/*
* int __wind_taskinfo_get(TASK_ID task_id, TASK_DESC *desc)
*/
static int __wind_taskinfo_get(struct task_struct *curr, struct pt_regs *regs)
{
xnhandle_t handle = __xn_reg_arg1(regs);
TASK_DESC desc;
WIND_TCB *pTcb;
int err;
if (!__xn_access_ok
(curr, VERIFY_WRITE, __xn_reg_arg2(regs), sizeof(desc)))
return -EFAULT;
pTcb = (WIND_TCB *)xnregistry_fetch(handle);
if (!pTcb)
return S_objLib_OBJ_ID_ERROR;
err = taskInfoGet((TASK_ID)pTcb, &desc);
if (!err) {
/* Replace the kernel-based pointer by the userland handle. */
desc.td_tid = handle;
__xn_copy_to_user(curr, (void __user *)__xn_reg_arg2(regs), &desc,
sizeof(desc));
}
return err;
}
CVMBool
CVMthreadAttach(CVMThreadID *self, CVMBool orphan)
{
if (orphan) {
self->taskID = taskIdSelf();
} else {
assert(self->taskID == taskIdSelf());
}
fpuInit();
if (!vxworksSyncInit(self)) {
CVMdebugPrintf(("WARNING: CVMthreadAttach failed.\n"));
return CVM_FALSE;
}
/* NOTE: taskVarAdd() creates a unique copy of the mySelf pointer for each
task so that we can have a unique thread ID for each task: */
taskVarAdd(0, (int *)&mySelf);
mySelf = self;
{
TASK_DESC desc;
taskInfoGet(0, &desc);
self->stackTop = desc.td_pStackLimit;
}
return CVM_TRUE;
}
void
__gnat_get_stack_info (stack_info *vxworks_stack_info)
{
TASK_DESC descriptor;
/* Ask the VxWorks kernel about stack values */
taskInfoGet (taskIdSelf (), &descriptor);
/* Fill the stack data with the information provided by the kernel */
vxworks_stack_info->size = descriptor.td_stackSize;
vxworks_stack_info->base = descriptor.td_pStackBase;
vxworks_stack_info->end = descriptor.td_pStackEnd;
}
// Set a new proxy value
float Proxy::set(string name, float val)
{
for(unsigned i=0;i<name.size();i++) {
name[i] = toupper(name[i]);
}
if(data.find(name) == data.end()) {
Robot::getInstance()->DriverStationDisplay("Proxy ERR: %s", name.c_str());
printf("Proxy::set cannot find variable: `%s`\n", name.c_str());
TASK_DESC errtask;
taskInfoGet(taskIdSelf(),&errtask);
printf("\tFrom task: %s\n",errtask.td_name);
return 0;
}
semTake(data[name].second, WAIT_FOREVER);
data[name].first = val;
semGive(data[name].second);
return val;
}
/*
* int __wind_taskinfo_get(TASK_ID task_id, TASK_DESC *desc)
*/
static int __wind_taskinfo_get(struct pt_regs *regs)
{
xnhandle_t handle = __xn_reg_arg1(regs);
TASK_DESC desc;
WIND_TCB *pTcb;
int err;
pTcb = __wind_lookup_task(handle);
if (!pTcb)
return S_objLib_OBJ_ID_ERROR;
err = taskInfoGet((TASK_ID)pTcb, &desc);
if (err)
return err;
/* Replace the kernel-based pointer by the userland handle. */
desc.td_tid = handle;
return __xn_safe_copy_to_user((void __user *)__xn_reg_arg2(regs),
&desc, sizeof(desc));
}
void
ACE_Stack_Trace::generate_trace (ssize_t starting_frame_offset,
size_t num_frames)
{
const size_t MAX_FRAMES = 128;
const ssize_t INITIAL_FRAME = 2;
if (num_frames == 0) num_frames = MAX_FRAMES;
size_t starting_frame =
determine_starting_frame (INITIAL_FRAME, starting_frame_offset);
jmp_buf regs;
setjmp (regs);
TASK_DESC desc;
if (taskInfoGet (taskIdSelf (), &desc) == ERROR) return;
TRC_OS_CTX osCtx;
osCtx.stackBase = desc.td_pStackBase;
osCtx.stackEnd = desc.td_pStackEnd;
osCtx.pcValidateRtn = reinterpret_cast<FUNCPTR> (ace_vx_rtp_pc_validate);
char *fp = _WRS_FRAMEP_FROM_JMP_BUF (regs);
INSTR *pc = _WRS_RET_PC_FROM_JMP_BUF (regs);
for (size_t depth = 0; depth < num_frames + starting_frame; ++depth)
{
char *prevFp;
INSTR *prevPc;
INSTR *prevFn;
if (trcLibFuncs.lvlInfoGet (fp, pc, &osCtx, &prevFp, &prevPc, &prevFn)
== ERROR)
{
ACE_OS::strcpy (this->buf_, UNABLE_TO_GET_TRACE);
return;
}
if(prevPc == 0 || prevFp == 0) break;
if (depth >= starting_frame)
{
//Hopefully a future version of VxWorks will have a system call
//for an RTP to query its own symbols, but this is not possible now.
