1473 lines
41 KiB
Ada
1473 lines
41 KiB
Ada
------------------------------------------------------------------------------
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-- --
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-- GNAT RUN-TIME LIBRARY (GNARL) COMPONENTS --
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-- --
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-- S Y S T E M . T A S K _ P R I M I T I V E S . O P E R A T I O N S --
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-- --
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-- B o d y --
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-- --
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-- Copyright (C) 1992-2015, Free Software Foundation, Inc. --
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-- --
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-- GNARL is free software; you can redistribute it and/or modify it under --
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-- terms of the GNU General Public License as published by the Free Soft- --
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-- ware Foundation; either version 3, or (at your option) any later ver- --
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-- sion. GNAT is distributed in the hope that it will be useful, but WITH- --
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-- OUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY --
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-- or FITNESS FOR A PARTICULAR PURPOSE. --
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-- --
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-- As a special exception under Section 7 of GPL version 3, you are granted --
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-- additional permissions described in the GCC Runtime Library Exception, --
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-- version 3.1, as published by the Free Software Foundation. --
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-- --
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-- You should have received a copy of the GNU General Public License and --
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-- a copy of the GCC Runtime Library Exception along with this program; --
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-- see the files COPYING3 and COPYING.RUNTIME respectively. If not, see --
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-- <http://www.gnu.org/licenses/>. --
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-- --
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-- GNARL was developed by the GNARL team at Florida State University. --
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-- Extensive contributions were provided by Ada Core Technologies, Inc. --
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-- --
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------------------------------------------------------------------------------
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-- This is the VxWorks version of this package
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-- This package contains all the GNULL primitives that interface directly with
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-- the underlying OS.
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pragma Polling (Off);
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-- Turn off polling, we do not want ATC polling to take place during tasking
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-- operations. It causes infinite loops and other problems.
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with Ada.Unchecked_Conversion;
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with Interfaces.C;
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with System.Multiprocessors;
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with System.Tasking.Debug;
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with System.Interrupt_Management;
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with System.Float_Control;
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with System.OS_Constants;
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with System.Soft_Links;
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-- We use System.Soft_Links instead of System.Tasking.Initialization
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-- because the later is a higher level package that we shouldn't depend
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-- on. For example when using the restricted run time, it is replaced by
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-- System.Tasking.Restricted.Stages.
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with System.Task_Info;
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with System.VxWorks.Ext;
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package body System.Task_Primitives.Operations is
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package OSC renames System.OS_Constants;
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package SSL renames System.Soft_Links;
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use System.Tasking.Debug;
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use System.Tasking;
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use System.OS_Interface;
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use System.Parameters;
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use type System.VxWorks.Ext.t_id;
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use type Interfaces.C.int;
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use type System.OS_Interface.unsigned;
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subtype int is System.OS_Interface.int;
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subtype unsigned is System.OS_Interface.unsigned;
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Relative : constant := 0;
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----------------
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-- Local Data --
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----------------
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-- The followings are logically constants, but need to be initialized at
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-- run time.
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Environment_Task_Id : Task_Id;
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-- A variable to hold Task_Id for the environment task
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-- The followings are internal configuration constants needed
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Dispatching_Policy : Character;
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pragma Import (C, Dispatching_Policy, "__gl_task_dispatching_policy");
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Foreign_Task_Elaborated : aliased Boolean := True;
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-- Used to identified fake tasks (i.e., non-Ada Threads)
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Locking_Policy : Character;
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pragma Import (C, Locking_Policy, "__gl_locking_policy");
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Mutex_Protocol : Priority_Type;
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Single_RTS_Lock : aliased RTS_Lock;
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-- This is a lock to allow only one thread of control in the RTS at a
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-- time; it is used to execute in mutual exclusion from all other tasks.
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-- Used mainly in Single_Lock mode, but also to protect All_Tasks_List
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Time_Slice_Val : Integer;
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pragma Import (C, Time_Slice_Val, "__gl_time_slice_val");
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Null_Thread_Id : constant Thread_Id := 0;
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-- Constant to indicate that the thread identifier has not yet been
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-- initialized.
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--------------------
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-- Local Packages --
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--------------------
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package Specific is
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procedure Initialize;
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pragma Inline (Initialize);
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-- Initialize task specific data
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function Is_Valid_Task return Boolean;
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pragma Inline (Is_Valid_Task);
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-- Does executing thread have a TCB?
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procedure Set (Self_Id : Task_Id);
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pragma Inline (Set);
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-- Set the self id for the current task, unless Self_Id is null, in
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-- which case the task specific data is deleted.
