void omap3_dinit(void *hdl)
{
omap3_spi_t *dev = hdl;
/*
* unmap the register, detach the interrupt
*/
InterruptDetach(dev->iid_spi);
munmap_device_io(dev->vbase, OMAP3_SPI_REGLEN);
/*
* Disable EDMA
*/
if (dev->edma) {
omap3_edma_disablespi(dev);
InterruptDetach(dev->iid_edma);
omap3_edma_detach (dev);
munmap_device_memory((void *)dev->edmavbase, DM6446_EDMA_SIZE);
munmap(dev->dmabuf, OMAP3_SPI_MAXDMALEN);
ConnectDetach(dev->edma_coid);
}
ConnectDetach(dev->coid);
ChannelDestroy(dev->chid);
free(hdl);
}
static void* client(void* arg) {
int nodeId = 0; // 0 = local
pid_t pid = 0; // 0 = same process
int connectionId = 0;
int number = 0;
int res = 0;
connectionId = ConnectAttach(nodeId, pid, channelId, 0, 0);
if(connectionId == -1) {
printf("msgSendReceivePulse: client: error attaching to channel!\n");fflush(stdout);
exit(EXIT_FAILURE);
}
while(run) {
sleep(WAIT_SHORT);
number++;
printf("Client: sending pulse message #%d\n", number);fflush(stdout);
res = MsgSendPulse(connectionId, SIGEV_PULSE_PRIO_INHERIT, 1, 0);
if(res == -1) {
printf("msgSendReceivePulse: client: error sending pulse!\n");fflush(stdout);
exit(EXIT_FAILURE);
}
}
ConnectDetach(connectionId);
if(res == -1) {
printf("msgSendReceiveReply: client: error detaching from channel!\n");fflush(stdout);
exit(EXIT_FAILURE);
}
pthread_exit(NULL);
}
/*
* Given a process id, iterate through all open files of that process
* looking for a match to the target file, and then determine how it
* is being used by that process. This is quite different in QNX to
* UNIX, as chroot and chdir do not hold open a reference to the file.
* The iteration process attempts to dup each file descriptor into
* this process, so it can then be queried; attempt to skip things which
* aren't files (heuristic guess) and use a timeout as self-defence.
*/
int howused(pid_t pid, match_t *match)
{
struct _server_info sinfo;
struct _fdinfo finfo;
struct stat st;
io_dup_t msg;
uint64_t to;
int fd, coid, usage;
usage = 0;
for (fd = 0; (fd = ConnectServerInfo(pid, fd, &sinfo)) != -1; ++fd) {
if ((pid != sinfo.pid || !(fd & _NTO_SIDE_CHANNEL)) && (coid = ConnectAttach(sinfo.nd, sinfo.pid, sinfo.chid, 0, _NTO_COF_CLOEXEC)) != -1) {
msg.i.type = _IO_DUP;
msg.i.combine_len = sizeof(msg.i);
msg.i.info.nd = netmgr_remote_nd(sinfo.nd, ND_LOCAL_NODE);
msg.i.info.pid = pid;
msg.i.info.chid = sinfo.chid;
msg.i.info.scoid = sinfo.scoid;
msg.i.info.coid = fd;
TimerTimeout(CLOCK_MONOTONIC, _NTO_TIMEOUT_SEND | _NTO_TIMEOUT_REPLY, NULL, (to = 1000000000LL, &to), NULL);
if (MsgSend(coid, &msg.i, sizeof(msg.i), NULL, 0) == -1) {
ConnectDetach(coid);
}
else {
if (fstat(coid, &st) != -1 && ismatch(match, st.st_dev, st.st_ino)) {
