Module: xenomai-forge
Branch: next
Commit: 4e09e1bf51803b042a0505cb8d5e3e2c73d4b451
URL:
http://git.xenomai.org/?p=xenomai-forge.git;a=commit;h=4e09e1bf51803b042a0505cb8d5e3e2c73d4b451
Author: Philippe Gerum <r...@xenomai.org>
Date: Tue Jul 16 15:42:58 2013 +0200
cobalt: introduce internal extension interface
Drivers from the RTDM_COBALT class are specifically designed for
extending the Cobalt/POSIX services. We need a way to expose
extension-specific handlers in the latter, so that the former may
change the default behavior at well-defined locations.
This extension mechanism should not cause any overhead when disabled,
which is the most common situation. For this reason, the extension
mechanism is compiled out when CONFIG_XENO_OPT_COBALT_EXTENSION is
disabled.
This patch introduces the cobalt_extension abstraction, aimed at
exposing a series of extension handlers as described previously, on
a per-thread basis. Extension drivers should invoke the
cobalt_thread_extend() and cobalt_thread_restrict() services to
respectively enable and disable the handlers.
At this chance, the private data field moved from the core thread
object (xnthread) to the cobalt_thread structure, since this facility
is intended for use by Cobalt extension code.
Cobalt extension drivers should include <rtdm/cobalt.h>, which will
read in the appropriate kernel headers, useful for implementing the
add-on features, and interposing on the existing Cobalt services via
the internal interface. Since these headers a not part of the public
kernel API, drivers should mention "-Ikernel" in the ccflags-y
variable from their Kbuild Makefile frag.
---
include/cobalt/kernel/thread.h | 3 --
include/rtdm/Makefile.am | 13 ++++---
include/rtdm/Makefile.in | 11 +++---
include/rtdm/cobalt.h | 31 +++++++++++++++++
kernel/cobalt/Kconfig | 3 ++
kernel/cobalt/posix/clock.h | 67 +++++++++++++++++++++++++++++++++----
kernel/cobalt/posix/cond.c | 4 ++-
kernel/cobalt/posix/cond.h | 11 ++++--
kernel/cobalt/posix/cond_attr.c | 3 +-
kernel/cobalt/posix/event.c | 4 +-
kernel/cobalt/posix/init.c | 4 +--
kernel/cobalt/posix/internal.h | 68 --------------------------------------
kernel/cobalt/posix/monitor.c | 4 +-
kernel/cobalt/posix/mqueue.c | 12 +++---
kernel/cobalt/posix/mutex.c | 4 ++-
kernel/cobalt/posix/mutex_attr.c | 3 +-
kernel/cobalt/posix/registry.c | 6 ++--
kernel/cobalt/posix/sem.c | 44 ++++++++++++++----------
kernel/cobalt/posix/sem.h | 13 ++-----
kernel/cobalt/posix/signal.c | 2 +
kernel/cobalt/posix/syscall.c | 7 +++-
kernel/cobalt/posix/thread.c | 28 +++++++++++++++
kernel/cobalt/posix/thread.h | 25 ++++++++++---
kernel/cobalt/posix/timer.c | 3 ++
kernel/cobalt/posix/timer.h | 1 +
kernel/cobalt/thread.c | 1 -
26 files changed, 226 insertions(+), 149 deletions(-)
diff --git a/include/cobalt/kernel/thread.h b/include/cobalt/kernel/thread.h
index 4f5f5f5..a9c8d8d 100644
--- a/include/cobalt/kernel/thread.h
+++ b/include/cobalt/kernel/thread.h
@@ -165,8 +165,6 @@ typedef struct xnthread {
struct pt_regs *regs; /* Current register frame */
struct xnthread_user_window *u_window; /* Data visible from userland.
