static void free_comp_struct(hal_comp_t * comp)
{
int *prev, next;
#ifdef RTAPI
hal_funct_t *funct;
#endif /* RTAPI */
hal_pin_t *pin;
hal_param_t *param;
/* can't delete the component until we delete its "stuff" */
/* need to check for functs only if a realtime component */
#ifdef RTAPI
// first unlink and destroy all functs, so an RT thread
// cant trample on the comp while it's being destroyed
/* search the function list for this component's functs */
prev = &(hal_data->funct_list_ptr);
next = *prev;
while (next != 0) {
funct = SHMPTR(next);
hal_comp_t *owner = halpr_find_owning_comp(funct->owner_id);
if (owner == comp) {
/* this function belongs to our component, unlink from list */
*prev = funct->next_ptr;
/* and delete it */
free_funct_struct(funct);
} else {
/* no match, try the next one */
prev = &(funct->next_ptr);
}
next = *prev;
}
// here, technically all the comp's functs are
// delf'd and not visible anymore
// now that the funct is gone,
// exit all the comp's instances
next = hal_data->inst_list_ptr;
while (next != 0) {
hal_inst_t *inst = SHMPTR(next);
next = inst->next_ptr;
if (inst->comp_id == comp->comp_id) {
// this instance is owned by this comp
free_inst_struct(inst);
}
}
// here all insts, their pins, params and functs are gone.
#endif /* RTAPI */
// now work the legacy pins and params which are
// directly owned by the comp.
/* search the pin list for this component's pins */
prev = &(hal_data->pin_list_ptr);
next = *prev;
while (next != 0) {
pin = SHMPTR(next);
if (pin->owner_id == comp->comp_id) {
/* this pin belongs to our component, unlink from list */
*prev = pin->next_ptr;
/* and delete it */
free_pin_struct(pin);
} else {
/* no match, try the next one */
prev = &(pin->next_ptr);
}
next = *prev;
}
/* search the parameter list for this component's parameters */
prev = &(hal_data->param_list_ptr);
next = *prev;
while (next != 0) {
param = SHMPTR(next);
if (param->owner_id == comp->comp_id) {
/* this param belongs to our component, unlink from list */
*prev = param->next_ptr;
/* and delete it */
free_param_struct(param);
} else {
/* no match, try the next one */
prev = &(param->next_ptr);
}
next = *prev;
}
/* now we can delete the component itself */
/* clear contents of struct */
comp->comp_id = 0;
comp->type = TYPE_INVALID;
comp->state = COMP_INVALID;
comp->last_bound = 0;
comp->last_unbound = 0;
comp->last_update = 0;
comp->shmem_base = 0;
comp->name[0] = '\0';
}
// almost a copy of free_comp_struct(), but based on instance
//
// unlinks and frees functs exported by this instance
// then calls any custom destructor
// then unlinks & deletes all pins owned by this instance
// then deletes params owned by this instance
void free_inst_struct(hal_inst_t * inst)
{
int *prev, next;
#ifdef RTAPI
hal_funct_t *funct;
#endif /* RTAPI */
hal_pin_t *pin;
hal_param_t *param;
/* can't delete the instance until we delete its "stuff" */
/* need to check for functs only if a realtime component */
#ifdef RTAPI
/* search the function list for this instance's functs */
prev = &(hal_data->funct_list_ptr);
next = *prev;
while (next != 0) {
funct = SHMPTR(next);
if (funct->owner_id == inst->inst_id) {
/* this function belongs to this instance, unlink from list */
*prev = funct->next_ptr;
/* and delete it */
free_funct_struct(funct);
} else {
/* no match, try the next one */
prev = &(funct->next_ptr);
}
next = *prev;
}
// now that the funct is gone, call the dtor for this instance
// get owning comp
hal_comp_t *comp = halpr_find_owning_comp(inst->comp_id);
