1------------------------------------------------------------------------------ 2-- -- 3-- GNAT RUN-TIME LIBRARY (GNARL) COMPONENTS -- 4-- -- 5-- S Y S T E M . O S _ I N T E R F A C E -- 6-- -- 7-- S p e c -- 8-- -- 9-- Copyright (C) 1991-1994, Florida State University -- 10-- Copyright (C) 1995-2015, Free Software Foundation, Inc. -- 11-- -- 12-- GNARL is free software; you can redistribute it and/or modify it under -- 13-- terms of the GNU General Public License as published by the Free Soft- -- 14-- ware Foundation; either version 3, or (at your option) any later ver- -- 15-- sion. GNARL is distributed in the hope that it will be useful, but WITH- -- 16-- OUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY -- 17-- or FITNESS FOR A PARTICULAR PURPOSE. -- 18-- -- 19-- As a special exception under Section 7 of GPL version 3, you are granted -- 20-- additional permissions described in the GCC Runtime Library Exception, -- 21-- version 3.1, as published by the Free Software Foundation. -- 22-- -- 23-- You should have received a copy of the GNU General Public License and -- 24-- a copy of the GCC Runtime Library Exception along with this program; -- 25-- see the files COPYING3 and COPYING.RUNTIME respectively. If not, see -- 26-- <http://www.gnu.org/licenses/>. -- 27-- -- 28-- GNARL was developed by the GNARL team at Florida State University. -- 29-- Extensive contributions were provided by Ada Core Technologies, Inc. -- 30-- -- 31------------------------------------------------------------------------------ 32 33-- This is the VxWorks version of this package 34 35-- This package encapsulates all direct interfaces to OS services that are 36-- needed by the tasking run-time (libgnarl). 37 38-- PLEASE DO NOT add any with-clauses to this package or remove the pragma 39-- Preelaborate. This package is designed to be a bottom-level (leaf) package. 40 41with Interfaces.C; 42with System.VxWorks; 43with System.VxWorks.Ext; 44with System.Multiprocessors; 45 46package System.OS_Interface is 47 pragma Preelaborate; 48 49 subtype int is Interfaces.C.int; 50 subtype unsigned is Interfaces.C.unsigned; 51 subtype short is Short_Integer; 52 type unsigned_int is mod 2 ** int'Size; 53 type long is new Long_Integer; 54 type unsigned_long is mod 2 ** long'Size; 55 type long_long is new Long_Long_Integer; 56 type unsigned_long_long is mod 2 ** long_long'Size; 57 type size_t is mod 2 ** Standard'Address_Size; 58 59 ----------- 60 -- Errno -- 61 ----------- 62 63 function errno return int; 64 pragma Import (C, errno, "errnoGet"); 65 66 EINTR : constant := 4; 67 EAGAIN : constant := 35; 68 ENOMEM : constant := 12; 69 EINVAL : constant := 22; 70 ETIMEDOUT : constant := 60; 71 72 FUNC_ERR : constant := -1; 73 74 ---------------------------- 75 -- Signals and interrupts -- 76 ---------------------------- 77 78 NSIG : constant := 64; 79 -- Number of signals on the target OS 80 type Signal is new int range 0 .. Interfaces.C."-" (NSIG, 1); 81 82 Max_HW_Interrupt : constant := System.VxWorks.Num_HW_Interrupts - 1; 83 type HW_Interrupt is new int range 0 .. Max_HW_Interrupt; 84 85 Max_Interrupt : constant := Max_HW_Interrupt; 86 87 -- Signals common to Vxworks 5.x and 6.x 88 89 SIGILL : constant := 4; -- illegal instruction (not reset when caught) 90 SIGABRT : constant := 6; -- used by abort, replace SIGIOT in the future 91 SIGFPE : constant := 8; -- floating point exception 92 SIGBUS : constant := 10; -- bus error 93 SIGSEGV : constant := 11; -- segmentation violation 94 95 -- Signals specific to VxWorks 6.x 96 97 SIGHUP : constant := 1; -- hangup 98 SIGINT : constant := 2; -- interrupt 99 SIGQUIT : constant := 3; -- quit 100 SIGTRAP : constant := 5; -- trace trap (not reset when caught) 101 SIGEMT : constant := 7; -- EMT instruction 102 SIGKILL : constant := 9; -- kill 103 SIGFMT : constant := 12; -- STACK FORMAT ERROR (not posix) 104 SIGPIPE : constant := 13; -- write on a