if (iofdinfo(coid, 0, &finfo, NULL, 0) == -1 || sinfo.pid != PATHMGR_PID || finfo.mode != 0)
usage |= USED_OPEN;
}
close(coid);
}
}
}
return(usage);
}
inline void
isr_cleanup(omapl1xx_context_t *omapl1xx)
{
ConnectDetach(omapl1xx->lcd_coid);
ChannelDestroy(omapl1xx->lcd_chid);
InterruptDetach(omapl1xx->lcd_iid);
}
//Communication with the server
//Using buffers: buffer, receive
void* message_client(void* arg){
//Define thread priority
if(((struct thread_args*)arg)->which_thread == 0){
set_priority(22);
printf("I HAVE PRIORITY 22\n");
}
else if(((struct thread_args*)arg)->which_thread == 1){
set_priority(21);
printf("I HAVE PRIORITY 21\n");
}
else if(((struct thread_args*)arg)->which_thread == 2){
set_priority(19);
printf("I HAVE PRIORITY 19\n");
}
else{
set_priority(18);
printf("I HAVE PRIORITY 18\n");
}
//Perform communication
int channelID, status;
channelID = ConnectAttach(0, ((struct thread_args*)arg)->pid, 1, 0, 0);
//Sends data in buffer. Puts returned data in receive buffer
status = MsgSend(channelID, &buffer, sizeof buffer, &receive, sizeof receive);
printf("SERVER REPLY: %c\n", receive[0]);
//Detach from server
ConnectDetach(channelID);
return 0;
}
int omap3_attach_intr(omap3_spi_t *omap3)
{
if ((omap3->chid = ChannelCreate(_NTO_CHF_DISCONNECT | _NTO_CHF_UNBLOCK)) == -1)
return -1;
if ((omap3->coid = ConnectAttach(0, 0, omap3->chid, _NTO_SIDE_CHANNEL, 0)) == -1)
goto fail0;
omap3->spievent.sigev_notify = SIGEV_PULSE;
omap3->spievent.sigev_coid = omap3->coid;
omap3->spievent.sigev_code = OMAP3_SPI_EVENT;
omap3->spievent.sigev_priority = omap3->prio;
/*
* Attach SPI interrupt
*/
omap3->iid_spi = InterruptAttach(omap3->irq_spi, spi_intr, omap3, 0, _NTO_INTR_FLAGS_TRK_MSK);
if (omap3->iid_spi != -1)
return 0;
ConnectDetach(omap3->coid);
fail0:
ChannelDestroy(omap3->chid);
return -1;
}
static char *tidypath(const char *path, int bufferlen)
{
char *buffer;
struct _connect_ctrl ctrl;
struct _io_connect msg;
int fd, error;
if ((buffer = malloc(bufferlen)) != NULL) {
memset(&ctrl, 0x00, sizeof(struct _connect_ctrl));
ctrl.base = _NTO_SIDE_CHANNEL;
ctrl.path = buffer, ctrl.pathsize = bufferlen;
ctrl.send = MsgSendvnc;
ctrl.msg = memset(&msg, 0x00, sizeof(struct _io_connect));
msg.ioflag = O_LARGEFILE | O_NOCTTY, msg.mode = S_IFLNK;
msg.subtype = _IO_CONNECT_COMBINE_CLOSE;
if ((fd = _connect_ctrl(&ctrl, path, 0, NULL)) != -1) {
ConnectDetach(fd);
if (*buffer != '\0')
return(buffer);
errno = ENAMETOOLONG;
}
error = errno, free(buffer), errno = error;
}
else {
errno = ENOMEM;
}
return(NULL);
}
void B1S02_Seg1::timerSeg1Max() {
PuckHandler::getInstance()->printQueueStatus();
if(controller->isFirstElementInSegment()) {
puckHandler->removePuckFromSeg1();
puckHandler->removePuckFromBand(controller);