if (comp->dtor) {
//NB - pins, params etc still intact
// this instance is owned by this comp, call destructor
HALDBG("calling custom destructor(%s,%s)", comp->name, inst->name);
comp->dtor(inst->name, SHMPTR(inst->inst_data_ptr), inst->inst_size);
}
#endif /* RTAPI */
/* search the pin list for this instance's pins */
prev = &(hal_data->pin_list_ptr);
next = *prev;
while (next != 0) {
pin = SHMPTR(next);
if (pin->owner_id == inst->inst_id) {
/* this pin belongs to our instance, unlink from list */
*prev = pin->next_ptr;
/* and delete it */
free_pin_struct(pin);
} else {
/* no match, try the next one */
prev = &(pin->next_ptr);
}
next = *prev;
}
/* search the parameter list for this instance's parameters */
prev = &(hal_data->param_list_ptr);
next = *prev;
while (next != 0) {
param = SHMPTR(next);
if (param->owner_id == inst->inst_id) {
/* this param belongs to our instance, unlink from list */
*prev = param->next_ptr;
/* and delete it */
free_param_struct(param);
} else {
/* no match, try the next one */
prev = &(param->next_ptr);
}
next = *prev;
}
/* now we can delete the instance itself */
// search the instance list and unlink instances owned by this comp
hal_inst_t *ip;
prev = &(hal_data->inst_list_ptr);
next = *prev;
while (next != 0) {
ip = SHMPTR(next);
if (ip == inst) {
// this instance is owned by this comp
*prev = ip->next_ptr;
// zap the instance structure
ip->comp_id = 0;
ip->inst_id = 0;
ip->inst_data_ptr = 0; // NB - loosing HAL memory here
ip->inst_size = 0;
ip->name[0] = '\0';
// add it to free list
ip->next_ptr = hal_data->inst_free_ptr;
hal_data->inst_free_ptr = SHMOFF(ip);
} else {
prev = &(ip->next_ptr);
}
next = *prev;
}
}
static void free_comp_struct(hal_comp_t * comp)
{
int *prev, next;
#ifdef RTAPI
hal_funct_t *funct;
#endif /* RTAPI */
hal_pin_t *pin;
hal_param_t *param;
/* can't delete the component until we delete its "stuff" */
/* need to check for functs only if a realtime component */
#ifdef RTAPI
/* search the function list for this component's functs */
prev = &(hal_data->funct_list_ptr);
next = *prev;
while (next != 0) {
funct = SHMPTR(next);
if (SHMPTR(funct->owner_ptr) == comp) {
/* this function belongs to our component, unlink from list */
*prev = funct->next_ptr;
/* and delete it */
free_funct_struct(funct);
} else {
/* no match, try the next one */
prev = &(funct->next_ptr);
}
next = *prev;
}
#endif /* RTAPI */
/* search the pin list for this component's pins */
prev = &(hal_data->pin_list_ptr);
next = *prev;
while (next != 0) {
pin = SHMPTR(next);
if (SHMPTR(pin->owner_ptr) == comp) {
/* this pin belongs to our component, unlink from list */
*prev = pin->next_ptr;
/* and delete it */
free_pin_struct(pin);
} else {
/* no match, try the next one */
prev = &(pin->next_ptr);
}
next = *prev;
}
/* search the parameter list for this component's parameters */
prev = &(hal_data->param_list_ptr);
next = *prev;
while (next != 0) {
param = SHMPTR(next);
if (SHMPTR(param->owner_ptr) == comp) {
/* this param belongs to our component, unlink from list */
*prev = param->next_ptr;
/* and delete it */
free_param_struct(param);
} else {
/* no match, try the next one */
prev = &(param->next_ptr);
}
next = *prev;
}
/* now we can delete the component itself */
/* clear contents of struct */
comp->comp_id = -1;
comp->type = TYPE_INVALID;
comp->state = COMP_INVALID;
comp->last_bound = 0;
comp->last_unbound = 0;
comp->last_update = 0;
comp->shmem_base = 0;
comp->name[0] = '\0';
/* add it to free list */
comp->next_ptr = hal_data->comp_free_ptr;
