Module: xenomai-forge
Branch: master
Commit: 959ff0be726613ab500983566dcb27c9bf9acb7d
URL:
http://git.xenomai.org/?p=xenomai-forge.git;a=commit;h=959ff0be726613ab500983566dcb27c9bf9acb7d
Author: Philippe Gerum <r...@xenomai.org>
Date: Sat Dec 10 19:27:42 2011 +0100
lib/cobalt: cleanup init code
We don't need to expose any general-purpose skin binding interface
anymore, so we may group all relevant code into the lib/cobalt/init.c,
getting rid of lib/cobalt/bind.c in the same move.
At this chance, xeno_handle_mlock_alert() was renamed
cobalt_handle_sigdebug() for consistency with the general naming
scheme.
---
include/asm-generic/bits/bind.h | 30 +--------
lib/cobalt/Makefile.am | 1 -
lib/cobalt/Makefile.in | 27 +++-----
lib/cobalt/bind.c | 137 ---------------------------------------
lib/cobalt/init.c | 116 ++++++++++++++++++++++++++++++++-
lib/cobalt/internal.c | 23 +++++++
6 files changed, 147 insertions(+), 187 deletions(-)
diff --git a/include/asm-generic/bits/bind.h b/include/asm-generic/bits/bind.h
index 2480206..87ddca9 100644
--- a/include/asm-generic/bits/bind.h
+++ b/include/asm-generic/bits/bind.h
@@ -1,36 +1,8 @@
#ifndef _XENO_ASM_GENERIC_BITS_BIND_H
#define _XENO_ASM_GENERIC_BITS_BIND_H
-#include <stdio.h>
-#include <stdlib.h>
#include <signal.h>
-void xeno_handle_mlock_alert(int sig, siginfo_t *si, void *context);
-
-int xeno_bind_skin_opt(unsigned int skin_magic, const char *skin,
- const char *module);
-
-static inline
-int xeno_bind_skin(unsigned int skin_magic, const char *skin,
- const char *module)
-{
- struct sigaction sa;
- int muxid;
-
- muxid = xeno_bind_skin_opt(skin_magic, skin, module);
- if (muxid < 0) {
- fprintf(stderr,
- "Xenomai: %s skin disabled (modprobe %s?)\n",
- skin, module);
- exit(EXIT_FAILURE);
- }
-
- sa.sa_sigaction = xeno_handle_mlock_alert;
- sigemptyset(&sa.sa_mask);
- sa.sa_flags = SA_SIGINFO;
- sigaction(SIGXCPU, &sa, NULL);
-
- return muxid;
-}
+void cobalt_handle_sigdebug(int sig, siginfo_t *si, void *context);
#endif /* _XENO_ASM_GENERIC_BITS_BIND_H */
diff --git a/lib/cobalt/Makefile.am b/lib/cobalt/Makefile.am
index 7ce76ba..be556e6 100644
--- a/lib/cobalt/Makefile.am
+++ b/lib/cobalt/Makefile.am
@@ -13,7 +13,6 @@ libcobalt_la_LDFLAGS = @XENO_LIB_LDFLAGS@ -version-info 2:0:0
-lpthread -lrt
libcobalt_la_SOURCES = \
assert_context.c \
attr.c \
- bind.c \
current.c \
sem_heap.c \
sigshadow.c \
diff --git a/lib/cobalt/Makefile.in b/lib/cobalt/Makefile.in
index f6c9241..de37910 100644
--- a/lib/cobalt/Makefile.in
+++ b/lib/cobalt/Makefile.in
@@ -79,15 +79,15 @@ am__installdirs = "$(DESTDIR)$(libdir)"
LTLIBRARIES = $(lib_LTLIBRARIES)
libcobalt_la_LIBADD =
am_libcobalt_la_OBJECTS = libcobalt_la-assert_context.lo \
- libcobalt_la-attr.lo libcobalt_la-bind.lo \
- libcobalt_la-current.lo libcobalt_la-sem_heap.lo \
- libcobalt_la-sigshadow.lo libcobalt_la-timeconv.lo \
- libcobalt_la-init.lo libcobalt_la-internal.lo \