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function Self return Task_Id;
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pragma Inline (Self);
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-- Return a pointer to the Ada Task Control Block of the calling task
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end Specific;
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package body Specific is separate;
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-- The body of this package is target specific
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----------------------------------
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-- ATCB allocation/deallocation --
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----------------------------------
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package body ATCB_Allocation is separate;
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-- The body of this package is shared across several targets
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---------------------------------
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-- Support for foreign threads --
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---------------------------------
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function Register_Foreign_Thread (Thread : Thread_Id) return Task_Id;
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-- Allocate and Initialize a new ATCB for the current Thread
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function Register_Foreign_Thread
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(Thread : Thread_Id) return Task_Id is separate;
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-----------------------
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-- Local Subprograms --
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-----------------------
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procedure Abort_Handler (signo : Signal);
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-- Handler for the abort (SIGABRT) signal to handle asynchronous abort
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procedure Install_Signal_Handlers;
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-- Install the default signal handlers for the current task
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function Is_Task_Context return Boolean;
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-- This function returns True if the current execution is in the context of
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-- a task, and False if it is an interrupt context.
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type Set_Stack_Limit_Proc_Acc is access procedure;
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pragma Convention (C, Set_Stack_Limit_Proc_Acc);
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Set_Stack_Limit_Hook : Set_Stack_Limit_Proc_Acc;
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pragma Import (C, Set_Stack_Limit_Hook, "__gnat_set_stack_limit_hook");
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-- Procedure to be called when a task is created to set stack limit. Used
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-- only for VxWorks 5 and VxWorks MILS guest OS.
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function To_Address is
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new Ada.Unchecked_Conversion (Task_Id, System.Address);
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-------------------
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-- Abort_Handler --
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-------------------
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procedure Abort_Handler (signo : Signal) is
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pragma Unreferenced (signo);
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Self_ID : constant Task_Id := Self;
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Old_Set : aliased sigset_t;
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Unblocked_Mask : aliased sigset_t;
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Result : int;
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pragma Warnings (Off, Result);
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use System.Interrupt_Management;
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begin
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-- It is not safe to raise an exception when using ZCX and the GCC
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-- exception handling mechanism.
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if ZCX_By_Default then
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return;
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end if;
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if Self_ID.Deferral_Level = 0
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and then Self_ID.Pending_ATC_Level < Self_ID.ATC_Nesting_Level
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and then not Self_ID.Aborting
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then
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Self_ID.Aborting := True;
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-- Make sure signals used for RTS internal purposes are unmasked
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Result := sigemptyset (Unblocked_Mask'Access);
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pragma Assert (Result = 0);
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Result :=
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sigaddset
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(Unblocked_Mask'Access,
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Signal (Abort_Task_Interrupt));
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pragma Assert (Result = 0);
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Result := sigaddset (Unblocked_Mask'Access, SIGBUS);
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pragma Assert (Result = 0);
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Result := sigaddset (Unblocked_Mask'Access, SIGFPE);
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pragma Assert (Result = 0);
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Result := sigaddset (Unblocked_Mask'Access, SIGILL);
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pragma Assert (Result = 0);
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Result := sigaddset (Unblocked_Mask'Access, SIGSEGV);
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pragma Assert (Result = 0);
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Result :=
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pthread_sigmask
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(SIG_UNBLOCK,
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Unblocked_Mask'Access,
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Old_Set'Access);
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pragma Assert (Result = 0);
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raise Standard'Abort_Signal;
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end if;
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end Abort_Handler;
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-----------------
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-- Stack_Guard --
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-----------------
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procedure Stack_Guard (T : ST.Task_Id; On : Boolean) is
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pragma Unreferenced (T);
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pragma Unreferenced (On);
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begin
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-- Nothing needed (why not???)