pipe with no one to read it 105 SIGALRM : constant := 14; -- alarm clock 106 SIGTERM : constant := 15; -- software termination signal from kill 107 SIGCNCL : constant := 16; -- pthreads cancellation signal 108 SIGSTOP : constant := 17; -- sendable stop signal not from tty 109 SIGTSTP : constant := 18; -- stop signal from tty 110 SIGCONT : constant := 19; -- continue a stopped process 111 SIGCHLD : constant := 20; -- to parent on child stop or exit 112 SIGTTIN : constant := 21; -- to readers pgrp upon background tty read 113 SIGTTOU : constant := 22; -- like TTIN for output 114 115 SIGRES1 : constant := 23; -- reserved signal number (Not POSIX) 116 SIGRES2 : constant := 24; -- reserved signal number (Not POSIX) 117 SIGRES3 : constant := 25; -- reserved signal number (Not POSIX) 118 SIGRES4 : constant := 26; -- reserved signal number (Not POSIX) 119 SIGRES5 : constant := 27; -- reserved signal number (Not POSIX) 120 SIGRES6 : constant := 28; -- reserved signal number (Not POSIX) 121 SIGRES7 : constant := 29; -- reserved signal number (Not POSIX) 122 123 SIGUSR1 : constant := 30; -- user defined signal 1 124 SIGUSR2 : constant := 31; -- user defined signal 2 125 126 SIGPOLL : constant := 32; -- pollable event 127 SIGPROF : constant := 33; -- profiling timer expired 128 SIGSYS : constant := 34; -- bad system call 129 SIGURG : constant := 35; -- high bandwidth data is available at socket 130 SIGVTALRM : constant := 36; -- virtual timer expired 131 SIGXCPU : constant := 37; -- CPU time limit exceeded 132 SIGXFSZ : constant := 38; -- file size time limit exceeded 133 134 SIGEVTS : constant := 39; -- signal event thread send 135 SIGEVTD : constant := 40; -- signal event thread delete 136 137 SIGRTMIN : constant := 48; -- Realtime signal min 138 SIGRTMAX : constant := 63; -- Realtime signal max 139 140 ----------------------------------- 141 -- Signal processing definitions -- 142 ----------------------------------- 143 144 -- The how in sigprocmask() 145 146 SIG_BLOCK : constant := 1; 147 SIG_UNBLOCK : constant := 2; 148 SIG_SETMASK : constant := 3; 149 150 -- The sa_flags in struct sigaction 151 152 SA_SIGINFO : constant := 16#0002#; 153 SA_ONSTACK : constant := 16#0004#; 154 155 SIG_DFL : constant := 0; 156 SIG_IGN : constant := 1; 157 158 type sigset_t is private; 159 160 type struct_sigaction is record 161 sa_handler : System.Address; 162 sa_mask : sigset_t; 163 sa_flags : int; 164 end record; 165 pragma Convention (C, struct_sigaction); 166 type struct_sigaction_ptr is access all struct_sigaction; 167 168 function sigaddset (set : access sigset_t; sig : Signal) return int; 169 pragma Import (C, sigaddset, "sigaddset"); 170 171 function sigdelset (set : access sigset_t; sig : Signal) return int; 172 pragma Import (C, sigdelset, "sigdelset"); 173 174 function sigfillset (set : access sigset_t) return int; 175 pragma Import (C, sigfillset, "sigfillset"); 176 177 function sigismember (set : access sigset_t; sig : Signal) return int; 178 pragma Import (C, sigismember, "sigismember"); 179 180 function sigemptyset (set : access sigset_t) return int; 181 pragma Import (C, sigemptyset, "sigemptyset"); 182 183 function sigaction 184 (sig : Signal; 185 act : struct_sigaction_ptr; 186 oact : struct_sigaction_ptr) return int; 187 pragma Import (C, sigaction, "sigaction"); 188 189 type isr_address is access procedure (sig : int); 190 pragma Convention (C, isr_address); 191 192 function c_signal (sig : Signal; handler : isr_address) return isr_address; 193 pragma Import (C, c_signal, "signal"); 194 195 function pthread_sigmask 196 (how : int; 197 set : access sigset_t; 198 oset : access sigset_t) return int; 199 pragma Import (C, pthread_sigmask, "sigprocmask"); 200 201 subtype t_id is System.VxWorks.Ext.t_id; 202 subtype Thread_Id is t_id; 203 -- Thread_Id and t_id are VxWorks identifiers for tasks. This value, 204 -- although represented as a Long_Integer, is in fact an address. With 205 -- some BSPs, this address can have a value sufficiently high that the 206 -- Thread_Id becomes negative: this should not be considered as an error. 