if(puckHandler->isBandEmpty()){
actorHAL->engineStop();
}
controller->resetController();
printf("Debug State <B1S02_Seg1>: ERROR<ERR_STATE_ERROR_MAX> called by puck%d\n", controller->getID());
int errorfsmChid = errfsm->getErrorFSMChid();
int errorfsmCoid;
int rc;
if ((errorfsmCoid = ConnectAttach(0, 0, errorfsmChid, _NTO_SIDE_CHANNEL, 0)) == -1) {
printf("B1S02_Seg1: Error in ConnectAttach\n");
}
//rc = MsgSendPulse(errorfsmCoid, SIGEV_PULSE_PRIO_INHERIT, PULSE_FROM_PUCK, ERR_STATE_CRITICAL_ERROR);
rc = MsgSendPulse(errorfsmCoid, SIGEV_PULSE_PRIO_INHERIT, PULSE_FROM_PUCK, ERR_STATE_ERROR_MAX);
if (rc < 0) {
printf("B1S02_Seg1: Error in MsgSendPulse");
}
if (ConnectDetach(errorfsmCoid) == -1) {
printf("B1S02_Seg1: Error in ConnectDetach\n");
}
}
}
void B1S02_Seg1::sbHeightcontrolOpen() {
if(controller->isFirstElementInSegment()) {
if(this->controller->isSegTimerMinCalled()){
controller->resetSegTimers();
puckHandler->removePuckFromSeg1();
new (this) B1S03_Height(controller);
} else {
printf("Debug State <B1S02_Seg1>: ERROR<ERR_STATE_ERROR_MIN> called by puck%d\n", controller->getID());
int errorfsmChid = errfsm->getErrorFSMChid();
int errorfsmCoid;
int rc;
if ((errorfsmCoid = ConnectAttach(0, 0, errorfsmChid, _NTO_SIDE_CHANNEL, 0)) == -1) {
printf("B1S02_Seg1: Error in ConnectAttach\n");
}
rc = MsgSendPulse(errorfsmCoid, SIGEV_PULSE_PRIO_INHERIT, PULSE_FROM_PUCK, ERR_STATE_ERROR_MIN);
if (rc < 0) {
printf("B1S02_Seg1: Error in MsgSendPulse");
}
if (ConnectDetach(errorfsmCoid) == -1) {
printf("B1S02_Seg1: Error in ConnectDetach\n");
}
}
} else {
new (this) B1S02_Seg1(controller);
}
}
clsThread::~clsThread()
{
ConnectDetach(m_coidThread);
ChannelDestroy(m_chThread);
pthread_cond_destroy(&m_condThread);
pthread_mutex_destroy(&m_mtxThread);
}
int pathmgr_unlink(const char *path) {
int fd;
if((fd = _connect(PATHMGR_COID, path, S_IFLNK, O_NOCTTY, SH_DENYNO, _IO_CONNECT_UNLINK, 0, 0, _FTYPE_LINK, 0, 0, 0, 0, 0, 0)) == -1) {
return -1;
}
ConnectDetach(fd);
return 0;
}
int YARPNativeEndpointManager::Close(YARPUniqueNameID& id)
{
#ifndef __QNX6__
ACE_UNUSED_ARG(id);
return YARP_FAIL;
#else
return ConnectDetach (id.getRawIdentifier());
#endif
}
void SerielleSchnittstelle::stop()
{
HAWThread::stop();
if(ConnectDetach(dispatcherConnectionID) == -1)
{
perror("SerielleSchnittstelle: dispatcherConnectionID ConnectDetach fehlgeschlagen");
}
}
int rmdir(const char *path) {
int fd;
if((fd = _connect(_NTO_SIDE_CHANNEL, path, S_IFDIR, O_NOCTTY, SH_DENYNO, _IO_CONNECT_UNLINK, 0, 0, 0, 0, 0, 0, 0, 0, 0)) == -1) {
return -1;
}
ConnectDetach(fd);
return 0;
}
int pathmgr_symlink(const char *path, const char *symlinkp) {
int fd;