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null;
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end Stack_Guard;
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-------------------
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-- Get_Thread_Id --
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-------------------
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function Get_Thread_Id (T : ST.Task_Id) return OSI.Thread_Id is
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begin
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return T.Common.LL.Thread;
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end Get_Thread_Id;
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----------
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-- Self --
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----------
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function Self return Task_Id renames Specific.Self;
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-----------------------------
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-- Install_Signal_Handlers --
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-----------------------------
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procedure Install_Signal_Handlers is
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act : aliased struct_sigaction;
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old_act : aliased struct_sigaction;
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Tmp_Set : aliased sigset_t;
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Result : int;
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begin
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act.sa_flags := 0;
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act.sa_handler := Abort_Handler'Address;
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Result := sigemptyset (Tmp_Set'Access);
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pragma Assert (Result = 0);
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act.sa_mask := Tmp_Set;
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Result :=
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sigaction
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(Signal (Interrupt_Management.Abort_Task_Interrupt),
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act'Unchecked_Access,
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old_act'Unchecked_Access);
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pragma Assert (Result = 0);
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Interrupt_Management.Initialize_Interrupts;
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end Install_Signal_Handlers;
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---------------------
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-- Initialize_Lock --
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---------------------
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procedure Initialize_Lock
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(Prio : System.Any_Priority;
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L : not null access Lock)
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is
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begin
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L.Mutex := semMCreate (SEM_Q_PRIORITY + SEM_INVERSION_SAFE);
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L.Prio_Ceiling := int (Prio);
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L.Protocol := Mutex_Protocol;
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pragma Assert (L.Mutex /= 0);
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end Initialize_Lock;
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procedure Initialize_Lock
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(L : not null access RTS_Lock;
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Level : Lock_Level)
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is
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pragma Unreferenced (Level);
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begin
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L.Mutex := semMCreate (SEM_Q_PRIORITY + SEM_INVERSION_SAFE);
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L.Prio_Ceiling := int (System.Any_Priority'Last);
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L.Protocol := Mutex_Protocol;
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pragma Assert (L.Mutex /= 0);
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end Initialize_Lock;
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-------------------
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-- Finalize_Lock --
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-------------------
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procedure Finalize_Lock (L : not null access Lock) is
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Result : int;
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begin
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Result := semDelete (L.Mutex);
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pragma Assert (Result = 0);
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end Finalize_Lock;
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procedure Finalize_Lock (L : not null access RTS_Lock) is
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Result : int;
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begin
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Result := semDelete (L.Mutex);
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pragma Assert (Result = 0);
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end Finalize_Lock;
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----------------
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-- Write_Lock --
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----------------
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procedure Write_Lock
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(L : not null access Lock;
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Ceiling_Violation : out Boolean)
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is
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Result : int;
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begin
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if L.Protocol = Prio_Protect
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and then int (Self.Common.Current_Priority) > L.Prio_Ceiling
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then
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Ceiling_Violation := True;
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return;
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else
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Ceiling_Violation := False;
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end if;
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Result := semTake (L.Mutex, WAIT_FOREVER);
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pragma Assert (Result = 0);
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end Write_Lock;
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procedure Write_Lock
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(L : not null access RTS_Lock;
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Global_Lock : Boolean := False)
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is
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Result : int;
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begin
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if not Single_Lock or else Global_Lock then
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Result := semTake (L.Mutex, WAIT_FOREVER);
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pragma Assert (Result = 0);
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end if;
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end Write_Lock;
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procedure Write_Lock (T : Task_Id) is
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Result : int;
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begin
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if not Single_Lock then
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Result := semTake (T.Common.LL.L.Mutex, WAIT_FOREVER);
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pragma Assert (Result = 0);
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end if;
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end Write_Lock;
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---------------
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-- Read_Lock --
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---------------
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procedure Read_Lock
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(L : not null access Lock;
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Ceiling_Violation : out Boolean)
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is
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begin
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Write_Lock (L, Ceiling_Violation);
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end Read_Lock;
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------------
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-- Unlock --
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------------
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procedure Unlock (L : not null access Lock) is
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Result : int;
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begin
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Result := semGive (L.Mutex);
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pragma Assert (Result = 0);
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end Unlock;
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procedure Unlock
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(L : not null access RTS_Lock;
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Global_Lock : Boolean := False)
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is
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Result : int;
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begin
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if not Single_Lock or else Global_Lock then
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Result := semGive (L.Mutex);
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pragma Assert (Result = 0);
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end if;
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end Unlock;
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procedure Unlock (T : Task_Id) is
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Result : int;
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begin
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if not Single_Lock then
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Result := semGive (T.Common.LL.L.Mutex);
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pragma Assert (Result = 0);
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end if;
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end Unlock;
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-----------------
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-- Set_Ceiling --
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-----------------
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-- Dynamic priority ceilings are not supported by the underlying system
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procedure Set_Ceiling
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(L : not null access Lock;
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Prio : System.Any_Priority)
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is
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pragma Unreferenced (L, Prio);
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begin
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null;
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end Set_Ceiling;
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-----------
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-- Sleep --
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-----------
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procedure Sleep (Self_ID : Task_Id; Reason : System.Tasking.Task_States) is
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pragma Unreferenced (Reason);
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Result : int;
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begin
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pragma Assert (Self_ID = Self);
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-- Release the mutex before sleeping
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Result :=
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semGive (if Single_Lock
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then Single_RTS_Lock.Mutex
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else Self_ID.Common.LL.L.Mutex);
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pragma Assert (Result = 0);
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-- Perform a blocking operation to take the CV semaphore. Note that a
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-- blocking operation in VxWorks will reenable task scheduling. When we
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-- are no longer blocked and control is returned, task scheduling will
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-- again be disabled.
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Result := semTake (Self_ID.Common.LL.CV, WAIT_FOREVER);
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pragma Assert (Result = 0);
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-- Take the mutex back
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Result :=
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semTake ((if Single_Lock
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then Single_RTS_Lock.Mutex
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else Self_ID.Common.LL.L.Mutex), WAIT_FOREVER);
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pragma Assert (Result = 0);
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end Sleep;
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|
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-----------------
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-- Timed_Sleep --
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-----------------
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|
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-- This is for use within the run-time system, so abort is assumed to be
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-- already deferred, and the caller should be holding its own ATCB lock.
