Module: xenomai-3
Branch: stable-3.0.x
Commit: d6d8047ecd093bd827026678b3c7619b08dd7dd2
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d6d8047ecd093bd827026678b3c7619b08dd7dd2
Author: Philippe Gerum <r...@xenomai.org>
Date: Tue Mar 21 15:20:29 2017 +0100
boilerplate/setup: allow DSO bootstrap modules to coexist with main one
Gluing a PIC bootstrap module to a DSO is a common way to start the
Xenomai services before constructors of static C++ objects
instantiated by the DSO and which depend on such services, are
invoked.
With such module present in the DSO, a Cobalt-based application
process would attach itself to the Cobalt core via the bootstrapping
sequence, enabling the real-time services for the whole process,
including the static C++ constructors which may be invoked when
attaching the shared object.
e.g. in libfoo.so:
class FOO {
protected:
sem_t sem;
public:
static FOO bar;
};
...
FOO FOO::bar;
FOO::FOO()
{
// Initialize a Cobalt semaphore
sem_init(&sem, 0, 0);
}
However, adding a bootstrap module to a DSO currently prevents from
merging a second bootstrap module aimed at kickstarting the main
program's setup code and early inits, due to conflicting symbols and
the restriction on invoking xenomai_init() only once for any given
process.
The changes introduce a DSO-specific initialization service
(xenomai_init_dso()), which may be called from the context of the
dynamic linker attaching a shared object to the current
executable. The DSO-specific bootstrap module - if present - will call
xenomai_init_dso(), there is no restriction on the number of DSOs
calling this service.
The non-DSO bootstrap module invokes xenomai_init() as previously, for
kickstarting the main program's early inits.
---
include/boilerplate/setup.h | 1 +
include/xenomai/init.h | 2 +
lib/boilerplate/init/Makefile.am | 2 +-
lib/boilerplate/init/bootstrap.c | 28 +++++++---
lib/boilerplate/setup.c | 104 ++++++++++++++++++++++++--------------
5 files changed, 91 insertions(+), 46 deletions(-)
diff --git a/include/boilerplate/setup.h b/include/boilerplate/setup.h
index 374758b..7df3cfe 100644
--- a/include/boilerplate/setup.h
+++ b/include/boilerplate/setup.h
@@ -46,6 +46,7 @@ struct setup_descriptor {
int opt_start;
int opt_end;
struct pvholder next;
+ int done;
} __reserved;
};
diff --git a/include/xenomai/init.h b/include/xenomai/init.h
index 9adc90d..598bf53 100644
--- a/include/xenomai/init.h
+++ b/include/xenomai/init.h
@@ -27,6 +27,8 @@ extern "C" {
void xenomai_init(int *argcp, char *const **argvp);
+void xenomai_init_dso(int *argcp, char *const **argvp);
+
int xenomai_main(int argc, char *const argv[]);
void xenomai_usage(void);
diff --git a/lib/boilerplate/init/Makefile.am b/lib/boilerplate/init/Makefile.am
index 702c900..b78dd61 100644
--- a/lib/boilerplate/init/Makefile.am
+++ b/lib/boilerplate/init/Makefile.am
@@ -3,7 +3,6 @@ noinst_LIBRARIES = libbootstrap.a
libbootstrap_a_SOURCES = bootstrap.c
libbootstrap_a_CPPFLAGS = \
- -D__INTERCEPT_MAIN__ \
@XENO_USER_CFLAGS@ \
-I$(top_srcdir)/include \
-I$(top_srcdir)/lib
@@ -13,6 +12,7 @@ noinst_LTLIBRARIES = libbootstrap-pic.la
libbootstrap_pic_la_SOURCES = bootstrap.c
libbootstrap_pic_la_CPPFLAGS = \
+ -D__BOOTSTRAP_DSO__ \
@XENO_USER_CFLAGS@ \
-I$(top_srcdir)/include \
-I$(top_srcdir)/lib
diff --git a/lib/boilerplate/init/bootstrap.c b/lib/boilerplate/init/bootstrap.c
index 54d1c46..e72a7b8 100644
--- a/lib/boilerplate/init/bootstrap.c
+++ b/lib/boilerplate/init/bootstrap.c
@@ -26,8 +26,6 @@ static int early_argc;
static char *const *early_argv;
-const int xenomai_auto_bootstrap = 1;
-
/*
* The bootstrap module object is built in two forms:
*
@@ -41,11 +39,22 @@ const int xenomai_auto_bootstrap = 1;
* any wrapper to a main() routine - which does not exist - but only
* a constructor routine performing the inits.