*/
- void *privdata; /* Private data for extension */
-
struct xnpersonality *personality; /* Originating interface/personality
*/
#ifdef CONFIG_XENO_OPT_DEBUG
@@ -232,7 +230,6 @@ static inline void xnthread_clear_info(struct xnthread
*thread, int bits)
#define xnthread_inc_rescnt(thread) ({ (thread)->hrescnt++; })
#define xnthread_dec_rescnt(thread) ({ --(thread)->hrescnt; })
#define xnthread_get_rescnt(thread) ((thread)->hrescnt)
-#define xnthread_private(thread) ((thread)->privdata)
#define xnthread_personality(thread) ((thread)->personality)
#define xnthread_for_each_claimed(__pos, __thread) \
diff --git a/include/rtdm/Makefile.am b/include/rtdm/Makefile.am
index 4e48be8..b271df9 100644
--- a/include/rtdm/Makefile.am
+++ b/include/rtdm/Makefile.am
@@ -1,9 +1,10 @@
includesubdir = $(includedir)/rtdm
-includesub_HEADERS = \
- rtdm.h \
- rtdm_driver.h \
- rtserial.h \
- rttesting.h \
- rtcan.h \
+includesub_HEADERS = \
+ cobalt.h \
+ rtdm.h \
+ rtdm_driver.h \
+ rtserial.h \
+ rttesting.h \
+ rtcan.h \
rtipc.h
diff --git a/include/rtdm/Makefile.in b/include/rtdm/Makefile.in
index e4c3742..3e2eca4 100644
--- a/include/rtdm/Makefile.in
+++ b/include/rtdm/Makefile.in
@@ -275,11 +275,12 @@ top_builddir = @top_builddir@
top_srcdir = @top_srcdir@
includesubdir = $(includedir)/rtdm
includesub_HEADERS = \
- rtdm.h \
- rtdm_driver.h \
- rtserial.h \
- rttesting.h \
- rtcan.h \
+ cobalt.h \
+ rtdm.h \
+ rtdm_driver.h \
+ rtserial.h \
+ rttesting.h \
+ rtcan.h \
rtipc.h
all: all-am
diff --git a/include/rtdm/cobalt.h b/include/rtdm/cobalt.h
new file mode 100644
index 0000000..977fdb6
--- /dev/null
+++ b/include/rtdm/cobalt.h
@@ -0,0 +1,31 @@
+/**
+ * @file
+ * This file is part of the Xenomai project.
+ *
+ * @note Copyright (C) 2013 Philippe Gerum <r...@xenomai.org>
+ *
+ * Xenomai is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ */
+#ifndef _RTDM_COBALT_H
+#define _RTDM_COBALT_H
+
+#include <xenomai/posix/thread.h>
+#include <xenomai/posix/signal.h>
+#include <xenomai/posix/timer.h>
+#include <xenomai/posix/clock.h>
+#include <xenomai/posix/event.h>
+#include <xenomai/posix/monitor.h>
+
+#endif /* !_RTDM_COBALT_H */
diff --git a/kernel/cobalt/Kconfig b/kernel/cobalt/Kconfig
index 241216a..d6764f1 100644
--- a/kernel/cobalt/Kconfig
+++ b/kernel/cobalt/Kconfig
@@ -208,6 +208,9 @@ config XENO_OPT_PIPE
config XENO_OPT_MAP
bool
+config XENO_OPT_COBALT_EXTENSION
+ bool
+
config XENO_OPT_VFILE
bool
depends on PROC_FS
diff --git a/kernel/cobalt/posix/clock.h b/kernel/cobalt/posix/clock.h
index 9ceb90c..5c8d112 100644
--- a/kernel/cobalt/posix/clock.h
+++ b/kernel/cobalt/posix/clock.h
@@ -21,9 +21,66 @@
#include <linux/time.h>
#include <cobalt/uapi/time.h>
-#ifdef __cplusplus
-extern "C" {
-#endif /* __cplusplus */
+#define ONE_BILLION 1000000000
+
+static inline void ns2ts(struct timespec *ts, xnticks_t nsecs)
+{
+ ts->tv_sec = xnclock_divrem_billion(nsecs, &ts->tv_nsec);
+}
+
+static inline xnticks_t ts2ns(const struct timespec *ts)
+{
+ xntime_t nsecs = ts->tv_nsec;
+
+ if (ts->tv_sec)
+ nsecs += (xntime_t)ts->tv_sec * ONE_BILLION;
+
+ return nsecs;
+}
+
+static inline xnticks_t tv2ns(const struct timeval *tv)
+{
+ xntime_t nsecs = tv->tv_usec * 1000;
+
+ if (tv->tv_sec)
+ nsecs += (xntime_t)tv->tv_sec * ONE_BILLION;
+
+ return nsecs;
+}
+
+static inline void ticks2tv(struct timeval *tv, xnticks_t ticks)
+{
+ unsigned long nsecs;
+
+ tv->tv_sec = xnclock_divrem_billion(ticks, &nsecs);
+ tv->tv_usec = nsecs / 1000;
+}
+
+static inline xnticks_t clock_get_ticks(clockid_t clock_id)
+{
+ return clock_id == CLOCK_REALTIME ?