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procedure Timed_Sleep
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(Self_ID : Task_Id;
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Time : Duration;
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Mode : ST.Delay_Modes;
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Reason : System.Tasking.Task_States;
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Timedout : out Boolean;
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Yielded : out Boolean)
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is
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pragma Unreferenced (Reason);
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Orig : constant Duration := Monotonic_Clock;
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Absolute : Duration;
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Ticks : int;
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Result : int;
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Wakeup : Boolean := False;
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begin
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Timedout := False;
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Yielded := True;
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if Mode = Relative then
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Absolute := Orig + Time;
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-- Systematically add one since the first tick will delay *at most*
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-- 1 / Rate_Duration seconds, so we need to add one to be on the
|
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-- safe side.
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Ticks := To_Clock_Ticks (Time);
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if Ticks > 0 and then Ticks < int'Last then
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Ticks := Ticks + 1;
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end if;
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else
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Absolute := Time;
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Ticks := To_Clock_Ticks (Time - Monotonic_Clock);
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end if;
|
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|
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if Ticks > 0 then
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loop
|
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-- Release the mutex before sleeping
|
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Result :=
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semGive (if Single_Lock
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then Single_RTS_Lock.Mutex
|
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else Self_ID.Common.LL.L.Mutex);
|
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pragma Assert (Result = 0);
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|
|
|
-- Perform a blocking operation to take the CV semaphore. Note
|
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-- that a blocking operation in VxWorks will reenable task
|
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-- scheduling. When we are no longer blocked and control is
|
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-- returned, task scheduling will again be disabled.
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|
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Result := semTake (Self_ID.Common.LL.CV, Ticks);
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|
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if Result = 0 then
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|
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-- Somebody may have called Wakeup for us
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Wakeup := True;
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|
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else
|
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if errno /= S_objLib_OBJ_TIMEOUT then
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Wakeup := True;
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|
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else
|
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-- If Ticks = int'last, it was most probably truncated so
|
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-- let's make another round after recomputing Ticks from
|
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-- the absolute time.
|
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|
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if Ticks /= int'Last then
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Timedout := True;
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|
|
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else
|
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Ticks := To_Clock_Ticks (Absolute - Monotonic_Clock);
|
|
|
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if Ticks < 0 then
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Timedout := True;
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end if;
|
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end if;
|
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end if;
|
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end if;
|
|
|
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-- Take the mutex back
|
|
|
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Result :=
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semTake ((if Single_Lock
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then Single_RTS_Lock.Mutex
|
|
else Self_ID.Common.LL.L.Mutex), WAIT_FOREVER);
|
|
pragma Assert (Result = 0);
|
|
|
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exit when Timedout or Wakeup;
|
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end loop;
|
|
|
|
else
|
|
Timedout := True;
|
|
|
|
-- Should never hold a lock while yielding
|
|
|
|
if Single_Lock then
|
|
Result := semGive (Single_RTS_Lock.Mutex);
|
|
Result := taskDelay (0);
|
|
Result := semTake (Single_RTS_Lock.Mutex, WAIT_FOREVER);
|
|
|
|
else
|
|
Result := semGive (Self_ID.Common.LL.L.Mutex);
|
|
Result := taskDelay (0);
|
|
Result := semTake (Self_ID.Common.LL.L.Mutex, WAIT_FOREVER);
|
|
end if;
|
|
end if;
|
|
end Timed_Sleep;
|
|
|
|
-----------------
|
|
-- Timed_Delay --
|
|
-----------------
|
|
|
|
-- This is for use in implementing delay statements, so we assume the
|
|
-- caller is holding no locks.
|
|
|
|
procedure Timed_Delay
|
|
(Self_ID : Task_Id;
|
|
Time : Duration;
|
|
Mode : ST.Delay_Modes)
|
|
is
|
|
Orig : constant Duration := Monotonic_Clock;
|
|
Absolute : Duration;
|
|
Ticks : int;
|
|
Timedout : Boolean;
|
|
Aborted : Boolean := False;
|
|
|
|
Result : int;
|
|
pragma Warnings (Off, Result);
|
|
|
|
begin
|
|
if Mode = Relative then
|
|
Absolute := Orig + Time;
|
|
Ticks := To_Clock_Ticks (Time);
|
|
|
|
if Ticks > 0 and then Ticks < int'Last then
|
|
|
|
-- First tick will delay anytime between 0 and 1 / sysClkRateGet
|
|
-- seconds, so we need to add one to be on the safe side.