- libcobalt_la-thread.lo libcobalt_la-timer.lo \
- libcobalt_la-semaphore.lo libcobalt_la-clock.lo \
- libcobalt_la-cond.lo libcobalt_la-mq.lo libcobalt_la-mutex.lo \
- libcobalt_la-select.lo libcobalt_la-rtdm.lo \
- libcobalt_la-printf.lo libcobalt_la-wrappers.lo
+ libcobalt_la-attr.lo libcobalt_la-current.lo \
+ libcobalt_la-sem_heap.lo libcobalt_la-sigshadow.lo \
+ libcobalt_la-timeconv.lo libcobalt_la-init.lo \
+ libcobalt_la-internal.lo libcobalt_la-thread.lo \
+ libcobalt_la-timer.lo libcobalt_la-semaphore.lo \
+ libcobalt_la-clock.lo libcobalt_la-cond.lo libcobalt_la-mq.lo \
+ libcobalt_la-mutex.lo libcobalt_la-select.lo \
+ libcobalt_la-rtdm.lo libcobalt_la-printf.lo \
+ libcobalt_la-wrappers.lo
libcobalt_la_OBJECTS = $(am_libcobalt_la_OBJECTS)
libcobalt_la_LINK = $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) \
$(LIBTOOLFLAGS) --mode=link $(CCLD) $(AM_CFLAGS) $(CFLAGS) \
@@ -280,7 +280,6 @@ libcobalt_la_LDFLAGS = @XENO_LIB_LDFLAGS@ -version-info
2:0:0 -lpthread -lrt
libcobalt_la_SOURCES = \
assert_context.c \
attr.c \
- bind.c \
current.c \
sem_heap.c \
sigshadow.c \
@@ -381,7 +380,6 @@ distclean-compile:
@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libcobalt_la-assert_context.Plo@am__quote@
@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libcobalt_la-attr.Plo@am__quote@
-@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libcobalt_la-bind.Plo@am__quote@
@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libcobalt_la-clock.Plo@am__quote@
@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libcobalt_la-cond.Plo@am__quote@
@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libcobalt_la-current.Plo@am__quote@
@@ -435,13 +433,6 @@ libcobalt_la-attr.lo: attr.c
@AMDEP_TRUE@@am__fastdepCC_FALSE@ DEPDIR=$(DEPDIR) $(CCDEPMODE)
$(depcomp) @AMDEPBACKSLASH@
@am__fastdepCC_FALSE@ $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS)
--mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES)
$(libcobalt_la_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o
libcobalt_la-attr.lo `test -f 'attr.c' || echo '$(srcdir)/'`attr.c
-libcobalt_la-bind.lo: bind.c
-@am__fastdepCC_TRUE@ $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS)
--mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES)
$(libcobalt_la_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -MT
libcobalt_la-bind.lo -MD -MP -MF $(DEPDIR)/libcobalt_la-bind.Tpo -c -o
libcobalt_la-bind.lo `test -f 'bind.c' || echo '$(srcdir)/'`bind.c
-@am__fastdepCC_TRUE@ $(am__mv) $(DEPDIR)/libcobalt_la-bind.Tpo
$(DEPDIR)/libcobalt_la-bind.Plo
-@AMDEP_TRUE@@am__fastdepCC_FALSE@ source='bind.c'
object='libcobalt_la-bind.lo' libtool=yes @AMDEPBACKSLASH@
-@AMDEP_TRUE@@am__fastdepCC_FALSE@ DEPDIR=$(DEPDIR) $(CCDEPMODE)
$(depcomp) @AMDEPBACKSLASH@
-@am__fastdepCC_FALSE@ $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS)
--mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES)