+ xnclock_read() :
+ xnclock_read_monotonic();
+}
+
+static inline int clock_flag(int flag, clockid_t clock_id)
+{
+ switch(flag & TIMER_ABSTIME) {
+ case 0:
+ return XN_RELATIVE;
+
+ case TIMER_ABSTIME:
+ switch(clock_id) {
+ case CLOCK_MONOTONIC:
+ case CLOCK_MONOTONIC_RAW:
+ return XN_ABSOLUTE;
+
+ case CLOCK_REALTIME:
+ return XN_REALTIME;
+ }
+ }
+ return -EINVAL;
+}
int cobalt_clock_getres(clockid_t clock_id, struct timespec __user *u_ts);
@@ -35,8 +92,4 @@ int cobalt_clock_nanosleep(clockid_t clock_id, int flags,
const struct timespec __user *u_rqt,
struct timespec __user *u_rmt);
-#ifdef __cplusplus
-}
-#endif /* __cplusplus */
-
#endif /* !_COBALT_POSIX_CLOCK_H */
diff --git a/kernel/cobalt/posix/cond.c b/kernel/cobalt/posix/cond.c
index 8b3ace7..4b0cf03 100644
--- a/kernel/cobalt/posix/cond.c
+++ b/kernel/cobalt/posix/cond.c
@@ -47,9 +47,11 @@
*
*@{*/
-#include <cobalt/kernel/ppd.h>
+#include "thread.h"
#include "mutex.h"
#include "cond.h"
+#include "clock.h"
+#include "internal.h"
static inline void
cond_destroy_internal(struct cobalt_cond *cond, struct cobalt_kqueues *q)
diff --git a/kernel/cobalt/posix/cond.h b/kernel/cobalt/posix/cond.h
index cd0bf5f..26f5544 100644
--- a/kernel/cobalt/posix/cond.h
+++ b/kernel/cobalt/posix/cond.h
@@ -18,11 +18,16 @@
#ifndef _COBALT_POSIX_COND_H
#define _COBALT_POSIX_COND_H
-#include "thread.h"
+#include <linux/time.h>
+#include <linux/list.h>
+#include <cobalt/kernel/synch.h>
+#include <cobalt/uapi/thread.h>
#include <cobalt/uapi/cond.h>
-struct __shadow_mutex;
-union cobalt_mutex_union;
+struct cobalt_kqueues;
+struct cobalt_mutex;
+
+typedef struct cobalt_condattr pthread_condattr_t;
struct cobalt_cond {
unsigned int magic;
diff --git a/kernel/cobalt/posix/cond_attr.c b/kernel/cobalt/posix/cond_attr.c
index d4081d3..d684d35 100644
--- a/kernel/cobalt/posix/cond_attr.c
+++ b/kernel/cobalt/posix/cond_attr.c
@@ -21,8 +21,9 @@
*
*@{*/
-#include "internal.h"
#include "thread.h"
+#include "cond.h"
+#include "internal.h"
const pthread_condattr_t cobalt_default_cond_attr = {
diff --git a/kernel/cobalt/posix/event.c b/kernel/cobalt/posix/event.c
index 4c779af..ed7d688 100644
--- a/kernel/cobalt/posix/event.c
+++ b/kernel/cobalt/posix/event.c
@@ -38,10 +38,10 @@
* We expose this non-POSIX feature through the internal API, as a
* fast IPC mechanism available to the Copperplate interface.