|
|
|
|
Ticks := Ticks + 1;
|
|
end if;
|
|
|
|
else
|
|
Absolute := Time;
|
|
Ticks := To_Clock_Ticks (Time - Orig);
|
|
end if;
|
|
|
|
if Ticks > 0 then
|
|
|
|
-- Modifying State, locking the TCB
|
|
|
|
Result :=
|
|
semTake ((if Single_Lock
|
|
then Single_RTS_Lock.Mutex
|
|
else Self_ID.Common.LL.L.Mutex), WAIT_FOREVER);
|
|
|
|
pragma Assert (Result = 0);
|
|
|
|
Self_ID.Common.State := Delay_Sleep;
|
|
Timedout := False;
|
|
|
|
loop
|
|
Aborted := Self_ID.Pending_ATC_Level < Self_ID.ATC_Nesting_Level;
|
|
|
|
-- Release the TCB before sleeping
|
|
|
|
Result :=
|
|
semGive (if Single_Lock
|
|
then Single_RTS_Lock.Mutex
|
|
else Self_ID.Common.LL.L.Mutex);
|
|
pragma Assert (Result = 0);
|
|
|
|
exit when Aborted;
|
|
|
|
Result := semTake (Self_ID.Common.LL.CV, Ticks);
|
|
|
|
if Result /= 0 then
|
|
|
|
-- If Ticks = int'last, it was most probably truncated, so make
|
|
-- another round after recomputing Ticks from absolute time.
|
|
|
|
if errno = S_objLib_OBJ_TIMEOUT and then Ticks /= int'Last then
|
|
Timedout := True;
|
|
else
|
|
Ticks := To_Clock_Ticks (Absolute - Monotonic_Clock);
|
|
|
|
if Ticks < 0 then
|
|
Timedout := True;
|
|
end if;
|
|
end if;
|
|
end if;
|
|
|
|
-- Take back the lock after having slept, to protect further
|
|
-- access to Self_ID.
|
|
|
|
Result :=
|
|
semTake
|
|
((if Single_Lock
|
|
then Single_RTS_Lock.Mutex
|
|
else Self_ID.Common.LL.L.Mutex), WAIT_FOREVER);
|
|
|
|
pragma Assert (Result = 0);
|
|
|
|
exit when Timedout;
|
|
end loop;
|
|
|
|
Self_ID.Common.State := Runnable;
|
|
|
|
Result :=
|
|
semGive
|
|
(if Single_Lock
|
|
then Single_RTS_Lock.Mutex
|
|
else Self_ID.Common.LL.L.Mutex);
|
|
|
|
else
|
|
Result := taskDelay (0);
|
|
end if;
|
|
end Timed_Delay;
|
|
|
|
---------------------
|
|
-- Monotonic_Clock --
|
|
---------------------
|
|
|
|
function Monotonic_Clock return Duration is
|
|
TS : aliased timespec;
|
|
Result : int;
|
|
begin
|
|
Result := clock_gettime (OSC.CLOCK_RT_Ada, TS'Unchecked_Access);
|
|
pragma Assert (Result = 0);
|
|
return To_Duration (TS);
|
|
end Monotonic_Clock;
|
|
|
|
-------------------
|
|
-- RT_Resolution --
|
|
-------------------
|
|
|
|
function RT_Resolution return Duration is
|
|
begin
|
|
return 1.0 / Duration (sysClkRateGet);
|
|
end RT_Resolution;
|
|
|
|
------------
|
|
-- Wakeup --
|
|
------------
|
|
|
|
procedure Wakeup (T : Task_Id; Reason : System.Tasking.Task_States) is
|
|
pragma Unreferenced (Reason);
|
|
Result : int;
|
|
begin
|
|
Result := semGive (T.Common.LL.CV);
|
|
pragma Assert (Result = 0);
|
|
end Wakeup;
|
|
|
|
-----------
|
|
-- Yield --
|
|
-----------
|
|
|
|
procedure Yield (Do_Yield : Boolean := True) is
|
|
pragma Unreferenced (Do_Yield);
|
|
Result : int;
|
|
pragma Unreferenced (Result);
|
|
begin
|
|
Result := taskDelay (0);
|
|
end Yield;
|
|
|
|
------------------
|
|
-- Set_Priority --
|
|
------------------
|
|
|
|
procedure Set_Priority
|
|
(T : Task_Id;
|
|
Prio : System.Any_Priority;
|
|
Loss_Of_Inheritance : Boolean := False)
|
|
is
|
|
pragma Unreferenced (Loss_Of_Inheritance);
|
|
|
|
Result : int;
|
|
|
|
begin
|
|
Result :=
|
|
taskPrioritySet
|
|
(T.Common.LL.Thread, To_VxWorks_Priority (int (Prio)));
|
|
pragma Assert (Result = 0);
|
|
|
|
-- Note: in VxWorks 6.6 (or earlier), the task is placed at the end of
|
|
-- the priority queue instead of the head. This is not the behavior
|
|
-- required by Annex D (RM D.2.3(5/2)), but we consider it an acceptable
|
|
-- variation (RM 1.1.3(6)), given this is the built-in behavior of the
|
|
-- operating system. VxWorks versions starting from 6.7 implement the
|
|
-- required Annex D semantics.
