Module: xenomai-head
Branch: master
Commit: 7a39eff4ed5f9e4aa8acb111328b1343511e41ae
URL:
http://git.xenomai.org/?p=xenomai-head.git;a=commit;h=7a39eff4ed5f9e4aa8acb111328b1343511e41ae
Author: Gilles Chanteperdrix <gilles.chanteperd...@xenomai.org>
Date: Sun Aug 1 19:02:08 2010 +0200
native: add cancellation points
---
src/skins/native/cond.c | 81 +++++++++++++++++++++++++++++++++++++++-------
src/skins/native/intr.c | 11 ++++++-
src/skins/native/queue.c | 60 ++++++++++++++++++++++++++++++---
src/skins/native/sem.c | 22 +++++++++++-
src/skins/native/task.c | 46 ++++++++++++++++++++++----
5 files changed, 192 insertions(+), 28 deletions(-)
diff --git a/src/skins/native/cond.c b/src/skins/native/cond.c
index f874678..cf7a639 100644
--- a/src/skins/native/cond.c
+++ b/src/skins/native/cond.c
@@ -16,6 +16,8 @@
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
+#include <pthread.h>
+
#include <native/syscall.h>
#include <native/mutex.h>
#include <native/cond.h>
@@ -39,12 +41,40 @@ int rt_cond_delete(RT_COND *cond)
return XENOMAI_SKINCALL1(__native_muxid, __native_cond_delete, cond);
}
+struct rt_cond_cleanup_t {
+ RT_MUTEX *mutex;
+ unsigned saved_lockcnt;
+};
+
+static void __rt_cond_cleanup(void *data)
+{
+ struct rt_cond_cleanup_t *c = (struct rt_cond_cleanup_t *)data;
+ int err;
+
+ do {
+ err = XENOMAI_SKINCALL2(__native_muxid,
+ __native_cond_wait_epilogue, c->mutex,
+ c->saved_lockcnt);
+ } while (err == EINTR);
+
+#ifdef CONFIG_XENO_FASTSYNCH
+ c->mutex->lockcnt = c->saved_lockcnt;
+#endif /* CONFIG_XENO_FASTSYNCH */
+}
+
int rt_cond_wait(RT_COND *cond, RT_MUTEX *mutex, RTIME timeout)
{
- int saved_lockcnt, err;
+ struct rt_cond_cleanup_t c = {
+ .mutex = mutex,
+ };
+ int err, oldtype;
+
+ pthread_cleanup_push(&__rt_cond_cleanup, &c);
+
+ pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
#ifdef CONFIG_XENO_FASTSYNCH
- saved_lockcnt = mutex->lockcnt;
+ c.saved_lockcnt = mutex->lockcnt;
err = XENOMAI_SKINCALL5(__native_muxid,
__native_cond_wait_prologue, cond, mutex,
@@ -53,54 +83,81 @@ int rt_cond_wait(RT_COND *cond, RT_MUTEX *mutex, RTIME
timeout)
while (err == -EINTR)
err = XENOMAI_SKINCALL2(__native_muxid,
__native_cond_wait_epilogue, mutex,
- saved_lockcnt);
+ c.saved_lockcnt);
+
+ pthread_setcanceltype(oldtype, NULL);
- mutex->lockcnt = saved_lockcnt;
+ pthread_cleanup_pop(0);
+
+ mutex->lockcnt = c.saved_lockcnt;
#else /* !CONFIG_XENO_FASTSYNCH */
err = XENOMAI_SKINCALL5(__native_muxid,
__native_cond_wait_prologue, cond, mutex,
- &saved_lockcnt, XN_RELATIVE, &timeout);
+ &c.saved_lockcnt, XN_RELATIVE, &timeout);
+
+ pthread_setcanceltype(oldtype, NULL);
+
+ pthread_cleanup_pop(0);
while (err == -EINTR)
err = XENOMAI_SKINCALL2(__native_muxid,
__native_cond_wait_epilogue, mutex,
- saved_lockcnt);
+ c.saved_lockcnt);
#endif /* !CONFIG_XENO_FASTSYNCH */
+ pthread_testcancel();
+
return err;
}
int rt_cond_wait_until(RT_COND *cond, RT_MUTEX *mutex, RTIME timeout)
{
- int saved_lockcnt, err;
+ struct rt_cond_cleanup_t c = {
+ .mutex = mutex,
+ };
+ int err, oldtype;
+
+ pthread_cleanup_push(&__rt_cond_cleanup, &c);
+
+ pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
#ifdef CONFIG_XENO_FASTSYNCH
- saved_lockcnt = mutex->lockcnt;
+ c.saved_lockcnt = mutex->lockcnt;
err = XENOMAI_SKINCALL5(__native_muxid,
__native_cond_wait_prologue, cond, mutex,
NULL, XN_REALTIME, &timeout);
+ pthread_setcanceltype(oldtype, NULL);
+
+ pthread_cleanup_pop(0);
+
while (err == -EINTR)
err = XENOMAI_SKINCALL2(__native_muxid,
__native_cond_wait_epilogue, mutex,
- saved_lockcnt);