*/
-#include <cobalt/kernel/ppd.h>
-#include "internal.h"
#include "thread.h"
+#include "clock.h"
#include "event.h"
+#include "internal.h"
struct event_wait_context {
struct xnthread_wait_context wc;
diff --git a/kernel/cobalt/posix/init.c b/kernel/cobalt/posix/init.c
index a9d0391..04e3a76 100644
--- a/kernel/cobalt/posix/init.c
+++ b/kernel/cobalt/posix/init.c
@@ -46,14 +46,12 @@
*/
#include <linux/init.h>
-#include "internal.h"
+#include "thread.h"
#include "cond.h"
#include "mutex.h"
#include "sem.h"
-#include "thread.h"
#include "mqueue.h"
#include "timer.h"
-#include "registry.h"
#include "monitor.h"
#include "event.h"
#include "signal.h"
diff --git a/kernel/cobalt/posix/internal.h b/kernel/cobalt/posix/internal.h
index 4e536fb..37ad903 100644
--- a/kernel/cobalt/posix/internal.h
+++ b/kernel/cobalt/posix/internal.h
@@ -15,19 +15,15 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*/
-
#ifndef _COBALT_POSIX_INTERNAL_H
#define _COBALT_POSIX_INTERNAL_H
#include <cobalt/kernel/pod.h>
#include <cobalt/kernel/heap.h>
#include <cobalt/kernel/ppd.h>
-#include <cobalt/kernel/select.h>
#include <cobalt/kernel/assert.h>
#include <cobalt/kernel/list.h>
#include <cobalt/kernel/arith.h>
-#include <cobalt/uapi/syscall.h>
-#include <asm/xenomai/syscall.h>
#include "registry.h"
#ifndef CONFIG_XENO_OPT_DEBUG_COBALT
@@ -49,8 +45,6 @@
#define COBALT_EVENT_MAGIC COBALT_MAGIC(0F)
#define COBALT_MONITOR_MAGIC COBALT_MAGIC(10)
-#define ONE_BILLION 1000000000
-
#define cobalt_obj_active(h,m,t) \
((h) && ((t *)(h))->magic == (m))
@@ -102,68 +96,6 @@ static inline struct cobalt_kqueues *cobalt_kqueues(int
pshared)
return &container_of(ppd, struct cobalt_context, ppd)->kqueues;
}
-static inline void ns2ts(struct timespec *ts, xnticks_t nsecs)
-{
- ts->tv_sec = xnclock_divrem_billion(nsecs, &ts->tv_nsec);
-}
-
-static inline xnticks_t ts2ns(const struct timespec *ts)
-{
- xntime_t nsecs = ts->tv_nsec;
-
- if (ts->tv_sec)
- nsecs += (xntime_t)ts->tv_sec * ONE_BILLION;
-
- return nsecs;
-}
-
-static inline xnticks_t tv2ns(const struct timeval *tv)
-{
- xntime_t nsecs = tv->tv_usec * 1000;
-
- if (tv->tv_sec)
- nsecs += (xntime_t)tv->tv_sec * ONE_BILLION;
-
- return nsecs;
-}
-
-static inline void ticks2tv(struct timeval *tv, xnticks_t ticks)
-{
- unsigned long nsecs;
-
- tv->tv_sec = xnclock_divrem_billion(ticks, &nsecs);
- tv->tv_usec = nsecs / 1000;
-}
-
-static inline xnticks_t clock_get_ticks(clockid_t clock_id)
-{
- return clock_id == CLOCK_REALTIME ?
- xnclock_read() :
- xnclock_read_monotonic();
-}
-
-static inline int clock_flag(int flag, clockid_t clock_id)
-{
- switch(flag & TIMER_ABSTIME) {
- case 0:
- return XN_RELATIVE;
-
- case TIMER_ABSTIME:
- switch(clock_id) {
- case CLOCK_MONOTONIC:
- case CLOCK_MONOTONIC_RAW:
- return XN_ABSOLUTE;
-
- case CLOCK_REALTIME:
- return XN_REALTIME;
- }
- }
- return -EINVAL;
-}
-
-int cobalt_mq_elect_bind(mqd_t fd, struct xnselector *selector,
- unsigned type, unsigned index);
-
int cobalt_init(void);
void cobalt_cleanup(void);
diff --git a/kernel/cobalt/posix/monitor.c b/kernel/cobalt/posix/monitor.c
index 79e26c6..0942929 100644
--- a/kernel/cobalt/posix/monitor.c
+++ b/kernel/cobalt/posix/monitor.c
@@ -49,10 +49,10 @@
* Implementation-wise, the monitor logic is shared with the Cobalt
* thread object.
