1  /*
  2   * Copyright (C) 2006 Paolo Mantegazza <mantegazza@aero.polimi.it>
  3   *
  4   * This library is free software; you can redistribute it and/or
  5   * modify it under the terms of the GNU Lesser General Public
  6   * License as published by the Free Software Foundation; either
  7   * version 2 of the License, or (at your option) any later version.
  8   *
  9   * This library is distributed in the hope that it will be useful,
 10   * but WITHOUT ANY WARRANTY; without even the implied warranty of
 11   * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 12   * Lesser General Public License for more details.
 13  
 14   * You should have received a copy of the GNU Lesser General Public
 15   * License along with this library; if not, write to the Free Software
 16   * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA.
 17   *
 18   */
 19  
 20  #ifndef _RTAI_SIGNAL_H_
 21  #define _RTAI_SIGNAL_H_
 22  
 23  #define RTAI_SIGNALS_IDX  BIDX
 24  
 25  #include <rtai_sched.h>
 26  
 27  #define MAXSIGNALS  16
 28  
 29  #define SIGNAL_TASK_INIPRIO     0
 30  
 31  struct rt_signal_t { unsigned long flags; RT_TASK *sigtask; };
 32  
 33  struct sigsuprt_t { RT_TASK *sigtask; RT_TASK *task; long signal; void (*sighdl)(long, RT_TASK *); unsigned long cpuid; };
 34  
 35  #ifdef __KERNEL__
 36  
 37  #define SIGNAL_ENBIT   0
 38  #define SIGNAL_PNDBIT  1
 39  
 40  #define SIGNAL_TASK_STACK_SIZE  8192
 41  
 42  RTAI_SYSCALL_MODE int rt_signal_helper(RT_TASK *task);
 43  
 44  int rt_request_signal(long signal, void (*sighdl)(long, RT_TASK *));
 45  
 46  RTAI_SYSCALL_MODE int rt_request_signal_(RT_TASK *sigtask, RT_TASK *task, long signal);
 47  
 48  RTAI_SYSCALL_MODE int rt_release_signal(long signal, RT_TASK *task);
 49  
 50  RTAI_SYSCALL_MODE void rt_enable_signal(long signal, RT_TASK *task);
 51  
 52  RTAI_SYSCALL_MODE void rt_disable_signal(long signal, RT_TASK *task);
 53  
 54  RTAI_SYSCALL_MODE void rt_trigger_signal(long signal, RT_TASK *task);
 55  
 56  RTAI_SYSCALL_MODE int rt_wait_signal(RT_TASK *sigtask, RT_TASK *task);
 57  
 58  #else /* !__KERNEL__ */
 59  
 60  #include <sys/mman.h>
 61  
 62  #include <rtai_lxrt.h>
 63  
 64  #define SIGNAL_TASK_STACK_SIZE  64*1024
 65  
 66  #ifndef __SIGNAL_SUPPORT_FUN__
 67  #define __SIGNAL_SUPPORT_FUN__
 68  
 69  static void signal_suprt_fun(struct sigsuprt_t *funarg)
 70  {		
 71  	struct sigtsk_t { RT_TASK *sigtask; RT_TASK *task; };
 72  	struct sigreq_t { RT_TASK *sigtask; RT_TASK *task; long signal; void (*sighdl)(int, RT_TASK *); };
 73  	struct sigsuprt_t arg = *funarg;
 74  
 75  	if ((arg.sigtask = rt_thread_init(rt_get_name(0), SIGNAL_TASK_INIPRIO, 0, SCHED_FIFO, 1 << arg.cpuid))) {
 76  		if (!rtai_lxrt(RTAI_SIGNALS_IDX, sizeof(struct sigreq_t), RT_SIGNAL_REQUEST, &arg).i[LOW]) {
 77  			rt_grow_and_lock_stack(SIGNAL_TASK_STACK_SIZE/2);
 78  			rt_make_hard_real_time();
 79  			while (rtai_lxrt(RTAI_SIGNALS_IDX, sizeof(struct sigtsk_t), RT_SIGNAL_WAITSIG, &arg).i[LOW]) {
 80  				arg.sighdl(arg.signal, arg.task);
 81  			}
 82  			rt_make_soft_real_time();
 83  		}
 84  		rt_task_delete(arg.sigtask);
 85  	}
 86  }
 87  
 88  #endif /* __SIGNAL_SUPPORT_FUN__ */
 89  
 90  RTAI_PROTO(int, rt_request_signal, (long signal, void (*sighdl)(long, RT_TASK *)))
 91  {
 92  	if (signal >= 0 && sighdl) {
 93  		struct sigsuprt_t arg = { NULL, rt_buddy(), signal, sighdl };
 94  		arg.cpuid = rtai_lxrt(RTAI_SIGNALS_IDX, sizeof(void *), RT_SIGNAL_HELPER, &arg.sigtask).i[LOW];
 95  		if (rt_thread_create((void *)signal_suprt_fun, &arg, SIGNAL_TASK_STACK_SIZE)) {
 96  			return rtai_lxrt(RTAI_SIGNALS_IDX, sizeof(RT_TASK *), RT_SIGNAL_HELPER, &arg.task).i[LOW];
 97  		}
 98  	}
 99  	return -EINVAL;
100  }
101  
102  RTAI_PROTO(int, rt_release_signal, (long signal, RT_TASK *task))
103  {
104  	struct { long signal; RT_TASK *task; } arg = { signal, task };
105  	return rtai_lxrt(RTAI_SIGNALS_IDX, SIZARG, RT_SIGNAL_RELEASE, &arg).i[LOW];
106  }
107  
108  RTAI_PROTO(void, rt_enable_signal, (long signal, RT_TASK *task))
109  {
110  	struct { long signal; RT_TASK *task; } arg = { signal, task };
111  	rtai_lxrt(RTAI_SIGNALS_IDX, SIZARG, RT_SIGNAL_ENABLE, &arg);
112  }
113  
114  RTAI_PROTO(void, rt_disable_signal, (long signal, RT_TASK *task))
115  {
116  	struct { long signal; RT_TASK *task; } arg = { signal, task };
117  	rtai_lxrt(RTAI_SIGNALS_IDX, SIZARG, RT_SIGNAL_DISABLE, &arg);
118  }
119  
120  RTAI_PROTO(void, rt_trigger_signal, (long signal, RT_TASK *task))
121  {
122  	struct { long signal; RT_TASK *task; } arg = { signal, task };
123  	rtai_lxrt(RTAI_SIGNALS_IDX, SIZARG, RT_SIGNAL_TRIGGER, &arg);
124  }
125  
126  #endif /* __KERNEL__ */
127  
128  #endif /* !_RTAI_SIGNAL_H_ */