------------------------------------------------------------------------------ -- -- -- GNAT RUN-TIME LIBRARY (GNARL) COMPONENTS -- -- -- -- S Y S T E M . O S _ I N T E R F A C E -- -- -- -- S p e c -- -- -- -- Copyright (C) 1991-1994, Florida State University -- -- Copyright (C) 1995-2011, Free Software Foundation, Inc. -- -- -- -- GNARL is free software; you can redistribute it and/or modify it under -- -- terms of the GNU General Public License as published by the Free Soft- -- -- ware Foundation; either version 3, or (at your option) any later ver- -- -- sion. GNARL is distributed in the hope that it will be useful, but WITH- -- -- OUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY -- -- or FITNESS FOR A PARTICULAR PURPOSE. -- -- -- -- As a special exception under Section 7 of GPL version 3, you are granted -- -- additional permissions described in the GCC Runtime Library Exception, -- -- version 3.1, as published by the Free Software Foundation. -- -- -- -- You should have received a copy of the GNU General Public License and -- -- a copy of the GCC Runtime Library Exception along with this program; -- -- see the files COPYING3 and COPYING.RUNTIME respectively. If not, see -- -- . -- -- -- -- GNARL was developed by the GNARL team at Florida State University. -- -- Extensive contributions were provided by Ada Core Technologies, Inc. -- -- -- ------------------------------------------------------------------------------ -- This is the VxWorks version of this package -- This package encapsulates all direct interfaces to OS services -- that are needed by the tasking run-time (libgnarl). -- PLEASE DO NOT add any with-clauses to this package or remove the pragma -- Preelaborate. This package is designed to be a bottom-level (leaf) package. with Interfaces.C; with System.VxWorks; with System.VxWorks.Ext; with System.Multiprocessors; package System.OS_Interface is pragma Preelaborate; subtype int is Interfaces.C.int; subtype unsigned is Interfaces.C.unsigned; subtype short is Short_Integer; type unsigned_int is mod 2 ** int'Size; type long is new Long_Integer; type unsigned_long is mod 2 ** long'Size; type long_long is new Long_Long_Integer; type unsigned_long_long is mod 2 ** long_long'Size; type size_t is mod 2 ** Standard'Address_Size; ----------- -- Errno -- ----------- function errno return int; pragma Import (C, errno, "errnoGet"); EINTR : constant := 4; EAGAIN : constant := 35; ENOMEM : constant := 12; EINVAL : constant := 22; ETIMEDOUT : constant := 60; FUNC_ERR : constant := -1; ---------------------------- -- Signals and interrupts -- ---------------------------- NSIG : constant := 64; -- Number of signals on the target OS type Signal is new int range 0 .. Interfaces.C."-" (NSIG, 1); Max_HW_Interrupt : constant := System.VxWorks.Num_HW_Interrupts - 1; type HW_Interrupt is new int range 0 .. Max_HW_Interrupt; Max_Interrupt : constant := Max_HW_Interrupt; -- Signals common to Vxworks 5.x and 6.x SIGILL : constant := 4; -- illegal instruction (not reset when caught) SIGABRT : constant := 6; -- used by abort, replace SIGIOT in the future SIGFPE : constant := 8; -- floating point exception SIGBUS : constant := 10; -- bus error SIGSEGV : constant := 11; -- segmentation violation -- Signals specific to VxWorks 6.x SIGHUP : constant := 1; -- hangup SIGINT : constant := 2; -- interrupt SIGQUIT : constant := 3; -- quit SIGTRAP : constant := 5; -- trace trap (not reset when caught) SIGEMT : constant := 7; -- EMT instruction SIGKILL : constant := 9; -- kill SIGFMT : constant := 12; -- STACK FORMAT ERROR (not posix) SIGPIPE : constant := 13; -- write on a pipe with no one to read it SIGALRM : constant := 14; -- alarm clock SIGTERM : constant := 15; -- software termination signal from kill SIGCNCL : constant := 16; -- pthreads cancellation signal SIGSTOP : constant := 17; -- sendable stop signal not from tty SIGTSTP : constant := 18; -- stop signal from tty SIGCONT : constant := 19; -- continue a stopped process SIGCHLD : constant := 20; -- to parent on child stop or exit SIGTTIN : constant := 21; -- to readers pgrp upon background tty read SIGTTOU : constant := 22; -- like TTIN for output SIGRES1 : constant := 23; -- reserved signal number (Not POSIX) SIGRES2 : constant := 24; -- reserved signal number (Not POSIX) SIGRES3 : constant := 25; -- reserved signal number (Not POSIX) SIGRES4 : constant := 26; -- reserved signal number (Not POSIX) SIGRES5 : constant := 27; -- reserved signal number (Not POSIX) SIGRES6 : constant := 28; -- reserved signal number (Not POSIX) SIGRES7 : constant := 29; -- reserved signal number (Not POSIX) SIGUSR1 : constant := 30; -- user defined signal 1 SIGUSR2 : constant := 31; -- user defined signal 2 SIGPOLL : constant := 32; -- pollable event SIGPROF : constant := 33; -- profiling timer expired SIGSYS : constant := 34; -- bad system call SIGURG : constant := 35; -- high bandwidth data is available at socket SIGVTALRM : constant := 36; -- virtual timer expired SIGXCPU : constant := 37; -- CPU time limit exceeded SIGXFSZ : constant := 38; -- file size time limit exceeded SIGEVTS : constant := 39; -- signal event thread send SIGEVTD : constant := 40; -- signal event thread delete SIGRTMIN : constant := 48; -- Realtime signal min SIGRTMAX : constant := 63; -- Realtime signal max ----------------------------------- -- Signal processing definitions -- ----------------------------------- -- The how in sigprocmask() SIG_BLOCK : constant := 1; SIG_UNBLOCK : constant := 2; SIG_SETMASK : constant := 3; -- The sa_flags in struct sigaction SA_SIGINFO : constant := 16#0002#; SA_ONSTACK : constant := 16#0004#; SIG_DFL : constant := 0; SIG_IGN : constant := 1; type sigset_t is private; type struct_sigaction is record sa_handler : System.Address; sa_mask : sigset_t; sa_flags : int; end record; pragma Convention (C, struct_sigaction); type struct_sigaction_ptr is access all struct_sigaction; function sigaddset (set : access sigset_t; sig : Signal) return int; pragma Import (C, sigaddset, "sigaddset"); function sigdelset (set : access sigset_t; sig : Signal) return int; pragma Import (C, sigdelset, "sigdelset"); function sigfillset (set : access sigset_t) return int; pragma Import (C, sigfillset, "sigfillset"); function sigismember (set : access sigset_t; sig : Signal) return int; pragma Import (C, sigismember, "sigismember"); function sigemptyset (set : access sigset_t) return int; pragma Import (C, sigemptyset, "sigemptyset"); function sigaction (sig : Signal; act : struct_sigaction_ptr; oact : struct_sigaction_ptr) return int; pragma Import (C, sigaction, "sigaction"); type isr_address is access procedure (sig : int); pragma Convention (C, isr_address); function c_signal (sig : Signal; handler : isr_address) return isr_address; pragma Import (C, c_signal, "signal"); function sigwait (set : access sigset_t; sig : access Signal) return int; pragma Inline (sigwait); function pthread_sigmask (how : int; set : access sigset_t; oset : access sigset_t) return int; pragma Import (C, pthread_sigmask, "sigprocmask"); subtype t_id is System.VxWorks.Ext.t_id; subtype Thread_Id is t_id; function kill (pid : t_id; sig : Signal) return int; pragma Inline (kill); function getpid return t_id renames System.VxWorks.Ext.getpid; function Task_Stop (tid : t_id) return int renames System.VxWorks.Ext.Task_Stop; -- If we are in the kernel space, stop the task whose t_id is -- given in parameter in such a way that it can be examined by the -- debugger. This typically maps to taskSuspend on VxWorks 5 and -- to taskStop on VxWorks 6. function Task_Cont (tid : t_id) return int renames System.VxWorks.Ext.Task_Cont; -- If we are in the kernel space, continue the task whose t_id is -- given in parameter if it has been stopped previously to be examined -- by the debugger (e.g. by taskStop). It typically maps to taskResume -- on VxWorks 5 and to taskCont on VxWorks 6. function Int_Lock return int renames System.VxWorks.Ext.Int_Lock; -- If we are in the kernel space, lock interrupts. It typically maps to -- intLock. function Int_Unlock return int renames System.VxWorks.Ext.Int_Unlock; -- If we are in the kernel space, unlock interrupts. It typically maps to -- intUnlock. ---------- -- Time -- ---------- type time_t is new unsigned_long; type timespec is record ts_sec : time_t; ts_nsec : long; end record; pragma Convention (C, timespec); type clockid_t is new int; function To_Duration (TS : timespec) return Duration; pragma Inline (To_Duration); function To_Timespec (D : Duration) return timespec; pragma Inline (To_Timespec); function To_Clock_Ticks (D : Duration) return int; -- Convert a duration value (in seconds) into clock ticks function clock_gettime (clock_id : clockid_t; tp : access timespec) return int; pragma Import (C, clock_gettime, "clock_gettime"); ---------------------- -- Utility Routines -- ---------------------- function To_VxWorks_Priority (Priority : int) return int; pragma Inline (To_VxWorks_Priority); -- Convenience routine to convert between VxWorks priority and Ada priority -------------------------- -- VxWorks specific API -- -------------------------- subtype STATUS is int; -- Equivalent of the C type STATUS OK : constant STATUS := 0; ERROR : constant STATUS := Interfaces.C.int (-1); function taskIdVerify (tid : t_id) return STATUS; pragma Import (C, taskIdVerify, "taskIdVerify"); function taskIdSelf return t_id; pragma Import (C, taskIdSelf, "taskIdSelf"); function taskOptionsGet (tid : t_id; pOptions : access int) return int; pragma Import (C, taskOptionsGet, "taskOptionsGet"); function taskSuspend (tid : t_id) return int; pragma Import (C, taskSuspend, "taskSuspend"); function taskResume (tid : t_id) return int; pragma Import (C, taskResume, "taskResume"); function taskIsSuspended (tid : t_id) return int; pragma Import (C, taskIsSuspended, "taskIsSuspended"); function taskDelay (ticks : int) return int; procedure taskDelay (ticks : int); pragma Import (C, taskDelay, "taskDelay"); function sysClkRateGet return int; pragma Import (C, sysClkRateGet, "sysClkRateGet"); -- VxWorks 5.x specific functions -- Must not be called from run-time for versions that do not support -- taskVarLib: eg VxWorks 6 RTPs function taskVarAdd (tid : t_id; pVar : access System.Address) return int; pragma Import (C, taskVarAdd, "taskVarAdd"); function taskVarDelete (tid : t_id; pVar : access System.Address) return int; pragma Import (C, taskVarDelete, "taskVarDelete"); function taskVarSet (tid : t_id; pVar : access System.Address; value : System.Address) return int; pragma Import (C, taskVarSet, "taskVarSet"); function taskVarGet (tid : t_id; pVar : access System.Address) return int; pragma Import (C, taskVarGet, "taskVarGet"); -- VxWorks 6.x specific functions -- Can only be called from the VxWorks 6 run-time libary that supports -- tlsLib, and not by the VxWorks 6.6 SMP library function tlsKeyCreate return int; pragma Import (C, tlsKeyCreate, "tlsKeyCreate"); function tlsValueGet (key : int) return System.Address; pragma Import (C, tlsValueGet, "tlsValueGet"); function tlsValueSet (key : int; value : System.Address) return STATUS; pragma Import (C, tlsValueSet, "tlsValueSet"); -- Option flags for taskSpawn VX_UNBREAKABLE : constant := 16#0002#; VX_FP_PRIVATE_ENV : constant := 16#0080#; VX_NO_STACK_FILL : constant := 16#0100#; function taskSpawn (name : System.Address; -- Pointer to task name priority : int; options : int; stacksize : size_t; start_routine : System.Address; arg1 : System.Address; arg2 : int := 0; arg3 : int := 0; arg4 : int := 0; arg5 : int := 0; arg6 : int := 0; arg7 : int := 0; arg8 : int := 0; arg9 : int := 0; arg10 : int := 0) return t_id; pragma Import (C, taskSpawn, "taskSpawn"); procedure taskDelete (tid : t_id); pragma Import (C, taskDelete, "taskDelete"); function Set_Time_Slice (ticks : int) return int renames System.VxWorks.Ext.Set_Time_Slice; -- Calls kernelTimeSlice under VxWorks 5.x, VxWorks 653, or in VxWorks 6 -- kernel apps. Returns ERROR for RTPs, VxWorks 5 /CERT function taskPriorityGet (tid : t_id; pPriority : access int) return int; pragma Import (C, taskPriorityGet, "taskPriorityGet"); function taskPrioritySet (tid : t_id; newPriority : int) return int; pragma Import (C, taskPrioritySet, "taskPrioritySet"); -- Semaphore creation flags SEM_Q_FIFO : constant := 0; SEM_Q_PRIORITY : constant := 1; SEM_DELETE_SAFE : constant := 4; -- only valid for binary semaphore SEM_INVERSION_SAFE : constant := 8; -- only valid for binary semaphore -- Semaphore initial state flags SEM_EMPTY : constant := 0; SEM_FULL : constant := 1; -- Semaphore take (semTake) time constants WAIT_FOREVER : constant := -1; NO_WAIT : constant := 0; -- Error codes (errno). The lower level 16 