Module: xenomai-3
Branch: stable-3.0.x
Commit: eab452191bab1adcb315e38d324723b3a9c33af2
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=eab452191bab1adcb315e38d324723b3a9c33af2
Author: Philippe Gerum <r...@xenomai.org>
Date: Sun Dec 27 18:02:01 2015 +0100
cobalt/corectl: chain config requests to external subsystems
External subsystems (e.g. RTNet, Analogy) may attach to the generic
corectl() configuration service by registering to the config_notifier
list, using the cobalt_add_config_chain() routine.
Upon a call to corectl(), a configuration request left unprocessed by
the core is posted to the registered handlers in turn, until NOTIFY_OK
or any error is raised. If a request remains unprocessed, corectl()
eventually returns -EINVAL.
Unlike core configuration requests which may be handled in primary
mode if applicable, the current context is always switched to
secondary mode before subsystem handlers are called.
---
include/cobalt/kernel/init.h | 6 +++---
include/cobalt/kernel/rtdm/cobalt.h | 1 +
kernel/cobalt/init.c | 12 ++++++------
kernel/cobalt/posix/corectl.c | 36 +++++++++++++++++++++++++++++------
kernel/cobalt/posix/corectl.h | 11 +++++++++++
kernel/cobalt/rtdm/device.c | 4 ++--
6 files changed, 53 insertions(+), 17 deletions(-)
diff --git a/include/cobalt/kernel/init.h b/include/cobalt/kernel/init.h
index bdb2bb6..41dd531 100644
--- a/include/cobalt/kernel/init.h
+++ b/include/cobalt/kernel/init.h
@@ -45,10 +45,10 @@ static inline void set_realtime_core_state(enum
cobalt_run_states state)
atomic_set(&cobalt_runstate, state);
}
-void cobalt_add_notifier_chain(struct notifier_block *nb);
+void cobalt_add_state_chain(struct notifier_block *nb);
-void cobalt_remove_notifier_chain(struct notifier_block *nb);
+void cobalt_remove_state_chain(struct notifier_block *nb);
-void cobalt_call_notifier_chain(enum cobalt_run_states newstate);
+void cobalt_call_state_chain(enum cobalt_run_states newstate);
#endif /* !_COBALT_KERNEL_INIT_H_ */
diff --git a/include/cobalt/kernel/rtdm/cobalt.h
b/include/cobalt/kernel/rtdm/cobalt.h
index a2b268d..d60cfc5 100644
--- a/include/cobalt/kernel/rtdm/cobalt.h
+++ b/include/cobalt/kernel/rtdm/cobalt.h
@@ -28,5 +28,6 @@
#include <xenomai/posix/clock.h>
#include <xenomai/posix/event.h>
#include <xenomai/posix/monitor.h>
+#include <xenomai/posix/corectl.h>
#endif /* !_COBALT_RTDM_COBALT_H */
diff --git a/kernel/cobalt/init.c b/kernel/cobalt/init.c
index cc77b37..0eab3be 100644
--- a/kernel/cobalt/init.c
+++ b/kernel/cobalt/init.c
@@ -104,23 +104,23 @@ EXPORT_SYMBOL_GPL(cobalt_kernel_ppd);
"[STOPPED]" : ""; \
})
-void cobalt_add_notifier_chain(struct notifier_block *nb)
+void cobalt_add_state_chain(struct notifier_block *nb)
{
blocking_notifier_chain_register(&state_notifier_list, nb);
}
-EXPORT_SYMBOL_GPL(cobalt_add_notifier_chain);
+EXPORT_SYMBOL_GPL(cobalt_add_state_chain);
-void cobalt_remove_notifier_chain(struct notifier_block *nb)
+void cobalt_remove_state_chain(struct notifier_block *nb)
{
blocking_notifier_chain_unregister(&state_notifier_list, nb);
}
-EXPORT_SYMBOL_GPL(cobalt_remove_notifier_chain);
+EXPORT_SYMBOL_GPL(cobalt_remove_state_chain);
-void cobalt_call_notifier_chain(enum cobalt_run_states newstate)
+void cobalt_call_state_chain(enum cobalt_run_states newstate)
{
blocking_notifier_call_chain(&state_notifier_list, newstate, NULL);
}
-EXPORT_SYMBOL_GPL(cobalt_call_notifier_chain);
+EXPORT_SYMBOL_GPL(cobalt_call_state_chain);
static void sys_shutdown(void)
{
diff --git a/kernel/cobalt/posix/corectl.c b/kernel/cobalt/posix/corectl.c
index f5af386..de8fa5b 100644
--- a/kernel/cobalt/posix/corectl.c
+++ b/kernel/cobalt/posix/corectl.c
@@ -27,11 +27,14 @@
#include <asm/xenomai/syscall.h>