*/
-#include <cobalt/kernel/ppd.h>
-#include "internal.h"
#include "thread.h"
+#include "clock.h"
#include "monitor.h"
+#include "internal.h"
int cobalt_monitor_init(struct cobalt_monitor_shadow __user *u_monsh,
int flags)
diff --git a/kernel/cobalt/posix/mqueue.c b/kernel/cobalt/posix/mqueue.c
index f3bb488..dd87d3f 100644
--- a/kernel/cobalt/posix/mqueue.c
+++ b/kernel/cobalt/posix/mqueue.c
@@ -30,13 +30,13 @@
*@{*/
#include <stdarg.h>
-#include <linux/fs.h> /* ERR_PTR */
-#include "registry.h"
-#include "internal.h" /* Magics, time conversion */
-#include "thread.h" /* errno. */
+#include <linux/fs.h>
+#include <cobalt/kernel/select.h>
+#include "thread.h"
#include "timer.h"
#include "mqueue.h"
#include "signal.h"
+#include "clock.h"
#include "internal.h"
struct mq_attr {
@@ -274,8 +274,8 @@ static mqd_t mq_open(const char *name, int oflags, ...)
}
/* Here, we know that we must create a message queue. */
- mq = (cobalt_mq_t *) xnmalloc(sizeof(*mq));
- if (!mq) {
+ mq = xnmalloc(sizeof(*mq));
+ if (mq == NULL) {
err = -ENOSPC;
goto error;
}
diff --git a/kernel/cobalt/posix/mutex.c b/kernel/cobalt/posix/mutex.c
index 9c91528..3b0ac5c 100644
--- a/kernel/cobalt/posix/mutex.c
+++ b/kernel/cobalt/posix/mutex.c
@@ -47,9 +47,11 @@
*
*@{*/
-#include <cobalt/kernel/ppd.h>
+#include "thread.h"
#include "mutex.h"
#include "cond.h"
+#include "clock.h"
+#include "internal.h"
static int cobalt_mutex_init_inner(struct __shadow_mutex *shadow,
struct cobalt_mutex *mutex,
diff --git a/kernel/cobalt/posix/mutex_attr.c b/kernel/cobalt/posix/mutex_attr.c
index c997e80..8ed2633 100644
--- a/kernel/cobalt/posix/mutex_attr.c
+++ b/kernel/cobalt/posix/mutex_attr.c
@@ -21,8 +21,9 @@
*
*@{*/
-#include "internal.h"
+#include "thread.h"
#include "mutex.h"
+#include "internal.h"
const pthread_mutexattr_t cobalt_default_mutex_attr = {
magic: COBALT_MUTEX_ATTR_MAGIC,
diff --git a/kernel/cobalt/posix/registry.c b/kernel/cobalt/posix/registry.c
index 62b18dd..3660df2 100644
--- a/kernel/cobalt/posix/registry.c
+++ b/kernel/cobalt/posix/registry.c
@@ -16,8 +16,8 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*/
-#include "registry.h"
#include "thread.h"
+#include "internal.h"
#define BITS_PER_INT 32
@@ -218,8 +218,8 @@ int cobalt_desc_create(cobalt_desc_t ** descp,
cobalt_node_t * node, long flags)
spl_t s;
int fd;
- desc = (cobalt_desc_t *) xnmalloc(sizeof(*desc));
- if (!desc)
+ desc = xnmalloc(sizeof(*desc));
+ if (desc == NULL)
return ENOSPC;
xnlock_get_irqsave(&nklock, s);
diff --git a/kernel/cobalt/posix/sem.c b/kernel/cobalt/posix/sem.c
index e973bba..6aceffa 100644
--- a/kernel/cobalt/posix/sem.c
+++ b/kernel/cobalt/posix/sem.c
@@ -33,9 +33,9 @@
#include <stddef.h>
#include <stdarg.h>
-#include "registry.h" /* For named semaphores. */
#include "internal.h"
#include "thread.h"
+#include "clock.h"
#include "sem.h"
#define SEM_NAMED 0x80000000
@@ -51,20 +51,26 @@ struct cobalt_sem {
struct cobalt_kqueues *owningq;
};
+struct cobalt_usem {
+ unsigned long uaddr;
+ unsigned refcnt;
+ cobalt_assoc_t assoc;
+};
+
static inline struct cobalt_kqueues *sem_kqueue(struct cobalt_sem *sem)
{
int pshared = !!(sem->flags & SEM_PSHARED);
return cobalt_kqueues(pshared);
}
-typedef struct cobalt_named_sem {
+struct cobalt_named_sem {
struct cobalt_sem sembase; /* Has to be the first member. */
cobalt_node_t nodebase;
union cobalt_sem_union descriptor;
-} nsem_t;
+};
-#define sem2named_sem(saddr) ((nsem_t *)(saddr))
-#define node2sem(naddr) container_of(naddr, nsem_t, nodebase)
+#define sem2named_sem(saddr) ((struct cobalt_named_sem *)(saddr))
+#define node2sem(naddr) container_of(naddr, struct cobalt_named_sem, nodebase)
static int sem_destroy_inner(struct cobalt_sem *sem, struct cobalt_kqueues *q)
{
@@ -279,8 +285,8 @@ static int sem_destroy(struct __shadow_sem *sm)
*/
sem_t *sem_open(const char *name, int oflags, ...)
