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00020 #ifndef _RTAI_SIGNAL_H_
00021 #define _RTAI_SIGNAL_H_
00022
00023 #define RTAI_SIGNALS_IDX BIDX
00024
00025 #include <rtai_sched.h>
00026
00027 #define MAXSIGNALS 16
00028
00029 #define SIGNAL_TASK_INIPRIO 0
00030
00031 struct rt_signal_t { unsigned long flags; RT_TASK *sigtask; };
00032
00033 struct sigsuprt_t { RT_TASK *sigtask; RT_TASK *task; long signal; void (*sighdl)(long, RT_TASK *); unsigned long cpuid; };
00034
00035 #ifdef __KERNEL__
00036
00037 #define SIGNAL_ENBIT 0
00038 #define SIGNAL_PNDBIT 1
00039
00040 #define SIGNAL_TASK_STACK_SIZE 8192
00041
00042 RTAI_SYSCALL_MODE int rt_signal_helper(RT_TASK *task);
00043
00044 int rt_request_signal(long signal, void (*sighdl)(long, RT_TASK *));
00045
00046 RTAI_SYSCALL_MODE int rt_request_signal_(RT_TASK *sigtask, RT_TASK *task, long signal);
00047
00048 RTAI_SYSCALL_MODE int rt_release_signal(long signal, RT_TASK *task);
00049
00050 RTAI_SYSCALL_MODE void rt_enable_signal(long signal, RT_TASK *task);
00051
00052 RTAI_SYSCALL_MODE void rt_disable_signal(long signal, RT_TASK *task);
00053
00054 RTAI_SYSCALL_MODE void rt_trigger_signal(long signal, RT_TASK *task);
00055
00056 RTAI_SYSCALL_MODE int rt_wait_signal(RT_TASK *sigtask, RT_TASK *task);
00057
00058 #else
00059
00060 #include <sys/mman.h>
00061
00062 #include <rtai_lxrt.h>
00063
00064 #define SIGNAL_TASK_STACK_SIZE 64*1024
00065
00066 #ifndef __SIGNAL_SUPPORT_FUN__
00067 #define __SIGNAL_SUPPORT_FUN__
00068
00069 static void signal_suprt_fun(struct sigsuprt_t *funarg)
00070 {
00071 struct sigtsk_t { RT_TASK *sigtask; RT_TASK *task; };
00072 struct sigreq_t { RT_TASK *sigtask; RT_TASK *task; long signal; void (*sighdl)(int, RT_TASK *); };
00073 struct sigsuprt_t arg = *funarg;
00074
00075 if ((arg.sigtask = rt_thread_init(rt_get_name(0), SIGNAL_TASK_INIPRIO, 0, SCHED_FIFO, 1 << arg.cpuid))) {
00076 if (!rtai_lxrt(RTAI_SIGNALS_IDX, sizeof(struct sigreq_t), RT_SIGNAL_REQUEST, &arg).i[LOW]) {
00077 rt_grow_and_lock_stack(SIGNAL_TASK_STACK_SIZE/2);
00078 rt_make_hard_real_time();
00079 while (rtai_lxrt(RTAI_SIGNALS_IDX, sizeof(struct sigtsk_t), RT_SIGNAL_WAITSIG, &arg).i[LOW]) {
00080 arg.sighdl(arg.signal, arg.task);
00081 }
00082 rt_make_soft_real_time();
00083 }
00084 rt_task_delete(arg.sigtask);
00085 }
00086 }
00087
00088 #endif
00089
00090 RTAI_PROTO(int, rt_request_signal, (long signal, void (*sighdl)(long, RT_TASK *)))
00091 {
00092 if (signal >= 0 && sighdl) {
00093 struct sigsuprt_t arg = { NULL, rt_buddy(), signal, sighdl };
00094 arg.cpuid = rtai_lxrt(RTAI_SIGNALS_IDX, sizeof(void *), RT_SIGNAL_HELPER, &arg.sigtask).i[LOW];
00095 if (rt_thread_create((void *)signal_suprt_fun, &arg, SIGNAL_TASK_STACK_SIZE)) {
00096 return rtai_lxrt(RTAI_SIGNALS_IDX, sizeof(RT_TASK *), RT_SIGNAL_HELPER, &arg.task).i[LOW];
00097 }
00098 }
00099 return -EINVAL;
00100 }
00101
00102 RTAI_PROTO(int, rt_release_signal, (long signal, RT_TASK *task))
00103 {
00104 struct { long signal; RT_TASK *task; } arg = { signal, task };
00105 return rtai_lxrt(RTAI_SIGNALS_IDX, SIZARG, RT_SIGNAL_RELEASE, &arg).i[LOW];
00106 }
00107
00108 RTAI_PROTO(void, rt_enable_signal, (long signal, RT_TASK *task))
00109 {
00110 struct { long signal; RT_TASK *task; } arg = { signal, task };
00111 rtai_lxrt(RTAI_SIGNALS_IDX, SIZARG, RT_SIGNAL_ENABLE, &arg);
00112 }
00113
00114 RTAI_PROTO(void, rt_disable_signal, (long signal, RT_TASK *task))
00115 {
00116 struct { long signal; RT_TASK *task; } arg = { signal, task };
00117 rtai_lxrt(RTAI_SIGNALS_IDX, SIZARG, RT_SIGNAL_DISABLE, &arg);
00118 }
00119
00120 RTAI_PROTO(void, rt_trigger_signal, (long signal, RT_TASK *task))
00121 {
00122 struct { long signal; RT_TASK *task; } arg = { signal, task };
00123 rtai_lxrt(RTAI_SIGNALS_IDX, SIZARG, RT_SIGNAL_TRIGGER, &arg);
00124 }
00125
00126 #endif
00127
00128 #endif