$(libcobalt_la_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o
libcobalt_la-bind.lo `test -f 'bind.c' || echo '$(srcdir)/'`bind.c
-
libcobalt_la-current.lo: current.c
@am__fastdepCC_TRUE@ $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS)
--mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES)
$(libcobalt_la_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -MT
libcobalt_la-current.lo -MD -MP -MF $(DEPDIR)/libcobalt_la-current.Tpo -c -o
libcobalt_la-current.lo `test -f 'current.c' || echo '$(srcdir)/'`current.c
@am__fastdepCC_TRUE@ $(am__mv) $(DEPDIR)/libcobalt_la-current.Tpo
$(DEPDIR)/libcobalt_la-current.Plo
diff --git a/lib/cobalt/bind.c b/lib/cobalt/bind.c
deleted file mode 100644
index 45aeba9..0000000
--- a/lib/cobalt/bind.c
+++ /dev/null
@@ -1,137 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <signal.h>
-#include <unistd.h>
-#include <string.h>
-#include <errno.h>
-
-#include <nucleus/heap.h>
-#include <asm/xenomai/syscall.h>
-#include <asm-generic/xenomai/bits/current.h>
-#include <asm-generic/xenomai/timeconv.h>
-#include <asm-generic/xenomai/stack.h>
-#include <asm-generic/xenomai/sem_heap.h>
-#include <asm/xenomai/bits/bind.h>
-
-int xeno_sigxcpu_no_mlock = 1;
-static pthread_t xeno_main_tid;
-
-static void xeno_sigill_handler(int sig)
-{
- fprintf(stderr, "Xenomai disabled (modprobe xeno_nucleus?)\n");
- exit(EXIT_FAILURE);
-}
-
-struct xnfeatinfo xeno_featinfo;
-
-#ifdef xeno_arch_features_check
-static void do_init_arch_features(void)
-{
- xeno_arch_features_check(&xeno_featinfo);
-}
-static void xeno_init_arch_features(void)
-{
- static pthread_once_t init_archfeat_once = PTHREAD_ONCE_INIT;
- pthread_once(&init_archfeat_once, do_init_arch_features);
-}
-#else /* !xeno_init_arch_features */
-#define xeno_init_arch_features() do { } while (0)
-#endif /* !xeno_arch_features_check */
-
-int xeno_bind_skin_opt(unsigned int skin_magic, const char *skin,
- const char *module)
-{
- sighandler_t old_sigill_handler;
- struct xnbindreq breq;
- struct xnfeatinfo *f;
- int muxid;
-
- /* Some sanity checks first. */
- if (access(XNHEAP_DEV_NAME, 0)) {
- fprintf(stderr, "Xenomai: %s is missing\n(chardev, major=10
minor=%d)\n",
- XNHEAP_DEV_NAME, XNHEAP_DEV_MINOR);
- exit(EXIT_FAILURE);
- }
-
- old_sigill_handler = signal(SIGILL, xeno_sigill_handler);
- if (old_sigill_handler == SIG_ERR) {
- perror("signal(SIGILL)");
- exit(EXIT_FAILURE);
- }
-
- f = &breq.feat_ret;
- breq.feat_req = XENOMAI_FEAT_DEP;
- breq.abi_rev = XENOMAI_ABI_REV;
- muxid = XENOMAI_SYSBIND(skin_magic, &breq);
-
- signal(SIGILL, old_sigill_handler);
-
- switch (muxid) {
- case -EINVAL:
- fprintf(stderr, "Xenomai: incompatible feature set\n");
- fprintf(stderr,
- "(userland requires \"%s\", kernel provides \"%s\",
missing=\"%s\").\n",
- f->feat_man_s, f->feat_all_s, f->feat_mis_s);
- exit(EXIT_FAILURE);
-
- case -ENOEXEC:
- fprintf(stderr, "Xenomai: incompatible ABI revision level\n");