hal_data->comp_free_ptr = SHMOFF(comp);
}
static int hal_export_xfunctfv(const hal_export_xfunct_args_t *xf, const char *fmt, va_list ap)
{
int *prev, next, cmp, sz;
hal_funct_t *nf, *fptr;
char name[HAL_NAME_LEN + 1];
CHECK_HALDATA();
CHECK_LOCK(HAL_LOCK_LOAD);
sz = rtapi_vsnprintf(name, sizeof(name), fmt, ap);
if(sz == -1 || sz > HAL_NAME_LEN) {
HALERR("length %d invalid for name starting '%s'", sz, name);
return -ENOMEM;
}
HALDBG("exporting function '%s' type %d", name, xf->type);
{
hal_comp_t *comp __attribute__((cleanup(halpr_autorelease_mutex)));
/* get mutex before accessing shared data */
rtapi_mutex_get(&(hal_data->mutex));
comp = halpr_find_owning_comp(xf->owner_id);
if (comp == 0) {
/* bad comp_id */
HALERR("funct '%s': owning component %d not found",
name, xf->owner_id);
return -EINVAL;
}
if (comp->type == TYPE_USER) {
/* not a realtime component */
HALERR("funct '%s': component %s/%d is not realtime (%d)",
name, comp->name, comp->comp_id, comp->type);
return -EINVAL;
}
bool legacy = (halpr_find_inst_by_id(xf->owner_id) == NULL);
// instances may export functs post hal_ready
if (legacy && (comp->state > COMP_INITIALIZING)) {
HALERR("funct '%s': called after hal_ready", name);
return -EINVAL;
}
/* allocate a new function structure */
nf = alloc_funct_struct();
if (nf == 0)
NOMEM("function '%s'", name);
/* initialize the structure */
nf->uses_fp = xf->uses_fp;
nf->owner_id = xf->owner_id;
nf->reentrant = xf->reentrant;
nf->users = 0;
nf->handle = rtapi_next_handle();
nf->arg = xf->arg;
nf->type = xf->type;
nf->funct.l = xf->funct.l; // a bit of a cheat really
rtapi_snprintf(nf->name, sizeof(nf->name), "%s", name);
/* search list for 'name' and insert new structure */
prev = &(hal_data->funct_list_ptr);
next = *prev;
while (1) {
if (next == 0) {
/* reached end of list, insert here */
nf->next_ptr = next;
*prev = SHMOFF(nf);
/* break out of loop and init the new function */
break;
}
fptr = SHMPTR(next);
cmp = strcmp(fptr->name, nf->name);
if (cmp > 0) {
/* found the right place for it, insert here */
nf->next_ptr = next;
*prev = SHMOFF(nf);
/* break out of loop and init the new function */
break;
}
if (cmp == 0) {
/* name already in list, can't insert */
free_funct_struct(nf);
HALERR("duplicate function '%s'", name);
return -EINVAL;
}
/* didn't find it yet, look at next one */
prev = &(fptr->next_ptr);
next = *prev;
}
// at this point we have a new function and can
// yield the mutex by scope exit
}
/* init time logging variables */
nf->runtime = 0;
nf->maxtime = 0;
nf->maxtime_increased = 0;
/* at this point we have a new function and can yield the mutex */
rtapi_mutex_give(&(hal_data->mutex));
switch (xf->type) {
case FS_LEGACY_THREADFUNC:
case FS_XTHREADFUNC:
/* create a pin with the function's runtime in it */
if (hal_pin_s32_newf(HAL_OUT, &(nf->runtime), xf->owner_id, "%s.time",name)) {
HALERR("failed to create pin '%s.time'", name);
return -EINVAL;
}
*(nf->runtime) = 0;
/* note that failure to successfully create the following params
does not cause the "export_funct()" call to fail - they are
for debugging and testing use only */
/* create a parameter with the function's maximum runtime in it */
nf->maxtime = 0;
hal_param_s32_newf(HAL_RW, &(nf->maxtime), xf->owner_id, "%s.tmax", name);
/* create a parameter with the function's maximum runtime in it */
nf->maxtime_increased = 0;
hal_param_bit_newf(HAL_RO, &(nf->maxtime_increased), xf->owner_id,
"%s.tmax-inc", name);
break;
case FS_USERLAND: // no timing pins/params
;
}
return 0;
}