if((fd = _connect(PATHMGR_COID, symlinkp, S_IFLNK | S_IPERMS, O_CREAT | O_EXCL | O_NOCTTY, SH_DENYNO, _IO_CONNECT_LINK, 0, 0, _FTYPE_LINK,
_IO_CONNECT_EXTRA_PROC_SYMLINK, strlen(path) + 1, path, 0, 0, 0)) == -1) {
return -1;
}
ConnectDetach(fd);
return 0;
}
/**
* free memory reserved by demultiplexer's instance
*/
Demultiplexer::~Demultiplexer() {
#ifdef DEBUG_
cout << "Demultiplexer deleted" << endl;
#endif
delete demultiplexer_instance_;
// detach connection channel if it has been created
if (con_id_) {
ConnectDetach(con_id_);
ChannelDestroy(channel_id_);
}
}
//Communication with the server
//Using buffers: buffer, receive
int message_client(pid_t pid){
int channelID, status;
channelID = ConnectAttach(0, pid, 1, 0, 0);
//Sends data in buffer. Puts returned data in receive buffer
status = MsgSend(channelID, &buffer, sizeof buffer, &receive, sizeof receive);
//Detach from server
ConnectDetach(channelID);
//Unnecessary return
return channelID;
}
void
omap_fini(void *hdl)
{
omap_dev_t *dev = hdl;
out16(dev->regbase + OMAP_I2C_CON, 0);
out16(dev->regbase + OMAP_I2C_IE, 0);
InterruptDetach(dev->iid);
ConnectDetach(dev->coid);
ChannelDestroy(dev->chid);
munmap_device_io (dev->regbase, dev->reglen);
free (hdl);
}
void Sensorik::stop() {
HAWThread::stop(); // super.stop();
if (-1 == ConnectDetach(isr_coid)) {
perror("SensorCtrl: ConnectDetach isr_coid failed");
}
if (-1 == ChannelDestroy(isr_Chid)) {
perror("SensorCtrl: ChannelDestroy isr_chid failed");
}
// in Simulation: bleibt hier haengen
// if (-1 == InterruptDetach(interruptId)) {
// perror("SensorCtrl: InterruptDetach failed");
// }
}
//Communication with the server
//Using buffers: buffer, receive
void* message_client(pid_t pid){
int channelID, status;
printf("RECEIVED ARGUMENT FROM DUMB PROCESS: %d\n", pid);
channelID = ConnectAttach(0, pid, 1, 0, 0);
//Sends data in buffer. Puts returned data in receive buffer
status = MsgSend(channelID, &buffer, sizeof buffer, &receive, sizeof receive);
printf("SERVER REPLY: %c\n", receive[0]);
//Detach from server
ConnectDetach(channelID);
return 0;
}
void nagger(void *arg){
set_priority(*(int*)arg);
// Creating shared memory
int skynetDesc = shm_open("/skynetcore", O_RDWR, S_IRWXU);
struct skynetCore_t* skynetCore = mmap(0, sizeof(struct skynetCore_t), PROT_READ|PROT_WRITE, MAP_SHARED, skynetDesc, 0);
pthread_mutex_lock(&skynetCore->protector);
int corePid = skynetCore->pid;
pthread_mutex_unlock(&skynetCore->protector);
int message = *(int*)arg;
int skynetChannelId = ConnectAttach(0, corePid, 1, 0, 0);
MsgSend(skynetChannelId, &message, sizeof(int), &message, sizeof(int));
printf("I sent %i and got %i back!\n", *(int*)arg, message);
ConnectDetach(skynetChannelId);
}
void B2S02_Seg1::timerSeg1Max() {