207 208 function kill (pid : t_id; sig : Signal) return int; 209 pragma Inline (kill); 210 211 function getpid return t_id renames System.VxWorks.Ext.getpid; 212 213 function Task_Stop (tid : t_id) return int 214 renames System.VxWorks.Ext.Task_Stop; 215 -- If we are in the kernel space, stop the task whose t_id is given in 216 -- parameter in such a way that it can be examined by the debugger. This 217 -- typically maps to taskSuspend on VxWorks 5 and to taskStop on VxWorks 6. 218 219 function Task_Cont (tid : t_id) return int 220 renames System.VxWorks.Ext.Task_Cont; 221 -- If we are in the kernel space, continue the task whose t_id is given 222 -- in parameter if it has been stopped previously to be examined by the 223 -- debugger (e.g. by taskStop). It typically maps to taskResume on VxWorks 224 -- 5 and to taskCont on VxWorks 6. 225 226 function Int_Lock return int renames System.VxWorks.Ext.Int_Lock; 227 -- If we are in the kernel space, lock interrupts. It typically maps to 228 -- intLock. 229 230 function Int_Unlock (Old : int) return int 231 renames System.VxWorks.Ext.Int_Unlock; 232 -- If we are in the kernel space, unlock interrupts. It typically maps to 233 -- intUnlock. The parameter Old is only used on PowerPC where it contains 234 -- the returned value from Int_Lock (the old MPSR). 235 236 ---------- 237 -- Time -- 238 ---------- 239 240 type time_t is new unsigned_long; 241 242 type timespec is record 243 ts_sec : time_t; 244 ts_nsec : long; 245 end record; 246 pragma Convention (C, timespec); 247 248 type clockid_t is new int; 249 250 function To_Duration (TS : timespec) return Duration; 251 pragma Inline (To_Duration); 252 253 function To_Timespec (D : Duration) return timespec; 254 pragma Inline (To_Timespec); 255 -- Convert a Duration value to a timespec value. Note that in VxWorks, 256 -- timespec is always non-negative (since time_t is defined above as 257 -- unsigned long). This means that there is a potential problem if a 258 -- negative argument is passed for D. However, in actual usage, the 259 -- value of the input argument D is always non-negative, so no problem 260 -- arises in practice. 261 262 function To_Clock_Ticks (D : Duration) return int; 263 -- Convert a duration value (in seconds) into clock ticks 264 265 function clock_gettime 266 (clock_id : clockid_t; tp : access timespec) return int; 267 pragma Import (C, clock_gettime, "clock_gettime"); 268 269 ---------------------- 270 -- Utility Routines -- 271 ---------------------- 272 273 function To_VxWorks_Priority (Priority : int) return int; 274 pragma Inline (To_VxWorks_Priority); 275 -- Convenience routine to convert between VxWorks priority and Ada priority 276 277 -------------------------- 278 -- VxWorks specific API -- 279 -------------------------- 280 281 subtype STATUS is int; 282 -- Equivalent of the C type STATUS 283 284 OK : constant STATUS := 0; 285 ERROR : constant STATUS := Interfaces.C.int (-1); 286 287 function taskIdVerify (tid : t_id) return STATUS; 288 pragma Import (C, taskIdVerify, "taskIdVerify"); 289 290 function taskIdSelf return t_id; 291 pragma Import (C, taskIdSelf, "taskIdSelf"); 292 293 function taskOptionsGet (tid : t_id; pOptions : access int) return int; 294 pragma Import (C, taskOptionsGet, "taskOptionsGet"); 295 296 function taskSuspend (tid : t_id) return int; 297 pragma Import (C, taskSuspend, "taskSuspend"); 298 299 function taskResume (tid : t_id) return int; 300 pragma Import (C, taskResume, "taskResume"); 301 302 function taskIsSuspended (tid : t_id) return int; 303 pragma Import (C, taskIsSuspended, "taskIsSuspended"); 304 305 function taskDelay (ticks : int) return int; 306 procedure taskDelay (ticks : int); 307 pragma Import (C, taskDelay, "taskDelay"); 