|
|
|
|
-- In older versions we attempted to better approximate the Annex D
|
|
-- required behavior, but this simulation was not entirely accurate,
|
|
-- and it seems better to live with the standard VxWorks semantics.
|
|
|
|
T.Common.Current_Priority := Prio;
|
|
end Set_Priority;
|
|
|
|
------------------
|
|
-- Get_Priority --
|
|
------------------
|
|
|
|
function Get_Priority (T : Task_Id) return System.Any_Priority is
|
|
begin
|
|
return T.Common.Current_Priority;
|
|
end Get_Priority;
|
|
|
|
----------------
|
|
-- Enter_Task --
|
|
----------------
|
|
|
|
procedure Enter_Task (Self_ID : Task_Id) is
|
|
begin
|
|
-- Store the user-level task id in the Thread field (to be used
|
|
-- internally by the run-time system) and the kernel-level task id in
|
|
-- the LWP field (to be used by the debugger).
|
|
|
|
Self_ID.Common.LL.Thread := taskIdSelf;
|
|
Self_ID.Common.LL.LWP := getpid;
|
|
|
|
Specific.Set (Self_ID);
|
|
|
|
-- Properly initializes the FPU for PPC/MIPS systems
|
|
|
|
System.Float_Control.Reset;
|
|
|
|
-- Install the signal handlers
|
|
|
|
-- This is called for each task since there is no signal inheritance
|
|
-- between VxWorks tasks.
|
|
|
|
Install_Signal_Handlers;
|
|
|
|
-- If stack checking is enabled, set the stack limit for this task
|
|
|
|
if Set_Stack_Limit_Hook /= null then
|
|
Set_Stack_Limit_Hook.all;
|
|
end if;
|
|
end Enter_Task;
|
|
|
|
-------------------
|
|
-- Is_Valid_Task --
|
|
-------------------
|
|
|
|
function Is_Valid_Task return Boolean renames Specific.Is_Valid_Task;
|
|
|
|
-----------------------------
|
|
-- Register_Foreign_Thread --
|
|
-----------------------------
|
|
|
|
function Register_Foreign_Thread return Task_Id is
|
|
begin
|
|
if Is_Valid_Task then
|
|
return Self;
|
|
else
|
|
return Register_Foreign_Thread (taskIdSelf);
|
|
end if;
|
|
end Register_Foreign_Thread;
|
|
|
|
--------------------
|
|
-- Initialize_TCB --
|
|
--------------------
|
|
|
|
procedure Initialize_TCB (Self_ID : Task_Id; Succeeded : out Boolean) is
|
|
begin
|
|
Self_ID.Common.LL.CV := semBCreate (SEM_Q_PRIORITY, SEM_EMPTY);
|
|
Self_ID.Common.LL.Thread := Null_Thread_Id;
|
|
|
|
if Self_ID.Common.LL.CV = 0 then
|
|
Succeeded := False;
|
|
|
|
else
|
|
Succeeded := True;
|
|
|
|
if not Single_Lock then
|
|
Initialize_Lock (Self_ID.Common.LL.L'Access, ATCB_Level);
|
|
end if;
|
|
end if;
|
|
end Initialize_TCB;
|
|
|
|
-----------------
|
|
-- Create_Task --
|
|
-----------------
|
|
|
|
procedure Create_Task
|
|
(T : Task_Id;
|
|
Wrapper : System.Address;
|
|
Stack_Size : System.Parameters.Size_Type;
|
|
Priority : System.Any_Priority;
|
|
Succeeded : out Boolean)
|
|
is
|
|
Adjusted_Stack_Size : size_t;
|
|
|
|
use type System.Multiprocessors.CPU_Range;
|
|
|
|
begin
|
|
-- Check whether both Dispatching_Domain and CPU are specified for
|
|
-- the task, and the CPU value is not contained within the range of
|
|
-- processors for the domain.
|
|
|
|
if T.Common.Domain /= null
|
|
and then T.Common.Base_CPU /= System.Multiprocessors.Not_A_Specific_CPU
|
|
and then
|
|
(T.Common.Base_CPU not in T.Common.Domain'Range
|
|
or else not T.Common.Domain (T.Common.Base_CPU))
|
|
then
|
|
Succeeded := False;
|
|
return;
|
|
end if;
|
|
|
|
-- Ask for four extra bytes of stack space so that the ATCB pointer can
|
|
-- be stored below the stack limit, plus extra space for the frame of
|
|
-- Task_Wrapper. This is so the user gets the amount of stack requested
|
|
-- exclusive of the needs.