puckHandler->removePuckFromBand(controller);
actorHAL->engineStop();
printf("Debug State <B2S02_Seg1>: ERROR<ERR_STATE_ERROR_MAX> called by puck%d\n", controller->getID());
int replyChid = errfsm->getReplyChid();
int errorfsmChid = errfsm->getErrorFSMChid();
int errorfsmCoid;
int rc;
struct _pulse pulse;
if ((errorfsmCoid = ConnectAttach(0, 0, errorfsmChid, _NTO_SIDE_CHANNEL, 0)) == -1) {
printf("B2S02_Seg1: Error in ConnectAttach\n");
}
//rc = MsgSendPulse(errorfsmCoid, SIGEV_PULSE_PRIO_INHERIT, PULSE_FROM_PUCK, ERR_STATE_CRITICAL_ERROR);
rc = MsgSendPulse(errorfsmCoid, SIGEV_PULSE_PRIO_INHERIT, PULSE_FROM_PUCK, ERR_STATE_ERROR_MAX);
if (rc < 0) {
printf("B2S02_Seg1: Error in MsgSendPulse");
}
rc = MsgReceivePulse(replyChid, &pulse, sizeof(pulse), NULL);
if (rc < 0) {
printf("B2S02_Seg1: Error in recv pulse\n");
}
if (ConnectDetach(errorfsmCoid) == -1) {
printf("B2S02_Seg1: Error in ConnectDetach\n");
}
bool tmpBand1Waiting = controller->isBand1Waiting();
controller->resetController();
if(tmpBand1Waiting){
rs232_1->sendMsg(RS232_BAND2_READY);
ActorHAL::getInstance()->engineRight(false);
ActorHAL::getInstance()->engineUnstop();
controller->handOverTimer = timerHandler->createTimer(puckHandler->getDispChid(), TIME_VALUE_HAND_OVER_SEC, TIME_VALUE_HAND_OVER_MSEC, TIMER_HAND_OVER);
timerHandler->startTimer(controller->handOverTimer);
}
}
void SensorHAL::stopInterrupt() {
if (-1 == ThreadCtl(_NTO_TCTL_IO, 0)) {
printf("ThreadCtl access failed\n");
exit(EXIT_FAILURE);
}
if (InterruptDetach(interruptId) == -1) {
printf("SensorHAL: Error InterruptDetach\n");
}
if (ConnectDetach(coid) == -1) {
printf("SensorHAL: Error in ConnectDetach\n");
}
if (ChannelDestroy(chid) == -1) {
printf("SensorHAL: Error in ChannelDestroy\n");
}
}
void _message_unblock(dispatch_context_t *ctp) {
dispatch_t *dpp = ((message_context_t *) ctp)->dpp;
struct sched_param param;
int coid;
if ((coid = ConnectAttach(0, 0, dpp->chid, _NTO_SIDE_CHANNEL, 0)) == -1) {
return; //We should indicate an error, but we can't
}
memset(¶m, 0, sizeof(param));
if (SchedGet(0, 0, ¶m) == -1) {
param.sched_priority = 1;
}
/* An unblock pulse with rcvid == 0 should be treated as a noop */
//MsgSendPulse(coid, param.sched_priority, _PULSE_CODE_UNBLOCK, getpid());
(void)MsgSendPulse(coid, param.sched_priority, _PULSE_CODE_UNBLOCK, 0);
ConnectDetach(coid);
}
inline int
isr_setup(omapl1xx_context_t *omapl1xx)
{
int err;
if ((omapl1xx->lcd_chid = ChannelCreate(_NTO_CHF_DISCONNECT |
_NTO_CHF_UNBLOCK)) == -1) {
return -1;
}
if ((omapl1xx->lcd_coid = ConnectAttach(0, 0,
omapl1xx->lcd_chid, _NTO_SIDE_CHANNEL, 0)) == -1) {
err = errno;
goto fail;
}
SIGEV_PULSE_INIT(&omapl1xx->lcd_event, omapl1xx->lcd_coid,