//An enhancement request has been filed under WIND00123307.
const char *fnName = "(no symbols)";
static const int N_ARGS = 12;
int buf[N_ARGS];
int *pArgs = 0;
int numArgs =
trcLibFuncs.lvlArgsGet (prevPc, prevFn, prevFp,
buf, N_ARGS, &pArgs);
// VxWorks can return -1 for "numArgs" if there was an error
if (numArgs == -1) numArgs = 0;
size_t len = ACE_OS::strlen (this->buf_);
size_t space = SYMBUFSIZ - len - 1;
char *cursor = this->buf_ + len;
size_t written = ACE_OS::snprintf (cursor, space, "%x %s",
prevFn, fnName);
cursor += written;
space -= written;
if (space < 1) return; //no point in logging when we're out of buffer
for (int arg = 0; numArgs != -1 && pArgs && arg < numArgs; ++arg)
{
if (arg == 0) *cursor++ = '(', --space;
written = ACE_OS::snprintf (cursor, space,
(arg < numArgs - 1) ? "%x, " : "%x",
pArgs[arg]);
cursor += written;
space -= written;
if (space && arg == numArgs - 1) *cursor++ = ')', --space;
}
if (space) *cursor++ = '\n', --space;
*cursor++ = 0; //we saved space for the null terminator
}
fp = prevFp;
pc = prevPc;
}
}
STATUS taskShow
(
int tid, /* task ID */
int level /* 0 = summary, 1 = details, 2 = all tasks */
)
{
FAST int nTasks; /* number of task */
FAST int ix; /* index */
TASK_DESC td; /* task descriptor for task info */
WIND_TCB * pTcb; /* pointer to tasks tcb */
int idList[MAX_DSP_TASKS]; /* list of active IDs */
char optionsString[256]; /* task options string */
tid = taskIdDefault (tid); /* get default task */
switch (level)
{
case 0 : /* summarize a task */
{
if (taskInfoGet (tid, &td) != OK)
{
printErr ("Task not found.\n");
return (ERROR);
}
printf (infoHdr);
taskSummary (&td);
break;
}
case 1 : /* get task detail */
{
if (taskInfoGet (tid, &td) != OK)
{
printErr ("Task not found.\n");
return (ERROR);
}
taskOptionsString (tid, optionsString); /* get options string */
/* Print the summary as in all_task_info, then all the regs. */
printf (infoHdr); /* banner */
taskSummary (&td);
printf ("\nstack: base 0x%-6x end 0x%-6x size %-5d ",
(int)td.td_pStackBase, (int)td.td_pStackEnd,
td.td_stackSize);
if (td.td_options & VX_NO_STACK_FILL)
printf ("high %5s margin %5s\n", "???", "???");
else
printf ("high %-5d margin %-5d\n", td.td_stackHigh,
td.td_stackMargin);
printf ("\noptions: 0x%x\n%s\n", td.td_options, optionsString);
/* display VxWorks events information */
eventTaskShow (&td.td_events);
if (tid != taskIdSelf ()) /* no self exam */
{
taskRegsShow (tid);
if (_func_fppTaskRegsShow != NULL) /* fp regs if attached*/
(* _func_fppTaskRegsShow) (tid);
if (_func_dspTaskRegsShow != NULL) /* dsp regs if attached*/
(* _func_dspTaskRegsShow) (tid);
#ifdef _WRS_ALTIVEC_SUPPORT
if (_func_altivecTaskRegsShow != NULL) /* altivec regs if attached*/
(* _func_altivecTaskRegsShow) (tid);
#endif /* _WRS_ALTIVEC_SUPPORT */
#if (CPU_FAMILY==I80X86)
if (_func_sseTaskRegsShow != NULL) /* SIMD regs if attached */
(* _func_sseTaskRegsShow) (tid);
#endif /* (CPU_FAMILY==I80X86) */
}
/* print exception info if any */
if ((_func_excInfoShow != NULL) && ((pTcb = taskTcb (tid)) != NULL))
(* _func_excInfoShow) (&pTcb->excInfo, FALSE);
break;
}
case 2 : /* summarize all tasks */
default :
{
printf (infoHdr);
nTasks = taskIdListGet (idList, NELEMENTS (idList));
taskIdListSort (idList, nTasks);
for (ix = 0; ix < nTasks; ++ix)
{
if (taskInfoGet (idList [ix], &td) == OK)
taskSummary (&td);
}
break;
}
}
return (OK);
}
