, &size,
rtapi_instance, (void **) &global_data, 1);
if (retval < 0) {
fprintf(stderr,
"MSGD:%d ERROR: cannot create global segment key=0x%x %s\n",
rtapi_instance, globalkey, strerror(-retval));
}
if (size != sizeof(global_data_t)) {
fprintf(stderr,
"MSGD:%d ERROR: global segment size mismatch: expect %d got %d\n",
rtapi_instance, sizeof(global_data_t), size);
return -EINVAL;
}
return retval;
}
int ulapi_main(int instance, int flavor, global_data_t *global)
{
int retval = 0;
int rtapikey;
int size = 0;
rtapi_instance = instance; // from here on global within ulapi.so
// shm_common_init(); // common shared memory API needs this
// the HAL library constructor already has the global
// shm segment attached, so no need to do it again here
// since we're not using the rtapi_app_init()/rtapi_app_exit()
// calling conventions might as well pass it it
// this sets global_data for use within ulapi.so which
// has a disjoint symbol namespace from hal_lib
global_data = global;
rtapi_print_msg(RTAPI_MSG_DBG,"ULAPI:%d %s %s init\n",
rtapi_instance,
rtapi_get_handle()->thread_flavor_name,
GIT_VERSION);
if (rtapi_switch->thread_flavor_flags & FLAVOR_RTAPI_DATA_IN_SHM) {
rtapikey = OS_KEY(RTAPI_KEY, rtapi_instance);
// attach to existing RTAPI segment
// not all thread flavors actuall might use it
if ((retval = shm_common_new(rtapikey, &size,
rtapi_instance, (void **) &rtapi_data, 0))) {
rtapi_print_msg(RTAPI_MSG_ERR,
"ULAPI:%d ERROR: cannot attach rtapi"
" segment key=0x%x %s\n",
rtapi_instance, rtapikey, strerror(-retval));
}
if (size != sizeof(rtapi_data_t)) {
rtapi_print_msg(RTAPI_MSG_ERR,
"ULAPI:%d ERROR: unexpected rtapi shm size:"
" expected: %zu actual: %d\n",
rtapi_instance, sizeof(rtapi_data_t), size);
return -EINVAL;
}
if (MMAP_OK(global_data) && MMAP_OK(rtapi_data)) {
rtapi_print_msg(RTAPI_MSG_DBG,
"ULAPI:%d msglevel=%d/%d halsize=%d"
" %s startup %s\n",
rtapi_instance,
global_data->rt_msg_level,
global_data->user_msg_level,
global_data->hal_size,
GIT_VERSION, retval ? "FAILED" : "OK");
} else {
rtapi_print_msg(RTAPI_MSG_DBG,
"ULAPI:%d init failed, realtime not running?"
" global=%p rtapi=%p\n",
rtapi_instance, global_data, rtapi_data);
}
}
return retval;
}