{
+ struct cobalt_named_sem *named_sem;
cobalt_node_t *node;
- nsem_t *named_sem;
unsigned value;
mode_t mode;
va_list ap;
@@ -299,8 +305,8 @@ sem_t *sem_open(const char *name, int oflags, ...)
goto got_sem;
}
- named_sem = (nsem_t *)xnmalloc(sizeof(*named_sem));
- if (!named_sem) {
+ named_sem = xnmalloc(sizeof(*named_sem));
+ if (named_sem == NULL) {
err = -ENOSPC;
goto error;
}
@@ -375,7 +381,7 @@ sem_t *sem_open(const char *name, int oflags, ...)
*/
int sem_close(struct __shadow_sem *sm)
{
- nsem_t *named_sem;
+ struct cobalt_named_sem *named_sem;
spl_t s;
int err;
@@ -442,8 +448,8 @@ int sem_close(struct __shadow_sem *sm)
*/
int sem_unlink(const char *name)
{
+ struct cobalt_named_sem *named_sem;
cobalt_node_t *node;
- nsem_t *named_sem;
spl_t s;
int err;
@@ -856,9 +862,9 @@ int cobalt_sem_open(unsigned long __user *u_addr,
struct cobalt_context *cc;
char name[COBALT_MAXNAME];
struct __shadow_sem *sm;
+ struct cobalt_usem *usm;
cobalt_assoc_t *assoc;
unsigned long uaddr;
- cobalt_usem_t *usm;
long len;
int err;
spl_t s;
@@ -890,7 +896,7 @@ int cobalt_sem_open(unsigned long __user *u_addr,
assoc = cobalt_assoc_lookup(&cc->usems, (u_long)sm->sem);
if (assoc) {
- usm = assoc2usem(assoc);
+ usm = container_of(assoc, struct cobalt_usem, assoc);
++usm->refcnt;
xnlock_put_irqrestore(&nklock, s);
goto got_usm;
@@ -911,10 +917,10 @@ int cobalt_sem_open(unsigned long __user *u_addr,
assoc = cobalt_assoc_lookup(&cc->usems, (u_long)sm->sem);
if (assoc) {
- assoc2usem(assoc)->refcnt++;
+ container_of(assoc, struct cobalt_usem, assoc)->refcnt++;
xnlock_put_irqrestore(&nklock, s);
xnfree(usm);
- usm = assoc2usem(assoc);
+ usm = container_of(assoc, struct cobalt_usem, assoc);
goto got_usm;
}
@@ -939,10 +945,10 @@ int cobalt_sem_open(unsigned long __user *u_addr,
int cobalt_sem_close(unsigned long uaddr, int __user *u_closed)
{
struct cobalt_context *cc;
+ struct cobalt_usem *usm;
struct __shadow_sem sm;
cobalt_assoc_t *assoc;
int closed = 0, err;
- cobalt_usem_t *usm;
spl_t s;
cc = cobalt_process_context();
@@ -960,7 +966,7 @@ int cobalt_sem_close(unsigned long uaddr, int __user
*u_closed)
return -EINVAL;
}
- usm = assoc2usem(assoc);
+ usm = container_of(assoc, struct cobalt_usem, assoc);
err = sem_close(&sm);
@@ -1029,9 +1035,9 @@ int cobalt_sem_broadcast_np(struct __shadow_sem __user
*u_sem)
static void usem_cleanup(cobalt_assoc_t *assoc)
{
- struct cobalt_sem *sem = (struct cobalt_sem *) cobalt_assoc_key(assoc);
- cobalt_usem_t *usem = assoc2usem(assoc);
- nsem_t *nsem = sem2named_sem(sem);
+ struct cobalt_usem *usem = container_of(assoc, struct cobalt_usem,
assoc);
+ struct cobalt_sem *sem = (struct cobalt_sem *)cobalt_assoc_key(assoc);
+ struct cobalt_named_sem *nsem = sem2named_sem(sem);
#if XENO_DEBUG(COBALT)
printk(XENO_INFO "closing Cobalt semaphore \"%s\"\n",
diff --git a/kernel/cobalt/posix/sem.h b/kernel/cobalt/posix/sem.h
index 2721424..18a8b5a 100644
--- a/kernel/cobalt/posix/sem.h