bits are the error code, with -- the upper 16 bits representing the module number in which the error -- occurred. By convention, the module number is 0 for UNIX errors. VxWorks -- reserves module numbers 1-500, with the remaining module numbers being -- available for user applications. M_objLib : constant := 61 * 2**16; -- semTake() failure with ticks = NO_WAIT S_objLib_OBJ_UNAVAILABLE : constant := M_objLib + 2; -- semTake() timeout with ticks > NO_WAIT S_objLib_OBJ_TIMEOUT : constant := M_objLib + 4; subtype SEM_ID is System.VxWorks.Ext.SEM_ID; -- typedef struct semaphore *SEM_ID; -- We use two different kinds of VxWorks semaphores: mutex and binary -- semaphores. A null ID is returned when a semaphore cannot be created. function semBCreate (options : int; initial_state : int) return SEM_ID; pragma Import (C, semBCreate, "semBCreate"); -- Create a binary semaphore. Return ID, or 0 if memory could not -- be allocated. function semMCreate (options : int) return SEM_ID; pragma Import (C, semMCreate, "semMCreate"); function semDelete (Sem : SEM_ID) return int renames System.VxWorks.Ext.semDelete; -- Delete a semaphore function semGive (Sem : SEM_ID) return int; pragma Import (C, semGive, "semGive"); function semTake (Sem : SEM_ID; timeout : int) return int; pragma Import (C, semTake, "semTake"); -- Attempt to take binary semaphore. Error is returned if operation -- times out function semFlush (SemID : SEM_ID) return STATUS; pragma Import (C, semFlush, "semFlush"); -- Release all threads blocked on the semaphore ------------------------------------------------------------ -- Binary Semaphore Wrapper to Support interrupt Tasks -- ------------------------------------------------------------ type Binary_Semaphore_Id is new Long_Integer; function Binary_Semaphore_Create return Binary_Semaphore_Id; pragma Inline (Binary_Semaphore_Create); function Binary_Semaphore_Delete (ID : Binary_Semaphore_Id) return int; pragma Inline (Binary_Semaphore_Delete); function Binary_Semaphore_Obtain (ID : Binary_Semaphore_Id) return int; pragma Inline (Binary_Semaphore_Obtain); function Binary_Semaphore_Release (ID : Binary_Semaphore_Id) return int; pragma Inline (Binary_Semaphore_Release); function Binary_Semaphore_Flush (ID : Binary_Semaphore_Id) return int; pragma Inline (Binary_Semaphore_Flush); ------------------------------------------------------------ -- Hardware Interrupt Wrappers to Support Interrupt Tasks -- ------------------------------------------------------------ type Interrupt_Handler is access procedure (parameter : System.Address); pragma Convention (C, Interrupt_Handler); type Interrupt_Vector is new System.Address; function Interrupt_Connect (Vector : Interrupt_Vector; Handler : Interrupt_Handler; Parameter : System.Address := System.Null_Address) return int; pragma Inline (Interrupt_Connect); -- Use this to set up an user handler. The routine installs a user -- handler which is invoked after the OS has saved enough context for a -- high-level language routine to be safely invoked. function Interrupt_Context return int; pragma Inline (Interrupt_Context); -- Return 1 if executing in an interrupt context; return 0 if executing in -- a task context. function Interrupt_Number_To_Vector (intNum : int) return Interrupt_Vector; pragma Inline (Interrupt_Number_To_Vector); -- Convert a logical interrupt number to the hardware interrupt vector -- number used to connect the interrupt. -------------------------------- -- Processor Affinity for SMP -- -------------------------------- function taskCpuAffinitySet (tid : t_id; CPU : int) return int renames System.VxWorks.Ext.taskCpuAffinitySet; -- For SMP run-times the affinity to CPU. -- For uniprocessor systems return ERROR status. function taskMaskAffinitySet (tid : t_id; CPU_Set : unsigned) return int renames System.VxWorks.Ext.taskMaskAffinitySet; -- For SMP run-times the affinity to CPU_Set. -- For uniprocessor systems return ERROR status. --------------------- -- Multiprocessors -- --------------------- function Current_CPU return Multiprocessors.CPU; -- Return the id of the current CPU private type pid_t is new int; ERROR_PID : constant pid_t := -1; type sigset_t is new System.VxWorks.Ext.sigset_t; end System.OS_Interface;