+ c.saved_lockcnt);
- mutex->lockcnt = saved_lockcnt;
+ mutex->lockcnt = c.saved_lockcnt;
#else /* !CONFIG_XENO_FASTSYNCH */
err = XENOMAI_SKINCALL5(__native_muxid,
__native_cond_wait_prologue, cond, mutex,
- &saved_lockcnt, XN_REALTIME, &timeout);
+ &c.saved_lockcnt, XN_REALTIME, &timeout);
+
+ pthread_setcanceltype(oldtype, NULL);
+
+ pthread_cleanup_pop(0);
while (err == -EINTR)
err = XENOMAI_SKINCALL2(__native_muxid,
__native_cond_wait_epilogue, mutex,
- saved_lockcnt);
+ c.saved_lockcnt);
#endif /* !CONFIG_XENO_FASTSYNCH */
+ pthread_testcancel();
+
return err;
}
diff --git a/src/skins/native/intr.c b/src/skins/native/intr.c
index 8dd6db8..e425706 100644
--- a/src/skins/native/intr.c
+++ b/src/skins/native/intr.c
@@ -18,6 +18,7 @@
#include <sys/types.h>
#include <stdio.h>
+#include <pthread.h>
#include <native/syscall.h>
#include <native/intr.h>
@@ -42,8 +43,16 @@ int rt_intr_delete(RT_INTR *intr)
int rt_intr_wait(RT_INTR *intr, RTIME timeout)
{
- return XENOMAI_SKINCALL2(__native_muxid,
+ int err, oldtype;
+
+ pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
+
+ err = XENOMAI_SKINCALL2(__native_muxid,
__native_intr_wait, intr, &timeout);
+
+ pthread_setcanceltype(oldtype, NULL);
+
+ return err;
}
int rt_intr_enable(RT_INTR *intr)
diff --git a/src/skins/native/queue.c b/src/skins/native/queue.c
index d104bd0..dd8cf70 100644
--- a/src/skins/native/queue.c
+++ b/src/skins/native/queue.c
@@ -124,42 +124,90 @@ int rt_queue_free(RT_QUEUE *q, void *buf)
int rt_queue_send(RT_QUEUE *q, void *buf, size_t size, int mode)
{
- return XENOMAI_SKINCALL4(__native_muxid,
+ int err, oldtype;
+
+ pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
+
+ err = XENOMAI_SKINCALL4(__native_muxid,
__native_queue_send, q, buf, size, mode);
+
+ pthread_setcanceltype(oldtype, NULL);
+
+ return err;
}
int rt_queue_write(RT_QUEUE *q, const void *buf, size_t size, int mode)
{
- return XENOMAI_SKINCALL4(__native_muxid,
+ int err, oldtype;
+
+ pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
+
+ err = XENOMAI_SKINCALL4(__native_muxid,
__native_queue_write, q, buf, size, mode);
+
+ pthread_setcanceltype(oldtype, NULL);
+
+ return err;
}
ssize_t rt_queue_receive(RT_QUEUE *q, void **bufp, RTIME timeout)
{
- return XENOMAI_SKINCALL4(__native_muxid,
+ int err, oldtype;
+
+ pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
+
+ err = XENOMAI_SKINCALL4(__native_muxid,
__native_queue_receive, q, bufp,
XN_RELATIVE, &timeout);
+
+ pthread_setcanceltype(oldtype, NULL);
+
+ return err;
}
ssize_t rt_queue_receive_until(RT_QUEUE *q, void **bufp, RTIME timeout)
{
- return XENOMAI_SKINCALL4(__native_muxid,
+ int err, oldtype;
+
+ pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
+
+ err = XENOMAI_SKINCALL4(__native_muxid,
__native_queue_receive, q, bufp,
XN_REALTIME, &timeout);
+
+ pthread_setcanceltype(oldtype, NULL);
+
+ return err;
}
ssize_t rt_queue_read(RT_QUEUE *q, void *buf, size_t size, RTIME timeout)
{
- return XENOMAI_SKINCALL5(__native_muxid,
+ int err, oldtype;
+
+ pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
+
+ err = XENOMAI_SKINCALL5(__native_muxid,
__native_queue_read, q, buf, size,
XN_RELATIVE, &timeout);
+
+ pthread_setcanceltype(oldtype, NULL);
+
+ return err;
}
ssize_t rt_queue_read_until(RT_QUEUE *q, void *buf, size_t size, RTIME timeout)
{
- return XENOMAI_SKINCALL5(__native_muxid,
+ int err, oldtype;
+
+ pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
+
+ err = XENOMAI_SKINCALL5(__native_muxid,
__native_queue_read, q, buf, size,
XN_REALTIME, &timeout);
+