+++ b/kernel/cobalt/posix/sem.h
@@ -23,6 +23,9 @@
#include <cobalt/kernel/thread.h>
#include <cobalt/kernel/registry.h>
+struct cobalt_sem;
+struct cobalt_context;
+
/* Copied from Linuxthreads semaphore.h. */
struct _sem_fastlock
{
@@ -42,18 +45,8 @@ typedef struct
#define SEM_VALUE_MAX (INT_MAX)
#define SEM_FAILED NULL
-typedef struct {
- u_long uaddr;
- unsigned refcnt;
- cobalt_assoc_t assoc;
-
-#define assoc2usem(laddr) container_of(laddr, cobalt_usem_t, assoc)
-} cobalt_usem_t;
-
void cobalt_sem_usems_cleanup(struct cobalt_context *cc);
-struct cobalt_sem;
-
int sem_getvalue(struct cobalt_sem *sem, int *value);
int sem_post_inner(struct cobalt_sem *sem,
diff --git a/kernel/cobalt/posix/signal.c b/kernel/cobalt/posix/signal.c
index c3be4bc..2df3528 100644
--- a/kernel/cobalt/posix/signal.c
+++ b/kernel/cobalt/posix/signal.c
@@ -18,6 +18,8 @@
#include <cobalt/kernel/assert.h>
#include "thread.h"
#include "timer.h"
+#include "signal.h"
+#include "clock.h"
#include "internal.h"
static void *sigev_mem;
diff --git a/kernel/cobalt/posix/syscall.c b/kernel/cobalt/posix/syscall.c
index b5ac7cf..5e1de22 100644
--- a/kernel/cobalt/posix/syscall.c
+++ b/kernel/cobalt/posix/syscall.c
@@ -23,6 +23,8 @@
#include <linux/types.h>
#include <linux/err.h>
#include <cobalt/kernel/select.h>
+#include <cobalt/uapi/syscall.h>
+#include <asm/xenomai/syscall.h>
#include <rtdm/rtdm_driver.h>
#include "thread.h"
#include "mutex.h"
@@ -33,6 +35,8 @@
#include "monitor.h"
#include "clock.h"
#include "event.h"
+#include "signal.h"
+#include "internal.h"
#define RTDM_FD_MAX CONFIG_XENO_OPT_RTDM_FILDES
@@ -178,7 +182,8 @@ static int __select(int nfds,
if (!first_fd_valid_p(in_fds, nfds))
return -EBADF;
- if (!(selector = xnmalloc(sizeof(*thread->selector))))
+ selector = xnmalloc(sizeof(*thread->selector));
+ if (selector == NULL)
return -ENOMEM;
xnselector_init(selector);
thread->selector = selector;
diff --git a/kernel/cobalt/posix/thread.c b/kernel/cobalt/posix/thread.c
index 1b84181..aec4da3 100644
--- a/kernel/cobalt/posix/thread.c
+++ b/kernel/cobalt/posix/thread.c
@@ -35,6 +35,9 @@
#include <cobalt/uapi/signal.h>
#include "thread.h"
#include "timer.h"
+#include "signal.h"
+#include "clock.h"
+#include "internal.h"
xnticks_t cobalt_time_slice;
@@ -1196,6 +1199,31 @@ int cobalt_thread_getschedparam_ex(unsigned long pth,
return __xn_safe_copy_to_user(u_param, ¶m, sizeof(param));
}
+#ifdef CONFIG_XENO_OPT_COBALT_EXTENSION
+
+void cobalt_thread_extend(struct cobalt_thread *thread,
+ struct cobalt_extension *ext,
+ void *priv)
+{
+ struct xnpersonality *prev;
+
+ prev = xnshadow_push_personality(&thread->threadbase, &ext->core);
+ thread->extension = ext;
+ thread->private = priv;
+ XENO_BUGON(NUCLEUS, prev != &cobalt_personality);
+}
+EXPORT_SYMBOL_GPL(cobalt_thread_extend);
+
+void cobalt_thread_restrict(struct cobalt_thread *thread)
+{
+ xnshadow_pop_personality(&thread->threadbase, &cobalt_personality);