*
- * The dedicated macro __INTERCEPT_MAIN__ tells us whether the main()
- * interception code should be present in the relocatable object.
+ * The macro __BOOTSTRAP_DSO__ tells us whether we are building the
+ * bootstrap module to be glued into a dynamic shared object. If not,
+ * the main() interception code should be present in the relocatable
+ * object.
*/
-#ifdef __INTERCEPT_MAIN__
+#ifdef __BOOTSTRAP_DSO__
+
+static inline void call_init(int *argcp, char *const **argvp)
+{
+ xenomai_init_dso(argcp, argvp);
+}
+
+#else
+
+const int xenomai_auto_bootstrap = 1;
int __real_main(int argc, char *const argv[]);
@@ -62,7 +71,12 @@ int xenomai_main(int argc, char *const argv[])
return __real_main(argc, argv);
}
-#endif /* !__INTERCEPT_MAIN__ */
+static inline void call_init(int *argcp, char *const **argvp)
+{
+ xenomai_init(argcp, argvp);
+}
+
+#endif /* !__BOOTSTRAP_DSO__ */
__bootstrap_ctor static void xenomai_bootstrap(void)
{
@@ -123,7 +137,7 @@ __bootstrap_ctor static void xenomai_bootstrap(void)
argv = v;
argc = n;
- xenomai_init(&argc, &argv);
+ call_init(&argc, &argv);
early_argc = argc;
early_argv = argv;
}
diff --git a/lib/boilerplate/setup.c b/lib/boilerplate/setup.c
index f1760e6..1992826 100644
--- a/lib/boilerplate/setup.c
+++ b/lib/boilerplate/setup.c
@@ -48,7 +48,7 @@ int __config_done = 0;
const int __weak xenomai_auto_bootstrap = 0;
-static int init_done;
+static int base_init_done;
static DEFINE_PRIVATE_LIST(setup_list);
@@ -331,26 +331,13 @@ void xenomai_usage(void)
fprintf(stderr, "--help display
help\n");
}
-static int parse_base_options(int *argcp, char *const **argvp,
- int *largcp, char ***uargvp,
+static int parse_base_options(int *argcp, int *largcp, char **uargv,
const struct option *options,
int base_opt_start)
{
int c, lindex, ret, n;
- char **uargv;
-
- /*
- * Prepare a user argument vector we can modify, copying the
- * one we have been given by the application code in
- * xenomai_init(). This vector will be expunged from Xenomai
- * proper options as we discover them.
- */
- uargv = prep_args(*argcp, *argvp, largcp);
- if (uargv == NULL)
- return -ENOMEM;
__base_setup_data.arg0 = uargv[0];
- *uargvp = uargv;
opterr = 0;
/*
@@ -446,7 +433,8 @@ static int parse_setup_options(int *argcp, int largc, char
**uargv,
if (lindex == -1)
continue; /* Not handled here. */
pvlist_for_each_entry(setup, &setup_list, __reserved.next) {
- if (setup->parse_option == NULL)
+ if (setup->__reserved.done ||
+ setup->parse_option == NULL)
continue;
if (lindex < setup->__reserved.opt_start ||
lindex >= setup->__reserved.opt_end)
@@ -472,18 +460,38 @@ static int parse_setup_options(int *argcp, int largc,
char **uargv,
return 0;
}
-void xenomai_init(int *argcp, char *const **argvp)
+static void __xenomai_init(int *argcp, char *const **argvp, const char *me)
{
int ret, largc, base_opt_start;
struct setup_descriptor *setup;
struct option *options;
- char **uargv = NULL;
struct service svc;
+ char **uargv;
- if (init_done) {
- early_warning("duplicate call to %s() ignored", __func__);
- early_warning("(xeno-config --no-auto-init disables implicit
call)");
- return;
+ /*
+ * Build the global option array, merging all option sets.