|
|
|
|
-- We also have to allocate n more bytes for the task name storage and
|
|
-- enough space for the Wind Task Control Block which is around 0x778
|
|
-- bytes. VxWorks also seems to carve out additional space, so use 2048
|
|
-- as a nice round number. We might want to increment to the nearest
|
|
-- page size in case we ever support VxVMI.
|
|
|
|
-- ??? - we should come back and visit this so we can set the task name
|
|
-- to something appropriate.
|
|
|
|
Adjusted_Stack_Size := size_t (Stack_Size) + 2048;
|
|
|
|
-- Since the initial signal mask of a thread is inherited from the
|
|
-- creator, and the Environment task has all its signals masked, we do
|
|
-- not need to manipulate caller's signal mask at this point. All tasks
|
|
-- in RTS will have All_Tasks_Mask initially.
|
|
|
|
-- We now compute the VxWorks task name and options, then spawn ...
|
|
|
|
declare
|
|
Name : aliased String (1 .. T.Common.Task_Image_Len + 1);
|
|
Name_Address : System.Address;
|
|
-- Task name we are going to hand down to VxWorks
|
|
|
|
function Get_Task_Options return int;
|
|
pragma Import (C, Get_Task_Options, "__gnat_get_task_options");
|
|
-- Function that returns the options to be set for the task that we
|
|
-- are creating. We fetch the options assigned to the current task,
|
|
-- so offering some user level control over the options for a task
|
|
-- hierarchy, and force VX_FP_TASK because it is almost always
|
|
-- required.
|
|
|
|
begin
|
|
-- If there is no Ada task name handy, let VxWorks choose one.
|
|
-- Otherwise, tell VxWorks what the Ada task name is.
|
|
|
|
if T.Common.Task_Image_Len = 0 then
|
|
Name_Address := System.Null_Address;
|
|
else
|
|
Name (1 .. Name'Last - 1) :=
|
|
T.Common.Task_Image (1 .. T.Common.Task_Image_Len);
|
|
Name (Name'Last) := ASCII.NUL;
|
|
Name_Address := Name'Address;
|
|
end if;
|
|
|
|
-- Now spawn the VxWorks task for real
|
|
|
|
T.Common.LL.Thread :=
|
|
taskSpawn
|
|
(Name_Address,
|
|
To_VxWorks_Priority (int (Priority)),
|
|
Get_Task_Options,
|
|
Adjusted_Stack_Size,
|
|
Wrapper,
|
|
To_Address (T));
|
|
end;
|
|
|
|
-- Set processor affinity
|
|
|
|
Set_Task_Affinity (T);
|
|
|
|
-- Only case of failure is if taskSpawn returned 0 (aka Null_Thread_Id)
|
|
|
|
if T.Common.LL.Thread = Null_Thread_Id then
|
|
Succeeded := False;
|
|
else
|
|
Succeeded := True;
|
|
Task_Creation_Hook (T.Common.LL.Thread);
|
|
Set_Priority (T, Priority);
|
|
end if;
|
|
end Create_Task;
|
|
|
|
------------------
|
|
-- Finalize_TCB --
|
|
------------------
|
|
|
|
procedure Finalize_TCB (T : Task_Id) is
|
|
Result : int;
|
|
|
|
begin
|
|
if not Single_Lock then
|
|
Result := semDelete (T.Common.LL.L.Mutex);
|
|
pragma Assert (Result = 0);
|
|
end if;
|
|
|
|
T.Common.LL.Thread := Null_Thread_Id;
|
|
|
|
Result := semDelete (T.Common.LL.CV);
|
|
pragma Assert (Result = 0);
|
|
|
|
if T.Known_Tasks_Index /= -1 then
|
|
Known_Tasks (T.Known_Tasks_Index) := null;
|
|
end if;
|
|
|
|
ATCB_Allocation.Free_ATCB (T);
|
|
end Finalize_TCB;
|
|
|
|
---------------
|
|
-- Exit_Task --
|
|
---------------
|
|
|
|
procedure Exit_Task is
|
|
begin
|
|
Specific.Set (null);
|
|
end Exit_Task;
|
|
|
|
----------------
|
|
-- Abort_Task --
|
|
----------------
|
|
|
|
procedure Abort_Task (T : Task_Id) is
|
|
Result : int;
|
|
begin
|
|
Result :=
|
|
kill
|
|
(T.Common.LL.Thread,
|
|
Signal (Interrupt_Management.Abort_Task_Interrupt));
|
|
pragma Assert (Result = 0);
|
|
end Abort_Task;
|
|
|
|
----------------
|
|
-- Initialize --
|
|
----------------
|
|
|
|
procedure Initialize (S : in out Suspension_Object) is
|
|
begin
|
|
-- Initialize internal state (always to False (RM D.10(6)))
|
|
|
|
S.State := False;
|
|
S.Waiting := False;
|
|
|
|
-- Initialize internal mutex
|
|
|
|
-- Use simpler binary semaphore instead of VxWorks mutual exclusion
|
|
-- semaphore, because we don't need the fancier semantics and their
|
|
-- overhead.
