static __constructor__ void __init_rtdm_interface(void)
{
/* The following call may fail; binding errors will be
eventually caught later when the user tries to open a
device or socket. */
__rtdm_muxid =
xeno_bind_skin_opt(RTDM_SKIN_MAGIC, "rtdm", "xeno_rtdm");
__rtdm_muxid = __xn_mux_shifted_id(__rtdm_muxid);
}
static __constructor__ void __init_xeno_interface(void)
{
T_CTSK pk_ctsk;
ER err;
__uitron_muxid = xeno_bind_skin(uITRON_SKIN_MAGIC, "uitron", "xeno_uitron");
__uitron_muxid = __xn_mux_shifted_id(__uitron_muxid);
/* Shadow the main thread. */
pk_ctsk.stksz = 0;
pk_ctsk.itskpri = 0; /* non-RT shadow. */
err = shd_tsk(1, &pk_ctsk);
if (err) {
fprintf(stderr, "Xenomai uITRON skin init: shd_tsk() failed, status %d", err);
exit(EXIT_FAILURE);
}
}
void __init_xeno_interface(void)
{
__native_muxid =
xeno_bind_skin(XENO_SKIN_MAGIC, "native", "xeno_native");
#ifdef CONFIG_XENO_HW_DIRECT_TSC
native_timer_init(__native_muxid);
#endif /* CONFIG_XENO_HW_DIRECT_TSC */
__native_muxid = __xn_mux_shifted_id(__native_muxid);
/* Allocate a TSD key for indexing self task pointers. */
if (pthread_key_create(&__native_tskey, &__flush_tsd) != 0) {
fprintf(stderr, "Xenomai: failed to allocate new TSD key?!\n");
exit(1);
}
}
static __constructor__ void __init_xeno_interface(void)
{
int err;
__native_muxid =
xeno_bind_skin(XENO_SKIN_MAGIC, "native", "xeno_native");
__native_muxid = __xn_mux_shifted_id(__native_muxid);
if (fork_handler_registered)
return;
err = pthread_atfork(NULL, NULL, &__init_xeno_interface);
if (err) {
fprintf(stderr, "Xenomai native skin init: "
"pthread_atfork: %s\n", strerror(err));
exit(EXIT_FAILURE);
}
fork_handler_registered = 1;
}
static __constructor__ void __init_xeno_interface(void)
{
u_long err, tid;
__psos_muxid = xeno_bind_skin(PSOS_SKIN_MAGIC, "psos", "xeno_psos");
err = XENOMAI_SYSCALL2(__xn_sys_info, __psos_muxid, &__psos_sysinfo);
if (err) {
fprintf(stderr, "Xenomai pSOS skin init: cannot retrieve sysinfo, status %ld", err);
exit(EXIT_FAILURE);
}
__psos_muxid = __xn_mux_shifted_id(__psos_muxid);
/* Shadow the main thread. */
err = t_shadow("MAIN", 0, 0, &tid);
if (err) {
fprintf(stderr, "Xenomai pSOS skin init: t_shadow() failed, status %ld", err);
exit(EXIT_FAILURE);
}
}
void __init_xeno_interface(void)
{
u_long err, tid;
__psos_muxid = xeno_bind_skin(PSOS_SKIN_MAGIC, "psos", "xeno_psos");
err = XENOMAI_SYSCALL2(__xn_sys_info, __psos_muxid, &__psos_sysinfo);
if (err) {
fprintf(stderr, "Xenomai pSOS skin init: cannot retrieve sysinfo, status %ld", err);
exit(EXIT_FAILURE);
}
__psos_muxid = __xn_mux_shifted_id(__psos_muxid);
/* Shadow the main thread. mlock the whole memory for the time
of the syscall, in order to avoid the SIGXCPU signal. */
if (mlockall(MCL_CURRENT | MCL_FUTURE)) {
perror("Xenomai pSOS skin init: mlockall() failed");
exit(EXIT_FAILURE);
}
err = t_shadow("MAIN", 0, 0, &tid);
if (err) {
fprintf(stderr, "Xenomai pSOS skin init: t_shadow() failed, status %ld", err);
exit(EXIT_FAILURE);
}
#ifndef CONFIG_XENO_PSOS_AUTO_MLOCKALL
if (munlockall()) {
perror("Xenomai pSOS skin init: munlockall");
exit(EXIT_FAILURE);
}
#endif /* !CONFIG_XENO_PSOS_AUTO_MLOCKALL */
}
static __constructor__ void __init_xeno_interface(void)
{
__vrtx_muxid =
xeno_bind_skin(VRTX_SKIN_MAGIC, "vrtx", "xeno_vrtx");
__vrtx_muxid = __xn_mux_shifted_id(__vrtx_muxid);
}
static __constructor__ void __init_posix_interface(void)
{
struct sched_param parm;
int policy;
int muxid, err;
const char *noshadow;
rt_print_auto_init(1);
muxid =
xeno_bind_skin(PSE51_SKIN_MAGIC, "POSIX", "xeno_posix");