308 309 function sysClkRateGet return int; 310 pragma Import (C, sysClkRateGet, "sysClkRateGet"); 311 312 -- VxWorks 5.x specific functions 313 -- Must not be called from run-time for versions that do not support 314 -- taskVarLib: eg VxWorks 6 RTPs 315 316 function taskVarAdd 317 (tid : t_id; pVar : access System.Address) return int; 318 pragma Import (C, taskVarAdd, "taskVarAdd"); 319 320 function taskVarDelete 321 (tid : t_id; pVar : access System.Address) return int; 322 pragma Import (C, taskVarDelete, "taskVarDelete"); 323 324 function taskVarSet 325 (tid : t_id; 326 pVar : access System.Address; 327 value : System.Address) return int; 328 pragma Import (C, taskVarSet, "taskVarSet"); 329 330 function taskVarGet 331 (tid : t_id; 332 pVar : access System.Address) return int; 333 pragma Import (C, taskVarGet, "taskVarGet"); 334 335 -- VxWorks 6.x specific functions 336 337 -- Can only be called from the VxWorks 6 run-time libary that supports 338 -- tlsLib, and not by the VxWorks 6.6 SMP library 339 340 function tlsKeyCreate return int; 341 pragma Import (C, tlsKeyCreate, "tlsKeyCreate"); 342 343 function tlsValueGet (key : int) return System.Address; 344 pragma Import (C, tlsValueGet, "tlsValueGet"); 345 346 function tlsValueSet (key : int; value : System.Address) return STATUS; 347 pragma Import (C, tlsValueSet, "tlsValueSet"); 348 349 -- Option flags for taskSpawn 350 351 VX_UNBREAKABLE : constant := 16#0002#; 352 VX_FP_PRIVATE_ENV : constant := 16#0080#; 353 VX_NO_STACK_FILL : constant := 16#0100#; 354 355 function taskSpawn 356 (name : System.Address; -- Pointer to task name 357 priority : int; 358 options : int; 359 stacksize : size_t; 360 start_routine : System.Address; 361 arg1 : System.Address; 362 arg2 : int := 0; 363 arg3 : int := 0; 364 arg4 : int := 0; 365 arg5 : int := 0; 366 arg6 : int := 0; 367 arg7 : int := 0; 368 arg8 : int := 0; 369 arg9 : int := 0; 370 arg10 : int := 0) return t_id; 371 pragma Import (C, taskSpawn, "taskSpawn"); 372 373 procedure taskDelete (tid : t_id); 374 pragma Import (C, taskDelete, "taskDelete"); 375 376 function Set_Time_Slice (ticks : int) return int 377 renames System.VxWorks.Ext.Set_Time_Slice; 378 -- Calls kernelTimeSlice under VxWorks 5.x, VxWorks 653, or in VxWorks 6 379 -- kernel apps. Returns ERROR for RTPs, VxWorks 5 /CERT 380 381 function taskPriorityGet (tid : t_id; pPriority : access int) return int; 382 pragma Import (C, taskPriorityGet, "taskPriorityGet"); 383 384 function taskPrioritySet (tid : t_id; newPriority : int) return int; 385 pragma Import (C, taskPrioritySet, "taskPrioritySet"); 386 387 -- Semaphore creation flags 388 389 SEM_Q_FIFO : constant := 0; 390 SEM_Q_PRIORITY : constant := 1; 391 SEM_DELETE_SAFE : constant := 4; -- only valid for binary semaphore 392 SEM_INVERSION_SAFE : constant := 8; -- only valid for binary semaphore 393 394 -- Semaphore initial state flags 395 396 SEM_EMPTY : constant := 0; 397 SEM_FULL : constant := 1; 398 399 -- Semaphore take (semTake) time constants 400 401 WAIT_FOREVER : constant := -1; 402 NO_WAIT : constant := 0; 403 404 -- Error codes (errno). The lower level 16 bits are the error code, with 405 -- the upper 16 bits representing the module number in which the error 406 -- occurred. By convention, the module number is 0 for UNIX errors. VxWorks 407 -- reserves module numbers 1-500, with the remaining module numbers being 408 -- available for user applications. 409 410 M_objLib : constant := 61 * 2**16; 411 -- semTake() failure with ticks = NO_WAIT 412 S_objLib_OBJ_UNAVAILABLE : constant := M_objLib + 2; 413 -- semTake() timeout with ticks > NO_WAIT 414 S_objLib_OBJ_TIMEOUT : constant := M_objLib + 4; 415 416 subtype SEM_ID is System.VxWorks.Ext.SEM_ID; 417 -- typedef struct semaphore *SEM_ID; 418 419 -- We use two different kinds of VxWorks semaphores: mutex and binary 420 -- semaphores. A null ID is returned when a semaphore cannot be created. 