int pthread_setschedparam_ex(pthread_t thread,
int policy, const struct sched_param_ex *param)
{
pthread_t myself = pthread_self();
struct sched_param short_param;
unsigned long mode_offset;
int err, promoted;
if (thread == myself)
xeno_fault_stack();
err = -XENOMAI_SKINCALL5(__pse51_muxid,
__pse51_thread_setschedparam_ex,
thread, policy, param,
&mode_offset, &promoted);
if (err == EPERM) {
short_param.sched_priority = param->sched_priority;
return __STD(pthread_setschedparam(thread, policy, &short_param));
}
if (!err && promoted) {
xeno_sigshadow_install_once();
xeno_set_current();
xeno_set_current_mode(mode_offset);
if (policy != SCHED_OTHER)
XENOMAI_SYSCALL1(__xn_sys_migrate, XENOMAI_XENO_DOMAIN);
}
return err;
}
static void *vrtx_task_trampoline(void *cookie)
{
struct vrtx_task_iargs *iargs = cookie;
void (*entry)(void *arg), *arg;
struct vrtx_arg_bulk bulk;
unsigned long mode_offset;
long err;
#ifndef HAVE___THREAD
TCB *tcb;
#endif /* !HAVE___THREAD */
/* vrtx_task_delete requires asynchronous cancellation */
pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
#ifndef HAVE___THREAD
tcb = malloc(sizeof(*tcb));
if (tcb == NULL) {
fprintf(stderr, "Xenomai: failed to allocate local TCB?!\n");
err = -ENOMEM;
goto fail;
}
pthread_setspecific(__vrtx_tskey, tcb);
#endif /* !HAVE___THREAD */
xeno_sigshadow_install_once();
bulk.a1 = (u_long)iargs->tid;
bulk.a2 = (u_long)iargs->prio;
bulk.a3 = (u_long)iargs->mode;
bulk.a4 = (u_long)&mode_offset;
if (bulk.a4 == 0) {
err = -ENOMEM;
goto fail;
}
err = XENOMAI_SKINCALL2(__vrtx_muxid, __vrtx_tecreate,
&bulk, &iargs->tid);
/* Prevent stale memory access after our parent is released. */
entry = iargs->entry;
arg = iargs->param;
__real_sem_post(&iargs->sync);
if (err == 0) {
xeno_set_current();
xeno_set_current_mode(mode_offset);
entry(arg);
}
fail:
return (void *)err;
}
static void *uitron_task_trampoline(void *cookie)
{
struct uitron_task_iargs *iargs = (struct uitron_task_iargs *)cookie;
struct sched_param param;
unsigned long mode_offset;
void (*entry)(INT);
int policy;
long err;
INT arg;
/*
* Apply sched params here as some libpthread implementations
* fail doing this properly via pthread_create.
*/
policy = uitron_task_set_posix_priority(iargs->pk_ctsk->itskpri, ¶m);
pthread_setschedparam(pthread_self(), policy, ¶m);
pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
xeno_sigshadow_install_once();
err = XENOMAI_SKINCALL4(__uitron_muxid,
__uitron_cre_tsk,
iargs->tskid, iargs->pk_ctsk,
iargs->completionp, &mode_offset);
if (err)
goto fail;
xeno_set_current();
xeno_set_current_mode(mode_offset);
/* iargs->pk_ctsk might not be valid anymore, after our parent
was released from the completion sync, so do not
dereference this pointer. */
do
err = XENOMAI_SYSCALL2(__xn_sys_barrier, &entry, &arg);
while (err == -EINTR);
if (!err)
entry(arg);
fail:
return (void *)err;
}
ER shd_tsk(ID tskid, T_CTSK *pk_ctsk) /* Xenomai extension. */
{
struct sched_param param;
int policy, err;
xeno_fault_stack();
/* Make sure the POSIX library caches the right priority. */
policy = uitron_task_set_posix_priority(pk_ctsk->itskpri, ¶m);
pthread_setschedparam(pthread_self(), policy, ¶m);
pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
xeno_sigshadow_install_once();
err = XENOMAI_SKINCALL3(__uitron_muxid,
__uitron_cre_tsk,
tskid, pk_ctsk,
NULL);
if (!err)
xeno_set_current();
return err;
}