int rt_event_signal(RT_EVENT *event, unsigned long mask)
{
return __CURRENT(rt_event_signal(event, mask));
}
void start_domain_zero(void *arg)
{
DomainDesc *domainInit;
DomainProxy *domainProxy;
LibDesc *lib;
ObjectDesc *dm;
ArrayDesc *arr;
printk(KERN_INFO "Starting DomainZero.\n");
/* load zero lib and create portals */
lib = load(domainZero, "zero.jll");
if (lib == NULL) {
printk(KERN_ERR "Cannot load lib %s\n", "zero.jll");
return;
}
/*
* Create virtual method tables for interaction between
* Java code and C-code that implements DomainZero.
*/
zeroLib = lib->sharedLib;
init_zero_from_lib(domainZero, lib->sharedLib);
/* Domainzero's naming does now exist.
* Make it available.
*/
domainZero->initialNamingProxy = initialNamingProxy;
callClassConstructors(domainZero, lib);
lib = load(domainZero, "jdk0.jll");
if (lib == NULL) {
printk(KERN_ERR "Cannot load lib %s\n", "jdk0.jll");
return;
}
callClassConstructors(domainZero, lib);
/*********************************
* Create and start initial Java domain
*********************************/
dm = (ObjectDesc *) lookupPortal("DomainManager");
arr = (ArrayDesc *) newStringArray(domainZero, sizeof(start_libs) / sizeof(char *), start_libs);
thread_prepare_to_copy();
domainProxy =
domainManager_createDomain(dm, newString(domainZero, "Init"), NULL, NULL, newString(domainZero, "init.jll"), arr,
newString(domainZero, "jx/init/Main"), getJVMConfig()->heapBytesDom0, -1, -1, NULL, -1,
getJVMConfig()->codeBytesDom0, NULL, (ObjectDesc *) domainZero->initialNamingProxy, NULL,
GC_IMPLEMENTATION_DEFAULT, NULL);
domainInit = domainProxy->domain;
printk(KERN_INFO "DomainZero initial thread done.\n");
rt_event_signal(&jemEvents, JEM_INIT_COMPLETE);
rt_task_yield();
/* initial thread of DomainZero exits here */
}
void spin(void)
{
rt_event_signal(&recv_data_msg_event, 1);
ros::spin();
}