int _rtapi_task_self(void) {
#ifdef HAVE_RTAPI_TASK_SELF_HOOK
return _rtapi_task_self_hook();
#else
/* not implemented */
return -EINVAL;
#endif
}
int _rtapi_task_update_stats_hook(void)
{
int task_id = _rtapi_task_self_hook();
// paranoia
if ((task_id < 0) || (task_id > RTAPI_MAX_TASKS)) {
rtapi_print_msg(RTAPI_MSG_ERR,
"_rtapi_task_update_stats_hook: BUG -"
" task_id out of range: %d\n",
task_id);
return -ENOENT;
}
struct rusage ru;
if (getrusage(RUSAGE_THREAD, &ru)) {
rtapi_print_msg(RTAPI_MSG_ERR,"getrusage(): %d - %s\n",
errno, strerror(-errno));
return errno;
}
rtapi_threadstatus_t *ts = &global_data->thread_status[task_id];
ts->flavor.rtpreempt.utime_usec = ru.ru_utime.tv_usec;
ts->flavor.rtpreempt.utime_sec = ru.ru_utime.tv_sec;
ts->flavor.rtpreempt.stime_usec = ru.ru_stime.tv_usec;
ts->flavor.rtpreempt.stime_sec = ru.ru_stime.tv_sec;
ts->flavor.rtpreempt.ru_minflt = ru.ru_minflt;
ts->flavor.rtpreempt.ru_majflt = ru.ru_majflt;
ts->flavor.rtpreempt.ru_nsignals = ru.ru_nsignals;
ts->flavor.rtpreempt.ru_nivcsw = ru.ru_nivcsw;
ts->flavor.rtpreempt.ru_nivcsw = ru.ru_nivcsw;
ts->num_updates++;
return task_id;
}
int _rtapi_trap_handler(unsigned event, unsigned domid, void *data) {
struct pt_regs *regs = data;
xnthread_t *thread = xnpod_current_thread(); ;
int task_id = _rtapi_task_self_hook();
rtapi_exception_detail_t detail = {0};
detail.task_id = task_id;
detail.error_code = thread->errcode;
detail.flavor.xeno.event = event;
detail.flavor.xeno.domid = domid;
detail.flavor.xeno.ip = (exc_register_t) regs->ip;
detail.flavor.xeno.sp = (exc_register_t) regs->sp;
if (rt_exception_handler)
rt_exception_handler(XK_TRAP, &detail,
(task_id > -1) ?
&global_data->thread_status[task_id] : NULL);
// forward to default Xenomai trap handler
return ((rthal_trap_handler_t) old_trap_handler)(event, domid, data);
}