#include "corectl.h"
-static int get_conf_option(int option, void __user *u_buf, size_t u_bufsz)
+static BLOCKING_NOTIFIER_HEAD(config_notifier_list);
+
+static int do_conf_option(int option, void __user *u_buf, size_t u_bufsz)
{
+ struct cobalt_config_vector vec;
int ret, val = 0;
- if (u_bufsz < sizeof(val))
+ if (option <= _CC_COBALT_GET_CORE_STATUS && u_bufsz < sizeof(val))
return -EINVAL;
switch (option) {
@@ -86,7 +89,16 @@ static int get_conf_option(int option, void __user *u_buf,
size_t u_bufsz)
val = realtime_core_state();
break;
default:
- return -EINVAL;
+ if (!ipipe_root_p)
+ /* Switch to secondary mode first. */
+ return -ENOSYS;
+ vec.u_buf = u_buf;
+ vec.u_bufsz = u_bufsz;
+ ret = blocking_notifier_call_chain(&config_notifier_list,
+ option, &vec);
+ if (ret == NOTIFY_DONE)
+ return -EINVAL; /* Nobody cared. */
+ return notifier_to_errno(ret);
}
ret = cobalt_copy_to_user(u_buf, &val, sizeof(val));
@@ -129,7 +141,7 @@ static int stop_services(const void __user *u_buf, size_t
u_bufsz)
set_realtime_core_state(state);
return ret;
}
- cobalt_call_notifier_chain(COBALT_STATE_TEARDOWN);
+ cobalt_call_state_chain(COBALT_STATE_TEARDOWN);
/* Kill lingering RTDM tasks. */
ret = xnthread_killall(final_grace_period, 0);
if (ret == -EAGAIN)
@@ -158,7 +170,7 @@ static int start_services(void)
break;
case COBALT_STATE_STOPPED:
xntimer_grab_hardware();
- cobalt_call_notifier_chain(COBALT_STATE_WARMUP);
+ cobalt_call_state_chain(COBALT_STATE_WARMUP);
set_realtime_core_state(COBALT_STATE_RUNNING);
printk(XENO_INFO "services started\n");
break;
@@ -182,8 +194,20 @@ COBALT_SYSCALL(corectl, probing,
ret = start_services();
break;
default:
- ret = get_conf_option(request, u_buf, u_bufsz);
+ ret = do_conf_option(request, u_buf, u_bufsz);
}
return ret;
}
+
+void cobalt_add_config_chain(struct notifier_block *nb)
+{
+ blocking_notifier_chain_register(&config_notifier_list, nb);
+}
+EXPORT_SYMBOL_GPL(cobalt_add_config_chain);
+
+void cobalt_remove_config_chain(struct notifier_block *nb)
+{
+ blocking_notifier_chain_unregister(&config_notifier_list, nb);
+}
+EXPORT_SYMBOL_GPL(cobalt_remove_config_chain);
diff --git a/kernel/cobalt/posix/corectl.h b/kernel/cobalt/posix/corectl.h
index 79f46ae..b9bcf3b 100644
--- a/kernel/cobalt/posix/corectl.h
+++ b/kernel/cobalt/posix/corectl.h
@@ -18,10 +18,21 @@
#ifndef _COBALT_POSIX_CORECTL_H
#define _COBALT_POSIX_CORECTL_H
+#include <linux/types.h>
+#include <linux/notifier.h>
#include <xenomai/posix/syscall.h>
#include <cobalt/uapi/corectl.h>
+struct cobalt_config_vector {
+ void __user *u_buf;
+ size_t u_bufsz;
+};
+
COBALT_SYSCALL_DECL(corectl,
(int request, void __user *u_buf, size_t u_bufsz));
+void cobalt_add_config_chain(struct notifier_block *nb);
+
+void cobalt_remove_config_chain(struct notifier_block *nb);
+
#endif /* !_COBALT_POSIX_CORECTL_H */
diff --git a/kernel/cobalt/rtdm/device.c b/kernel/cobalt/rtdm/device.c
index 0fdfa2d..9c5aeb1 100644
--- a/kernel/cobalt/rtdm/device.c
+++ b/kernel/cobalt/rtdm/device.c
@@ -309,7 +309,7 @@ static int register_driver(struct rtdm_driver *drv)
done:
drv->nb_statechange.notifier_call = state_change_notifier;
drv->nb_statechange.priority = 0;
- cobalt_add_notifier_chain(&drv->nb_statechange);
+ cobalt_add_state_chain(&drv->nb_statechange);
drv->profile_info.magic = RTDM_CLASS_MAGIC;
return 0;
@@ -324,7 +324,7 @@ static void unregister_driver(struct rtdm_driver *drv)
{
XENO_BUG_ON(COBALT, drv->profile_info.magic != RTDM_CLASS_MAGIC);
- cobalt_remove_notifier_chain(&drv->nb_statechange);
+ cobalt_remove_state_chain(&drv->nb_statechange);
if (drv->device_flags & RTDM_NAMED_DEVICE) {
cdev_del(&drv->named.cdev);
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