421 422 function semBCreate (options : int; initial_state : int) return SEM_ID; 423 pragma Import (C, semBCreate, "semBCreate"); 424 -- Create a binary semaphore. Return ID, or 0 if memory could not 425 -- be allocated. 426 427 function semMCreate (options : int) return SEM_ID; 428 pragma Import (C, semMCreate, "semMCreate"); 429 430 function semDelete (Sem : SEM_ID) return int 431 renames System.VxWorks.Ext.semDelete; 432 -- Delete a semaphore 433 434 function semGive (Sem : SEM_ID) return int; 435 pragma Import (C, semGive, "semGive"); 436 437 function semTake (Sem : SEM_ID; timeout : int) return int; 438 pragma Import (C, semTake, "semTake"); 439 -- Attempt to take binary semaphore. Error is returned if operation 440 -- times out 441 442 function semFlush (SemID : SEM_ID) return STATUS; 443 pragma Import (C, semFlush, "semFlush"); 444 -- Release all threads blocked on the semaphore 445 446 ------------------------------------------------------------ 447 -- Binary Semaphore Wrapper to Support interrupt Tasks -- 448 ------------------------------------------------------------ 449 450 type Binary_Semaphore_Id is new Long_Integer; 451 452 function Binary_Semaphore_Create return Binary_Semaphore_Id; 453 pragma Inline (Binary_Semaphore_Create); 454 455 function Binary_Semaphore_Delete (ID : Binary_Semaphore_Id) return int; 456 pragma Inline (Binary_Semaphore_Delete); 457 458 function Binary_Semaphore_Obtain (ID : Binary_Semaphore_Id) return int; 459 pragma Inline (Binary_Semaphore_Obtain); 460 461 function Binary_Semaphore_Release (ID : Binary_Semaphore_Id) return int; 462 pragma Inline (Binary_Semaphore_Release); 463 464 function Binary_Semaphore_Flush (ID : Binary_Semaphore_Id) return int; 465 pragma Inline (Binary_Semaphore_Flush); 466 467 ------------------------------------------------------------ 468 -- Hardware Interrupt Wrappers to Support Interrupt Tasks -- 469 ------------------------------------------------------------ 470 471 type Interrupt_Handler is access procedure (parameter : System.Address); 472 pragma Convention (C, Interrupt_Handler); 473 474 type Interrupt_Vector is new System.Address; 475 476 function Interrupt_Connect 477 (Vector : Interrupt_Vector; 478 Handler : Interrupt_Handler; 479 Parameter : System.Address := System.Null_Address) return int; 480 pragma Inline (Interrupt_Connect); 481 -- Use this to set up an user handler. The routine installs a user handler 482 -- which is invoked after the OS has saved enough context for a high-level 483 -- language routine to be safely invoked. 484 485 function Interrupt_Context return int; 486 pragma Inline (Interrupt_Context); 487 -- Return 1 if executing in an interrupt context; return 0 if executing in 488 -- a task context. 489 490 function Interrupt_Number_To_Vector (intNum : int) return Interrupt_Vector; 491 pragma Inline (Interrupt_Number_To_Vector); 492 -- Convert a logical interrupt number to the hardware interrupt vector 493 -- number used to connect the interrupt. 494 495 -------------------------------- 496 -- Processor Affinity for SMP -- 497 -------------------------------- 498 499 function taskCpuAffinitySet (tid : t_id; CPU : int) return int 500 renames System.VxWorks.Ext.taskCpuAffinitySet; 501 -- For SMP run-times the affinity to CPU. 502 -- For uniprocessor systems return ERROR status. 503 504 function taskMaskAffinitySet (tid : t_id; CPU_Set : unsigned) return int 505 renames System.VxWorks.Ext.taskMaskAffinitySet; 506 -- For SMP run-times the affinity to CPU_Set. 507 -- For uniprocessor systems return ERROR status. 508 509 --------------------- 510 -- Multiprocessors -- 511 --------------------- 512 513 function Current_CPU return Multiprocessors.CPU; 514 -- Return the id of the current CPU 515 516private 517 type pid_t is new int; 518 519 ERROR_PID : constant pid_t := -1; 520 521 type sigset_t is new System.VxWorks.Ext.sigset_t; 522end System.OS_Interface; 523