task.h

/*
 * Copyright (C) 2011 Philippe Gerum <rpm@xenomai.org>.
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2 of the License, or (at your option) any later version.
 *
 * This library 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
 * Lesser General Public License for more details.

 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA.
 */
#ifndef _XENOMAI_ALCHEMY_TASK_H
#define _XENOMAI_ALCHEMY_TASK_H

#include <sys/types.h>
#include <stdint.h>
#include <xeno_config.h>
#include <boilerplate/list.h>
#include <copperplate/threadobj.h>
#include <alchemy/timer.h>
#include <alchemy/compat.h>

#define T_LOPRIO  0
#define T_HIPRIO  99

#define T_LOCK          __THREAD_M_LOCK

#define T_WARNSW        __THREAD_M_WARNSW
#define T_CONFORMING    __THREAD_M_CONFORMING
#define T_JOINABLE      __THREAD_M_SPARE0

struct RT_TASK {
        uintptr_t handle;
        pthread_t thread;
};

typedef struct RT_TASK RT_TASK;

struct RT_TASK_MCB {
        int flowid;
        int opcode;
        union {
                dref_type(void *) __dref;
                void *data;
        };
        ssize_t size;
};

typedef struct RT_TASK_MCB RT_TASK_MCB;

struct RT_TASK_INFO {
        int prio;
        struct threadobj_stat stat;
        char name[XNOBJECT_NAME_LEN];
        pid_t pid;
};

typedef struct RT_TASK_INFO RT_TASK_INFO;

#define NO_ALCHEMY_TASK ((RT_TASK){ 0, 0 })

#ifdef __cplusplus
extern "C" {
#endif

CURRENT_DECL(int, rt_task_create(RT_TASK *task,
                                 const char *name,
                                 int stksize,
                                 int prio,
                                 int mode));

int rt_task_delete(RT_TASK *task);

int rt_task_set_affinity(RT_TASK *task,
                         const cpu_set_t *cpus);

int rt_task_start(RT_TASK *task,
                  void (*entry)(void *arg),
                  void *arg);

CURRENT_DECL(int, rt_task_spawn(RT_TASK *task, const char *name,
                                int stksize, int prio, int mode,
                                void (*entry)(void *arg),
                                void *arg));

int rt_task_shadow(RT_TASK *task,
                   const char *name,
                   int prio,
                   int mode);

int rt_task_join(RT_TASK *task);

CURRENT_DECL(int, rt_task_set_periodic(RT_TASK *task,
                                       RTIME idate, RTIME period));

int rt_task_wait_period(unsigned long *overruns_r);

int rt_task_sleep(RTIME delay);

int rt_task_sleep_until(RTIME date);

int rt_task_same(RT_TASK *task1, RT_TASK *task2);

int rt_task_suspend(RT_TASK *task);

int rt_task_resume(RT_TASK *task);

RT_TASK *rt_task_self(void);

int rt_task_set_priority(RT_TASK *task, int prio);

int rt_task_set_mode(int clrmask, int setmask,
                     int *mode_r);

int rt_task_yield(void);

int rt_task_unblock(RT_TASK *task);

int rt_task_slice(RT_TASK *task, RTIME quantum);

int rt_task_inquire(RT_TASK *task,
                    RT_TASK_INFO *info);

ssize_t rt_task_send_timed(RT_TASK *task,
                           RT_TASK_MCB *mcb_s, RT_TASK_MCB *mcb_r,
                           const struct timespec *abs_timeout);

static inline
ssize_t rt_task_send_until(RT_TASK *task,
                           RT_TASK_MCB *mcb_s, RT_TASK_MCB *mcb_r,
                           RTIME timeout)
{
        struct timespec ts;
        return rt_task_send_timed(task, mcb_s, mcb_r,
                                  alchemy_abs_timeout(timeout, &ts));
}

static inline
ssize_t rt_task_send(RT_TASK *task,
                     RT_TASK_MCB *mcb_s, RT_TASK_MCB *mcb_r,
                     RTIME timeout)
{
        struct timespec ts;
        return rt_task_send_timed(task, mcb_s, mcb_r,
                                  alchemy_rel_timeout(timeout, &ts));
}

int rt_task_receive_timed(RT_TASK_MCB *mcb_r,
                          const struct timespec *abs_timeout);

static inline
int rt_task_receive_until(RT_TASK_MCB *mcb_r, RTIME timeout)
{
        struct timespec ts;
        return rt_task_receive_timed(mcb_r,
                                     alchemy_abs_timeout(timeout, &ts));
}

static inline
int rt_task_receive(RT_TASK_MCB *mcb_r, RTIME timeout)
{
        struct timespec ts;
        return rt_task_receive_timed(mcb_r,
                                     alchemy_rel_timeout(timeout, &ts));
}

int rt_task_reply(int flowid,
                  RT_TASK_MCB *mcb_s);

int rt_task_bind(RT_TASK *task,
                 const char *name, RTIME timeout);

int rt_task_unbind(RT_TASK *task);

#ifdef __cplusplus
}
#endif

#endif /* _XENOMAI_ALCHEMY_TASK_H */