omapl1xx->adapter->pulseprio, OMAPL1xx_LCD_INTERRUPT_PULSE, 0);
omapl1xx->lcd_iid = InterruptAttach(_NTO_INTR_CLASS_EXTERNAL |
omapl1xx->irq, omapl1xx_lcd_isr, (void *)omapl1xx, sizeof(*omapl1xx), _NTO_INTR_FLAGS_END |
_NTO_INTR_FLAGS_TRK_MSK | _NTO_INTR_FLAGS_PROCESS);
if (omapl1xx->lcd_iid == -1) {
err = errno;
goto fail2;
}
return 0;
fail2:
ConnectDetach(omapl1xx->lcd_coid);
fail:
ChannelDestroy(omapl1xx->lcd_chid);
errno = err;
return -1;
}
int omap3530_sdma_attach_intr(omap3530_spi_t *omap3530)
{
int rx_idx = omap3530->sdma_rx_chid ;
if ((omap3530->sdma_coid = ConnectAttach(0, 0, omap3530->chid, _NTO_SIDE_CHANNEL, 0)) == -1)
goto fail0;
omap3530->sdmaevent.sigev_notify = SIGEV_PULSE;
omap3530->sdmaevent.sigev_coid = omap3530->sdma_coid;
omap3530->sdmaevent.sigev_code = OMAP3530_SDMA_EVENT;
omap3530->sdmaevent.sigev_priority = OMAP3530_SPI_PRIORITY+1;
omap3530->iid_sdma = InterruptAttachEvent(omap3530->irq_sdma+rx_idx, &omap3530->sdmaevent, _NTO_INTR_FLAGS_TRK_MSK);
if (omap3530->iid_sdma != -1)
return 0;
ConnectDetach(omap3530->sdma_coid);
fail0:
return -1;
}
B1S09_ERR_TurnOver::B1S09_ERR_TurnOver(Controller* controller) : BaseState(controller) {
this->controller = controller;
#ifdef DEBUG_STATE_PRINTF
printf("DEBUG STATE: Puck%d -> B1S09_ERR_TurnOver \n", this->controller->getID());
#endif
printf("Debug State <B1S09_ERR_TurnOver>: ERROR<ERR_STATE_TURNOVER> called by puck%d\n", controller->getID());
//int replyChid = errfsm->getReplyChid();
int errorfsmChid = errfsm->getErrorFSMChid();
int errorfsmCoid;
int rc;
//struct _pulse pulse;
if ((errorfsmCoid = ConnectAttach(0, 0, errorfsmChid, _NTO_SIDE_CHANNEL, 0)) == -1) {
printf("B1S09_ERR_TurnOver: Error in ConnectAttach\n");
}
rc = MsgSendPulse(errorfsmCoid, SIGEV_PULSE_PRIO_INHERIT, PULSE_FROM_PUCK, ERR_STATE_TURNOVER);
if (rc < 0) {
printf("B1S09_ERR_TurnOver: Error in MsgSendPulse");
}
/*
rc = MsgReceivePulse(replyChid, &pulse, sizeof(pulse), NULL);
if (rc < 0) {
printf("B1S09_ERR_TurnOver: Error in recv pulse\n");
}
*/
//this->controller->puckType = PUCK_ACCEPTED;
if (ConnectDetach(errorfsmCoid) == -1) {
printf("B1S09_ERR_TurnOver: Error in ConnectDetach\n");
}
//new (this) B1S08_End(this->controller);
}
int pathmgr_link(const char *path, uint32_t nd, pid_t pid, int chid, unsigned handle, enum _file_type file_type, unsigned flags) {
struct _io_resmgr_link_extra linkl;
int fd;
if(flags & _RESMGR_FLAG_FTYPEALL) {
// Ignore passed in ftype
file_type = _FTYPE_ALL;
} else if(file_type < _FTYPE_ANY) {
errno = EINVAL;
return -1;
}
if(!path || !*path) {
path = "/";
flags |= _RESMGR_FLAG_FTYPEONLY;
} else if(flags & _RESMGR_FLAG_FTYPEONLY) { //You must pass in a null path to use FTYPEONLY
errno = EINVAL;