- fprintf(stderr, "(user-space requires '%lu', kernel provides
'%lu').\n",
- XENOMAI_ABI_REV, f->feat_abirev);
- exit(EXIT_FAILURE);
-
- case -ENOSYS:
- case -ESRCH:
- return -1;
- }
-
- if (muxid < 0) {
- fprintf(stderr, "Xenomai: binding failed: %s.\n",
- strerror(-muxid));
- exit(EXIT_FAILURE);
- }
-
- xeno_featinfo = *f;
- xeno_init_arch_features();
-
- xeno_init_sem_heaps();
-
- xeno_init_current_keys();
-
- xeno_main_tid = pthread_self();
-
- xeno_init_timeconv(muxid);
-
- return muxid;
-}
-
-void xeno_fault_stack(void)
-{
- if (pthread_self() == xeno_main_tid) {
- char stk[xeno_stacksize(1)];
-
- stk[0] = stk[sizeof(stk) - 1] = 0xA5;
- }
-}
-
-void xeno_handle_mlock_alert(int sig, siginfo_t *si, void *context)
-{
- struct sigaction sa;
-
- if (si->si_value.sival_int == SIGDEBUG_NOMLOCK) {
- fprintf(stderr, "Xenomai: process memory not locked "
- "(missing mlockall?)\n");
- fflush(stderr);
- exit(4);
- }
-
- /* XNTRAPSW was set for the thread but no user-defined handler
- has been set to override our internal handler, so let's
- invoke the default signal action. */
-
- sa.sa_handler = SIG_DFL;
- sigemptyset(&sa.sa_mask);
- sa.sa_flags = 0;
- sigaction(SIGXCPU, &sa, NULL);
- pthread_kill(pthread_self(), SIGXCPU);
-}
diff --git a/lib/cobalt/init.c b/lib/cobalt/init.c
index 9a2cfc2..037a5ce 100644
--- a/lib/cobalt/init.c
+++ b/lib/cobalt/init.c
@@ -20,36 +20,148 @@
#include <stdlib.h>
#include <string.h>
#include <errno.h>
+#include <signal.h>
#include <limits.h>
#include <unistd.h>
#include <sys/types.h>
+#include <nucleus/heap.h>
#include <cobalt/posix.h>
#include <cobalt/syscall.h>
#include <rtdm/syscall.h>
#include <kernel/cobalt/mutex.h>
#include <rtdk.h>
#include <asm/xenomai/bits/bind.h>
+#include <asm-generic/xenomai/timeconv.h>
+#include <asm-generic/xenomai/stack.h>
+#include <asm-generic/xenomai/sem_heap.h>
+#include "internal.h"
int __cobalt_muxid = -1;
int __rtdm_muxid = -1;
int __rtdm_fd_start = INT_MAX;
static int fork_handler_registered;
+static pthread_t xeno_main_tid;
+struct xnfeatinfo xeno_featinfo;
int __wrap_pthread_setschedparam(pthread_t, int, const struct sched_param *);
void cobalt_clock_init(int);
+static void sigill_handler(int sig)
+{
+ fprintf(stderr, "Xenomai disabled in kernel?\n");
+ exit(EXIT_FAILURE);
+}
+
+#ifdef xeno_arch_features_check
+static void do_init_arch_features(void)
+{
+ xeno_arch_features_check(&xeno_featinfo);
+}
+static void init_arch_features(void)
+{
+ static pthread_once_t init_archfeat_once = PTHREAD_ONCE_INIT;
+ pthread_once(&init_archfeat_once, do_init_arch_features);
+}
+#else /* !xeno_init_arch_features */
+#define init_arch_features() do { } while (0)
+#endif /* !xeno_arch_features_check */
+
+void xeno_fault_stack(void)
+{
+ if (pthread_self() == xeno_main_tid) {
+ char stk[xeno_stacksize(1)];
+ stk[0] = stk[sizeof(stk) - 1] = 0xA5;
+ }
+}
+
+static int bind_interface(void)
+{
+ sighandler_t old_sigill_handler;
