u_long sm_create(const char name[4], u_long icount, u_long flags, u_long *smid_r)
{
char short_name[5];
name = __psos_maybe_short_name(short_name, name);
return XENOMAI_SKINCALL4(__psos_muxid, __psos_sm_create,
name, icount, flags, smid_r);
}
MSG_Q_ID msgQCreate(int nb_msgs, int length, int flags)
{
MSG_Q_ID qid;
int err;
err = XENOMAI_SKINCALL4(__vxworks_muxid,
__vxworks_msgq_create,
nb_msgs, length, flags, &qid);
if (err) {
errno = abs(err);
return 0;
}
return qid;
}
int __wrap_clock_nanosleep(clockid_t clock_id,
int flags,
const struct timespec *rqtp, struct timespec *rmtp)
{
int err, oldtype;
pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
err = -XENOMAI_SKINCALL4(__pse51_muxid,
__pse51_clock_nanosleep,
clock_id, flags, rqtp, rmtp);
pthread_setcanceltype(oldtype, NULL);
return err;
}
static void *uitron_task_trampoline(void *cookie)
{
struct uitron_task_iargs *iargs = (struct uitron_task_iargs *)cookie;
struct sched_param param;
unsigned long mode_offset;
void (*entry)(INT);
int policy;
long err;
INT arg;
/*
* Apply sched params here as some libpthread implementations
* fail doing this properly via pthread_create.
*/
policy = uitron_task_set_posix_priority(iargs->pk_ctsk->itskpri, ¶m);
pthread_setschedparam(pthread_self(), policy, ¶m);
pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
xeno_sigshadow_install_once();
err = XENOMAI_SKINCALL4(__uitron_muxid,
__uitron_cre_tsk,
iargs->tskid, iargs->pk_ctsk,
iargs->completionp, &mode_offset);
if (err)
goto fail;
xeno_set_current();
xeno_set_current_mode(mode_offset);
/* iargs->pk_ctsk might not be valid anymore, after our parent
was released from the completion sync, so do not
dereference this pointer. */
do
err = XENOMAI_SYSCALL2(__xn_sys_barrier, &entry, &arg);
while (err == -EINTR);
if (!err)
entry(arg);
fail:
return (void *)err;
}
int rt_heap_create(RT_HEAP *heap, const char *name, size_t heapsize, int mode)
{
RT_HEAP_PLACEHOLDER ph;
int err;
err = XENOMAI_SKINCALL4(__native_muxid,
__native_heap_create,
&ph, name, heapsize, mode | H_MAPPABLE);
if (err)
return err;
err = __map_heap_memory(heap, &ph);
if (err)
/* If the mapping fails, make sure we don't leave a dandling
heap in kernel space -- remove it. */
XENOMAI_SKINCALL1(__native_muxid, __native_heap_delete, &ph);
return err;
}
int cobalt_monitor_wait(cobalt_monitor_t *mon, int event,
const struct timespec *ts)
{
int ret, opret, oldtype;
pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
ret = XENOMAI_SKINCALL4(__cobalt_muxid,
sc_cobalt_monitor_wait,
mon, event, ts, &opret);
pthread_setcanceltype(oldtype, NULL);
/*
* If we got interrupted while trying to re-enter the monitor,
* we need to redo. In the meantime, any pending linux signal
* has been processed.
*/
if (ret == -EINTR)
ret = cobalt_monitor_enter(mon);
return ret ?: opret;
}
u_long q_receive(u_long qid, u_long flags, u_long timeout, u_long msgbuf_r[4])
{
return XENOMAI_SKINCALL4(__psos_muxid, __psos_q_receive,
qid, flags, timeout, msgbuf_r);
}
u_long q_create(const char *name, u_long maxnum, u_long flags, u_long *qid_r)
{
return XENOMAI_SKINCALL4(__psos_muxid, __psos_q_create,
name, maxnum, flags, qid_r);
}
u_long q_vbroadcast(u_long qid, void *msgbuf, u_long msglen,
u_long *count_r)
{
return XENOMAI_SKINCALL4(__psos_muxid, __psos_q_vbroadcast, qid,
msgbuf, msglen, count_r);
}
int rt_heap_alloc(RT_HEAP *heap, size_t size, RTIME timeout, void **bufp)
{
return XENOMAI_SKINCALL4(__native_muxid,
__native_heap_alloc, heap, size, &timeout,
bufp);
}
int rt_intr_create(RT_INTR *intr, const char *name, unsigned irq, int mode)
{
return XENOMAI_SKINCALL4(__native_muxid,
__native_intr_create, intr, name, irq, mode);
}
ssize_t rt_queue_read(RT_QUEUE *q, void *buf, size_t size, RTIME timeout)
{
return XENOMAI_SKINCALL4(__native_muxid,
__native_queue_read, q, buf, size, &timeout);
}
int rt_queue_write(RT_QUEUE *q, const void *buf, size_t size, int mode)
{
return XENOMAI_SKINCALL4(__native_muxid,
__native_queue_write, q, buf, size, mode);
}
int rt_queue_send(RT_QUEUE *q, void *buf, size_t size, int mode)
{
return XENOMAI_SKINCALL4(__native_muxid,
__native_queue_send, q, buf, size, mode);
}