return -1;
}
linkl.nd = nd;
linkl.pid = pid ? pid : getpid();
linkl.chid = chid;
linkl.handle = handle;
linkl.file_type = file_type;
linkl.flags = flags;
if((fd = _connect(PATHMGR_COID, path, 0, O_NOCTTY, SH_DENYNO, _IO_CONNECT_LINK, 0, 0, _FTYPE_LINK,
_IO_CONNECT_EXTRA_RESMGR_LINK, sizeof linkl, &linkl, 0, 0, 0)) == -1) {
return -1;
}
if(flags & PATHMGR_FLAG_STICKY) {
ConnectDetach(fd);
fd = 0;
}
return fd;
}
int _waitfor( __const char *path, int delay_ms, int poll_ms, int (*checkfunc)(__const char *, void *), void *handle )
{
int notify_id = -1;
struct sigevent event;
int chid = -1, coid = -1;
struct _pulse pulse;
int ret_val = -1;
uint64_t polltimeout = 100 * (uint64_t)1000000;
uint64_t timeout_nsec;
timeout_nsec = _syspage_time(CLOCK_MONOTONIC);
timeout_nsec += delay_ms * (uint64_t)1000000;
/* Check to make sure we don't wait for something already there... */
ret_val = checkfunc( path, handle );
if ( ret_val >= 0 || ret_val == WAITFOR_CHECK_ABORT ) {
return ret_val;
}
if ( poll_ms > 0 ) {
polltimeout = poll_ms * (uint64_t)1000000;
}
/*
* We make the channel fixed since we want to remain at the current
* thread's priority
*/
chid = ChannelCreate(_NTO_CHF_FIXED_PRIORITY);
if ( chid == -1 ) {
goto fail1;
}
coid = ConnectAttach( ND_LOCAL_NODE, 0, chid, _NTO_SIDE_CHANNEL, 0 );
if ( coid == -1 ) {
goto fail2;
}
SIGEV_PULSE_INIT( &event, coid, SIGEV_PULSE_PRIO_INHERIT, PULSE_CODE_PATHSPACE, 0 );
notify_id = procmgr_event_notify_add( PROCMGR_EVENT_PATHSPACE, &event );
if ( notify_id == -1 ) {
goto fail3;
}
while(_syspage_time(CLOCK_MONOTONIC) < timeout_nsec) {
/* we need to poll in case we are checking for a subdirectory/file,
* since we won't get a pathmgr event for those.
*/
SIGEV_UNBLOCK_INIT(&event);
if ( TimerTimeout( CLOCK_MONOTONIC, _NTO_TIMEOUT_RECEIVE, &event, &polltimeout, NULL) == -1 ) {
ret_val = -1;
break;
}
if ( MsgReceivePulse( chid, &pulse, sizeof(pulse), NULL ) != -1 || errno == ETIMEDOUT ) {
ret_val = checkfunc( path, handle );
if ( ret_val >= 0 || ret_val == WAITFOR_CHECK_ABORT ) {
break;
}
} else {
break;
}
}
(void)procmgr_event_notify_delete( notify_id );
fail3:
(void)ConnectDetach(coid);
fail2:
(void)ChannelDestroy(chid);
fail1:
return ret_val;
}
int omap3_edma_attach_intr(omap3_spi_t *omap3)
{
struct sigevent event;
if ((omap3->edma_coid = ConnectAttach(0, 0, omap3->chid, _NTO_SIDE_CHANNEL, 0)) == -1)
goto fail0;
event.sigev_notify = SIGEV_PULSE;
event.sigev_coid = omap3->edma_coid;
event.sigev_code = OMAP3_EDMA_EVENT;
event.sigev_priority = omap3->prio;
omap3->iid_edma = InterruptAttachEvent(omap3->irq_edma, &event, _NTO_INTR_FLAGS_TRK_MSK);
if (omap3->iid_edma != -1)
return 0;
ConnectDetach(omap3->edma_coid);
fail0:
return -1;
}