+ pthread_setcanceltype(oldtype, NULL);
+
+ return err;
}
int rt_queue_inquire(RT_QUEUE *q, RT_QUEUE_INFO *info)
diff --git a/src/skins/native/sem.c b/src/skins/native/sem.c
index 3b6ca70..8863e2c 100644
--- a/src/skins/native/sem.c
+++ b/src/skins/native/sem.c
@@ -16,6 +16,8 @@
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
+#include <pthread.h>
+
#include <native/syscall.h>
#include <native/sem.h>
@@ -40,14 +42,30 @@ int rt_sem_delete(RT_SEM *sem)
int rt_sem_p(RT_SEM *sem, RTIME timeout)
{
- return XENOMAI_SKINCALL3(__native_muxid,
+ int err, oldtype;
+
+ pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
+
+ err = XENOMAI_SKINCALL3(__native_muxid,
__native_sem_p, sem, XN_RELATIVE, &timeout);
+
+ pthread_setcanceltype(oldtype, NULL);
+
+ return err;
}
int rt_sem_p_until(RT_SEM *sem, RTIME timeout)
{
- return XENOMAI_SKINCALL3(__native_muxid,
+ int err, oldtype;
+
+ pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
+
+ err = XENOMAI_SKINCALL3(__native_muxid,
__native_sem_p, sem, XN_REALTIME, &timeout);
+
+ pthread_setcanceltype(oldtype, NULL);
+
+ return err;
}
int rt_sem_v(RT_SEM *sem)
diff --git a/src/skins/native/task.c b/src/skins/native/task.c
index d975508..be4ea2c 100644
--- a/src/skins/native/task.c
+++ b/src/skins/native/task.c
@@ -24,6 +24,7 @@
#include <pthread.h>
#include <signal.h>
#include <limits.h>
+#include <pthread.h>
#include <native/syscall.h>
#include <native/task.h>
#include <asm-generic/bits/sigshadow.h>
@@ -191,7 +192,7 @@ int rt_task_shadow(RT_TASK *task, const char *name, int
prio, int mode)
if (pthread_getspecific(__native_tskey))
/* Current task is already a native taks. */
return -EBUSY;
-
+
self = malloc(sizeof(*self));
if (!self)
return -ENOMEM;
@@ -292,8 +293,16 @@ int rt_task_set_periodic(RT_TASK *task, RTIME idate, RTIME
period)
int rt_task_wait_period(unsigned long *overruns_r)
{
- return XENOMAI_SKINCALL1(__native_muxid,
+ int err, oldtype;
+
+ pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
+
+ err = XENOMAI_SKINCALL1(__native_muxid,
__native_task_wait_period, overruns_r);
+
+ pthread_setcanceltype(oldtype, NULL);
+
+ return err;
}
int rt_task_set_priority(RT_TASK *task, int prio)
@@ -304,15 +313,29 @@ int rt_task_set_priority(RT_TASK *task, int prio)
int rt_task_sleep(RTIME delay)
{
- return XENOMAI_SKINCALL1(__native_muxid, __native_task_sleep, &delay);
+ int err, oldtype;
+
+ pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
+
+ err = XENOMAI_SKINCALL1(__native_muxid, __native_task_sleep, &delay);
+
+ pthread_setcanceltype(oldtype, NULL);
+ return err;
}
int rt_task_sleep_until(RTIME date)
{
- return XENOMAI_SKINCALL1(__native_muxid, __native_task_sleep_until,
+ int err, oldtype;
+
+ pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
+
+ err = XENOMAI_SKINCALL1(__native_muxid, __native_task_sleep_until,
&date);
+ pthread_setcanceltype(oldtype, NULL);
+
+ return err;
}
int rt_task_unblock(RT_TASK *task)
@@ -376,9 +399,18 @@ int rt_task_join(RT_TASK *task)
ssize_t rt_task_send(RT_TASK *task,
RT_TASK_MCB *mcb_s, RT_TASK_MCB *mcb_r, RTIME timeout)
{
- return (ssize_t) XENOMAI_SKINCALL4(__native_muxid,
- __native_task_send,
- task, mcb_s, mcb_r, &timeout);
+ int oldtype;
+ ssize_t ret;
+
+ pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, &oldtype);
+
+ ret = (ssize_t)XENOMAI_SKINCALL4(__native_muxid,
+ __native_task_send,
+ task, mcb_s, mcb_r, &timeout);
+
+ pthread_setcanceltype(oldtype, NULL);
+
+ return ret;
}
int rt_task_receive(RT_TASK_MCB *mcb_r, RTIME timeout)
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