+ */
+ options = build_option_array(&base_opt_start);
+ if (options == NULL) {
+ ret = -ENOMEM;
+ goto fail;
+ }
+
+ /*
+ * Prepare a user argument vector we can modify, copying the
+ * one we have been given by the bootstrap module. This vector
+ * will be expunged from Xenomai's base options as we discover
+ * them.
+ */
+ uargv = prep_args(*argcp, *argvp, &largc);
+ if (uargv == NULL) {
+ ret = -ENOMEM;
+ goto fail;
+ }
+
+ if (base_init_done) {
+ trace_me("warm init from %s", me);
+ goto setup;
}
/* Our node id. is the tid of the main thread. */
@@ -496,25 +504,16 @@ void xenomai_init(int *argcp, char *const **argvp)
CPU_ZERO(&__base_setup_data.cpu_affinity);
/*
- * Build the global option array, merging all option sets.
- */
- options = build_option_array(&base_opt_start);
- if (options == NULL) {
- ret = -ENOMEM;
- goto fail;
- }
-
- /*
* Parse the base options first, to bootstrap the core with
* the right config values.
*/
- ret = parse_base_options(argcp, argvp, &largc, &uargv,
+ ret = parse_base_options(argcp, &largc, uargv,
options, base_opt_start);
if (ret)
goto fail;
- trace_me("%s() running", __func__);
-
+ trace_me("cold init from %s", me);
+
#ifndef CONFIG_SMP
if (__base_setup_data.no_sanity == 0) {
ret = get_static_cpu_count();
@@ -541,12 +540,13 @@ void xenomai_init(int *argcp, char *const **argvp)
* setup handlers for tuning the configuration, then parsing
* their own options, and eventually doing the init chores.
*/
+setup:
if (!pvlist_empty(&setup_list)) {
CANCEL_DEFER(svc);
pvlist_for_each_entry(setup, &setup_list, __reserved.next) {
- if (setup->tune) {
+ if (!setup->__reserved.done && setup->tune) {
trace_me("%s->tune()", setup->name);
ret = setup->tune();
if (ret)
@@ -565,11 +565,14 @@ void xenomai_init(int *argcp, char *const **argvp)
__config_done = 1;
pvlist_for_each_entry(setup, &setup_list, __reserved.next) {
+ if (setup->__reserved.done)
+ continue;
if (setup->init) {
trace_me("%s->init()", setup->name);
ret = setup->init();
if (ret)
break;
+ setup->__reserved.done = 1;
}
}
@@ -604,14 +607,35 @@ void xenomai_init(int *argcp, char *const **argvp)
* bail out.
*/
*argvp = uargv;
- init_done = 1;
- trace_me("initialization complete");
+ base_init_done = 1;
return;
fail:
early_panic("initialization failed, %s", symerror(ret));
}
+void xenomai_init(int *argcp, char *const **argvp)
+{
+ const char *me = get_program_name();
+ static int init_done;
+
+ if (init_done) {
+ early_warning("duplicate call from main program "
+ "to %s() ignored", __func__);
+ early_warning("(xeno-config --no-auto-init disables implicit
call)");
+ }
+
+ __xenomai_init(argcp, argvp, me);
+ init_done = 1;
+ trace_me("%s bootstrap done", me);
+}
+
+void xenomai_init_dso(int *argcp, char *const **argvp)
+{
+ __xenomai_init(argcp, argvp, "DSO");
+ trace_me("DSO bootstrap done");
+}
+
void __trace_me(const char *fmt, ...)
{
va_list ap;
@@ -631,9 +655,13 @@ void __register_setup_call(struct setup_descriptor *p, int
id)
/*
* Trap late registration due to wrong constructor priorities.
*/
- assert(!init_done);
+ assert(!base_init_done);
p->__reserved.id = id;
+ p->__reserved.done = 0;
+ /*
+ * Insert the new descriptor (highest id first).
+ */
if (!pvlist_empty(&setup_list)) {
pvlist_for_each_entry_reverse(pos, &setup_list,
__reserved.next) {
if (id >= pos->__reserved.id) {
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