+ thread->extension = NULL;
+ thread->private = NULL;
+}
+EXPORT_SYMBOL_GPL(cobalt_thread_restrict);
+
+#endif /* !CONFIG_XENO_OPT_COBALT_EXTENSION */
+
int cobalt_sched_min_prio(int policy)
{
switch (policy) {
diff --git a/kernel/cobalt/posix/thread.h b/kernel/cobalt/posix/thread.h
index d431b6c..1d0c267 100644
--- a/kernel/cobalt/posix/thread.h
+++ b/kernel/cobalt/posix/thread.h
@@ -21,9 +21,8 @@
#include <linux/types.h>
#include <linux/time.h>
#include <linux/signal.h>
-#include "internal.h"
-#include "signal.h"
-#include <cobalt/kernel/synch.h>
+#include <cobalt/kernel/thread.h>
+#include <cobalt/kernel/shadow.h>
#include <cobalt/uapi/thread.h>
#include <cobalt/uapi/sched.h>
@@ -43,8 +42,7 @@
struct cobalt_thread;
struct cobalt_threadstat;
-
-typedef struct cobalt_condattr pthread_condattr_t;
+struct cobalt_extension;
typedef struct cobalt_threadattr {
unsigned magic;
@@ -99,9 +97,19 @@ struct cobalt_local_hkey {
struct mm_struct *mm;
};
+struct cobalt_extension {
+ struct xnpersonality core;
+ struct {
+ } ops;
+};
+
struct cobalt_thread {
unsigned int magic;
struct xnthread threadbase;
+#ifdef CONFIG_XENO_OPT_COBALT_EXTENSION
+ struct cobalt_extension *extension;
+ void *private;
+#endif
/** cobalt_threadq */
struct list_head link;
@@ -195,7 +203,12 @@ struct xnpersonality *cobalt_thread_exit(struct xnthread
*curr);
struct xnpersonality *cobalt_thread_unmap(struct xnthread *zombie);
-/* round-robin period. */
+void cobalt_thread_extend(struct cobalt_thread *thread,
+ struct cobalt_extension *ext,
+ void *priv);
+
+void cobalt_thread_restrict(struct cobalt_thread *thread);
+
extern xnticks_t cobalt_time_slice;
extern struct xnpersonality cobalt_personality;
diff --git a/kernel/cobalt/posix/timer.c b/kernel/cobalt/posix/timer.c
index 7e79b50..6b7f584 100644
--- a/kernel/cobalt/posix/timer.c
+++ b/kernel/cobalt/posix/timer.c
@@ -24,6 +24,8 @@
#include <linux/cred.h>
#include "thread.h"
#include "timer.h"
+#include "signal.h"
+#include "clock.h"
#include "internal.h"
struct cobalt_timer {
@@ -34,6 +36,7 @@ struct cobalt_timer {
siginfo_t si;
clockid_t clockid;
pid_t target;
+ struct sigevent ev;
struct cobalt_thread *owner;
struct cobalt_kqueues *owningq;
};
diff --git a/kernel/cobalt/posix/timer.h b/kernel/cobalt/posix/timer.h
index d21cf02..fa63631 100644
--- a/kernel/cobalt/posix/timer.h
+++ b/kernel/cobalt/posix/timer.h
@@ -21,6 +21,7 @@
#include <linux/time.h>
struct cobalt_thread;
+struct cobalt_kqueues;
int cobalt_timer_create(clockid_t clock,
const struct sigevent __user *u_sev,
diff --git a/kernel/cobalt/thread.c b/kernel/cobalt/thread.c
index 2c5573d..0d43a8b 100644
--- a/kernel/cobalt/thread.c
+++ b/kernel/cobalt/thread.c
@@ -177,7 +177,6 @@ int xnthread_init(struct xnthread *thread,
thread->selector = NULL;
INIT_LIST_HEAD(&thread->claimq);
- thread->privdata = NULL;
thread->personality = attr->personality;
thread->sched = sched;
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