/usr/include/rtai/rtai_signal.h is in librtai-dev 3.9.1-4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 | /*
* Copyright (C) 2006 Paolo Mantegazza <mantegazza@aero.polimi.it>
*
* 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 _RTAI_SIGNAL_H_
#define _RTAI_SIGNAL_H_
#define RTAI_SIGNALS_IDX BIDX
#include <rtai_sched.h>
#define MAXSIGNALS 16
#define SIGNAL_TASK_INIPRIO 0
struct rt_signal_t { unsigned long flags; RT_TASK *sigtask; };
struct sigsuprt_t { RT_TASK *sigtask; RT_TASK *task; long signal; void (*sighdl)(long, RT_TASK *); unsigned long cpuid; };
#ifdef __KERNEL__
#define SIGNAL_ENBIT 0
#define SIGNAL_PNDBIT 1
#define SIGNAL_TASK_STACK_SIZE 8192
RTAI_SYSCALL_MODE int rt_signal_helper(RT_TASK *task);
int rt_request_signal(long signal, void (*sighdl)(long, RT_TASK *));
RTAI_SYSCALL_MODE int rt_request_signal_(RT_TASK *sigtask, RT_TASK *task, long signal);
RTAI_SYSCALL_MODE int rt_release_signal(long signal, RT_TASK *task);
RTAI_SYSCALL_MODE void rt_enable_signal(long signal, RT_TASK *task);
RTAI_SYSCALL_MODE void rt_disable_signal(long signal, RT_TASK *task);
RTAI_SYSCALL_MODE void rt_trigger_signal(long signal, RT_TASK *task);
RTAI_SYSCALL_MODE int rt_wait_signal(RT_TASK *sigtask, RT_TASK *task);
#else /* !__KERNEL__ */
#include <sys/mman.h>
#include <rtai_lxrt.h>
#define SIGNAL_TASK_STACK_SIZE 64*1024
#ifndef __SIGNAL_SUPPORT_FUN__
#define __SIGNAL_SUPPORT_FUN__
static void signal_suprt_fun(struct sigsuprt_t *funarg)
{
struct sigtsk_t { RT_TASK *sigtask; RT_TASK *task; };
struct sigreq_t { RT_TASK *sigtask; RT_TASK *task; long signal; void (*sighdl)(int, RT_TASK *); };
struct sigsuprt_t arg = *funarg;
if ((arg.sigtask = rt_thread_init(rt_get_name(0), SIGNAL_TASK_INIPRIO, 0, SCHED_FIFO, 1 << arg.cpuid))) {
if (!rtai_lxrt(RTAI_SIGNALS_IDX, sizeof(struct sigreq_t), RT_SIGNAL_REQUEST, &arg).i[LOW]) {
rt_grow_and_lock_stack(SIGNAL_TASK_STACK_SIZE/2);
rt_make_hard_real_time();
while (rtai_lxrt(RTAI_SIGNALS_IDX, sizeof(struct sigtsk_t), RT_SIGNAL_WAITSIG, &arg).i[LOW]) {
arg.sighdl(arg.signal, arg.task);
}
rt_make_soft_real_time();
}
rt_task_delete(arg.sigtask);
}
}
#endif /* __SIGNAL_SUPPORT_FUN__ */
RTAI_PROTO(int, rt_request_signal, (long signal, void (*sighdl)(long, RT_TASK *)))
{
if (signal >= 0 && sighdl) {
struct sigsuprt_t arg = { NULL, rt_buddy(), signal, sighdl };
arg.cpuid = rtai_lxrt(RTAI_SIGNALS_IDX, sizeof(void *), RT_SIGNAL_HELPER, &arg.sigtask).i[LOW];
if (rt_thread_create((void *)signal_suprt_fun, &arg, SIGNAL_TASK_STACK_SIZE)) {
return rtai_lxrt(RTAI_SIGNALS_IDX, sizeof(RT_TASK *), RT_SIGNAL_HELPER, &arg.task).i[LOW];
}
}
return -EINVAL;
}
RTAI_PROTO(int, rt_release_signal, (long signal, RT_TASK *task))
{
struct { long signal; RT_TASK *task; } arg = { signal, task };
return rtai_lxrt(RTAI_SIGNALS_IDX, SIZARG, RT_SIGNAL_RELEASE, &arg).i[LOW];
}
RTAI_PROTO(void, rt_enable_signal, (long signal, RT_TASK *task))
{
struct { long signal; RT_TASK *task; } arg = { signal, task };
rtai_lxrt(RTAI_SIGNALS_IDX, SIZARG, RT_SIGNAL_ENABLE, &arg);
}
RTAI_PROTO(void, rt_disable_signal, (long signal, RT_TASK *task))
{
struct { long signal; RT_TASK *task; } arg = { signal, task };
rtai_lxrt(RTAI_SIGNALS_IDX, SIZARG, RT_SIGNAL_DISABLE, &arg);
}
RTAI_PROTO(void, rt_trigger_signal, (long signal, RT_TASK *task))
{
struct { long signal; RT_TASK *task; } arg = { signal, task };
rtai_lxrt(RTAI_SIGNALS_IDX, SIZARG, RT_SIGNAL_TRIGGER, &arg);
}
#endif /* __KERNEL__ */
#endif /* !_RTAI_SIGNAL_H_ */
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