#ifdef XNARCH_HAVE_NONPRIV_TSC
pse51_clock_init(muxid);
#endif /* XNARCH_HAVE_NONPRIV_TSC */
__pse51_muxid = __xn_mux_shifted_id(muxid);
muxid = XENOMAI_SYSBIND(RTDM_SKIN_MAGIC,
XENOMAI_FEAT_DEP, XENOMAI_ABI_REV, NULL);
if (muxid > 0) {
__pse51_rtdm_muxid = __xn_mux_shifted_id(muxid);
__pse51_rtdm_fd_start = FD_SETSIZE - XENOMAI_SKINCALL0(__pse51_rtdm_muxid,
__rtdm_fdcount);
}
pse51_mutex_init();
noshadow = getenv("XENO_NOSHADOW");
if ((!noshadow || !*noshadow) && xeno_get_current() == XN_NO_HANDLE) {
err = __real_pthread_getschedparam(pthread_self(), &policy,
&parm);
if (err) {
fprintf(stderr, "Xenomai Posix skin init: "
"pthread_getschedparam: %s\n", strerror(err));
exit(EXIT_FAILURE);
}
err = __wrap_pthread_setschedparam(pthread_self(), policy,
&parm);
if (err) {
fprintf(stderr, "Xenomai Posix skin init: "
"pthread_setschedparam: %s\n", strerror(err));
exit(EXIT_FAILURE);
}
}
if (fork_handler_registered)
return;
err = pthread_atfork(NULL, NULL, &__init_posix_interface);
if (err) {
fprintf(stderr, "Xenomai Posix skin init: "
"pthread_atfork: %s\n", strerror(err));
exit(EXIT_FAILURE);
}
fork_handler_registered = 1;
if (sizeof(struct __shadow_mutex) > sizeof(pthread_mutex_t)) {
fprintf(stderr, "sizeof(pthread_mutex_t): %d <"
" sizeof(shadow_mutex): %d !\n",
(int) sizeof(pthread_mutex_t),
(int) sizeof(struct __shadow_mutex));
exit(EXIT_FAILURE);
}
}
void __init_posix_interface(void)
{
struct xnbindreq breq;
#ifndef CONFIG_XENO_LIBS_DLOPEN
struct sched_param parm;
int policy;
#endif /* !CONFIG_XENO_LIBS_DLOPEN */
int muxid, err;
rt_print_auto_init(1);
muxid =
xeno_bind_skin(PSE51_SKIN_MAGIC, "POSIX", "xeno_posix");
pse51_clock_init(muxid);
__pse51_muxid = __xn_mux_shifted_id(muxid);
breq.feat_req = XENOMAI_FEAT_DEP;
breq.abi_rev = XENOMAI_ABI_REV;
muxid = XENOMAI_SYSBIND(RTDM_SKIN_MAGIC, &breq);
if (muxid > 0) {
__rtdm_muxid = __xn_mux_shifted_id(muxid);
__rtdm_fd_start = FD_SETSIZE - XENOMAI_SKINCALL0(__rtdm_muxid,
__rtdm_fdcount);
}
/* If not dlopening, we are going to shadow the main thread, so mlock
the whole memory for the time of the syscall, in order to avoid the
SIGXCPU signal. */
#if defined(CONFIG_XENO_POSIX_AUTO_MLOCKALL) || !defined(CONFIG_XENO_LIBS_DLOPEN)
if (mlockall(MCL_CURRENT | MCL_FUTURE)) {
perror("Xenomai Posix skin init: mlockall");
exit(EXIT_FAILURE);
}
#endif /* auto mlockall || !dlopen */
/* Don't use auto-shadowing if we are likely invoked from dlopen. */
#ifndef CONFIG_XENO_LIBS_DLOPEN
err = __STD(pthread_getschedparam(pthread_self(), &policy, &parm));
if (err) {
fprintf(stderr, "Xenomai Posix skin init: "
"pthread_getschedparam: %s\n", strerror(err));
exit(EXIT_FAILURE);
}
err = __wrap_pthread_setschedparam(pthread_self(), policy, &parm);
if (err) {
fprintf(stderr, "Xenomai Posix skin init: "
"pthread_setschedparam: %s\n", strerror(err));
exit(EXIT_FAILURE);
}
#ifndef CONFIG_XENO_POSIX_AUTO_MLOCKALL
if (munlockall()) {
perror("Xenomai Posix skin init: munlockall");
exit(EXIT_FAILURE);
}
#endif /* !CONFIG_XENO_POSIX_AUTO_MLOCKALL */
#endif /* !CONFIG_XENO_LIBS_DLOPEN */
if (fork_handler_registered)
return;
err = pthread_atfork(NULL, NULL, &__init_posix_interface);
if (err) {
fprintf(stderr, "Xenomai Posix skin init: "
"pthread_atfork: %s\n", strerror(err));
exit(EXIT_FAILURE);
}
fork_handler_registered = 1;
if (sizeof(struct __shadow_mutex) > sizeof(pthread_mutex_t)) {
fprintf(stderr, "sizeof(pthread_mutex_t): %d <"
" sizeof(shadow_mutex): %d !\n",
(int) sizeof(pthread_mutex_t),
(int) sizeof(struct __shadow_mutex));
exit(EXIT_FAILURE);
}
}