+ struct xnbindreq breq;
+ struct xnfeatinfo *f;
+ int muxid;
+
+ /* Some sanity checks first. */
+ if (access(XNHEAP_DEV_NAME, 0)) {
+ fprintf(stderr, "Xenomai: %s is missing\n(chardev, major=10
minor=%d)\n",
+ XNHEAP_DEV_NAME, XNHEAP_DEV_MINOR);
+ exit(EXIT_FAILURE);
+ }
+
+ old_sigill_handler = signal(SIGILL, sigill_handler);
+ if (old_sigill_handler == SIG_ERR) {
+ perror("signal(SIGILL)");
+ exit(EXIT_FAILURE);
+ }
+
+ f = &breq.feat_ret;
+ breq.feat_req = XENOMAI_FEAT_DEP;
+ breq.abi_rev = XENOMAI_ABI_REV;
+ muxid = XENOMAI_SYSBIND(COBALT_SKIN_MAGIC, &breq);
+
+ signal(SIGILL, old_sigill_handler);
+
+ switch (muxid) {
+ case -EINVAL:
+ fprintf(stderr, "Xenomai: incompatible feature set\n");
+ fprintf(stderr,
+ "(userland requires \"%s\", kernel provides \"%s\",
missing=\"%s\").\n",
+ f->feat_man_s, f->feat_all_s, f->feat_mis_s);
+ exit(EXIT_FAILURE);
+
+ case -ENOEXEC:
+ fprintf(stderr, "Xenomai: incompatible ABI revision level\n");
+ fprintf(stderr, "(user-space requires '%lu', kernel provides
'%lu').\n",
+ XENOMAI_ABI_REV, f->feat_abirev);
+ exit(EXIT_FAILURE);
+
+ case -ENOSYS:
+ case -ESRCH:
+ return -1;
+ }
+
+ if (muxid < 0) {
+ fprintf(stderr, "Xenomai: binding failed: %s.\n",
+ strerror(-muxid));
+ exit(EXIT_FAILURE);
+ }
+
+ xeno_featinfo = *f;
+ init_arch_features();
+
+ xeno_init_sem_heaps();
+
+ xeno_init_current_keys();
+
+ xeno_main_tid = pthread_self();
+
+ xeno_init_timeconv(muxid);
+
+ return muxid;
+}
+
static __attribute__ ((constructor))
void __init_cobalt_interface(void)
{
struct sched_param parm;
struct xnbindreq breq;
int policy, muxid, ret;
+ struct sigaction sa;
const char *p;
rt_print_auto_init(1);
- muxid =
- xeno_bind_skin(COBALT_SKIN_MAGIC, "POSIX", "xeno_posix");
+ muxid = bind_interface();
+ if (muxid < 0) {
+ fprintf(stderr,
+ "Xenomai: Cobalt interface unavailable\n");
+ exit(EXIT_FAILURE);
+ }
+
+ sa.sa_sigaction = cobalt_handle_sigdebug;
+ sigemptyset(&sa.sa_mask);
+ sa.sa_flags = SA_SIGINFO;
+ sigaction(SIGXCPU, &sa, NULL);
cobalt_clock_init(muxid);
diff --git a/lib/cobalt/internal.c b/lib/cobalt/internal.c
index d04bfd0..0b87f6a 100644
--- a/lib/cobalt/internal.c
+++ b/lib/cobalt/internal.c
@@ -294,3 +294,26 @@ int cobalt_monitor_drain_all_sync(cobalt_monitor_t *mon)
return ret;
}
+
+void cobalt_handle_sigdebug(int sig, siginfo_t *si, void *context)
+{
+ struct sigaction sa;
+
+ if (si->si_value.sival_int == SIGDEBUG_NOMLOCK) {
+ fprintf(stderr, "Xenomai: process memory not locked "
+ "(missing mlockall?)\n");
+ fflush(stderr);
+ exit(4);
+ }
+
+ /*
+ * XNTRAPSW was set for the thread but no user-defined handler
+ * has been set to override our internal handler, so let's
+ * invoke the default signal action.
+ */
+ sa.sa_handler = SIG_DFL;
+ sigemptyset(&sa.sa_mask);
+ sa.sa_flags = 0;
+ sigaction(SIGXCPU, &sa, NULL);
+ pthread_kill(pthread_self(), SIGXCPU);
+}
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