|
|
|
|
S.L := semBCreate (SEM_Q_FIFO, SEM_FULL);
|
|
|
|
-- Initialize internal condition variable
|
|
|
|
S.CV := semBCreate (SEM_Q_FIFO, SEM_EMPTY);
|
|
end Initialize;
|
|
|
|
--------------
|
|
-- Finalize --
|
|
--------------
|
|
|
|
procedure Finalize (S : in out Suspension_Object) is
|
|
pragma Unmodified (S);
|
|
-- S may be modified on other targets, but not on VxWorks
|
|
|
|
Result : STATUS;
|
|
|
|
begin
|
|
-- Destroy internal mutex
|
|
|
|
Result := semDelete (S.L);
|
|
pragma Assert (Result = OK);
|
|
|
|
-- Destroy internal condition variable
|
|
|
|
Result := semDelete (S.CV);
|
|
pragma Assert (Result = OK);
|
|
end Finalize;
|
|
|
|
-------------------
|
|
-- Current_State --
|
|
-------------------
|
|
|
|
function Current_State (S : Suspension_Object) return Boolean is
|
|
begin
|
|
-- We do not want to use lock on this read operation. State is marked
|
|
-- as Atomic so that we ensure that the value retrieved is correct.
|
|
|
|
return S.State;
|
|
end Current_State;
|
|
|
|
---------------
|
|
-- Set_False --
|
|
---------------
|
|
|
|
procedure Set_False (S : in out Suspension_Object) is
|
|
Result : STATUS;
|
|
|
|
begin
|
|
SSL.Abort_Defer.all;
|
|
|
|
Result := semTake (S.L, WAIT_FOREVER);
|
|
pragma Assert (Result = OK);
|
|
|
|
S.State := False;
|
|
|
|
Result := semGive (S.L);
|
|
pragma Assert (Result = OK);
|
|
|
|
SSL.Abort_Undefer.all;
|
|
end Set_False;
|
|
|
|
--------------
|
|
-- Set_True --
|
|
--------------
|
|
|
|
procedure Set_True (S : in out Suspension_Object) is
|
|
Result : STATUS;
|
|
|
|
begin
|
|
-- Set_True can be called from an interrupt context, in which case
|
|
-- Abort_Defer is undefined.
|
|
|
|
if Is_Task_Context then
|
|
SSL.Abort_Defer.all;
|
|
end if;
|
|
|
|
Result := semTake (S.L, WAIT_FOREVER);
|
|
pragma Assert (Result = OK);
|
|
|
|
-- If there is already a task waiting on this suspension object then we
|
|
-- resume it, leaving the state of the suspension object to False, as it
|
|
-- is specified in (RM D.10 (9)). Otherwise, it just leaves the state to
|
|
-- True.
|
|
|
|
if S.Waiting then
|
|
S.Waiting := False;
|
|
S.State := False;
|
|
|
|
Result := semGive (S.CV);
|
|
pragma Assert (Result = OK);
|
|
else
|
|
S.State := True;
|
|
end if;
|
|
|
|
Result := semGive (S.L);
|
|
pragma Assert (Result = OK);
|
|
|
|
-- Set_True can be called from an interrupt context, in which case
|
|
-- Abort_Undefer is undefined.
|
|
|
|
if Is_Task_Context then
|
|
SSL.Abort_Undefer.all;
|
|
end if;
|
|
|
|
end Set_True;
|
|
|
|
------------------------
|
|
-- Suspend_Until_True --
|
|
------------------------
|
|
|
|
procedure Suspend_Until_True (S : in out Suspension_Object) is
|
|
Result : STATUS;
|
|
|
|
begin
|
|
SSL.Abort_Defer.all;
|
|
|
|
Result := semTake (S.L, WAIT_FOREVER);
|
|
|
|
if S.Waiting then
|
|
|
|
-- Program_Error must be raised upon calling Suspend_Until_True
|
|
-- if another task is already waiting on that suspension object
|
|
-- (RM D.10(10)).
|
|
|
|
Result := semGive (S.L);
|
|
pragma Assert (Result = OK);
|
|
|
|
SSL.Abort_Undefer.all;
|
|
|
|
raise Program_Error;
|
|
|
|
else
|
|
-- Suspend the task if the state is False. Otherwise, the task
|
|
-- continues its execution, and the state of the suspension object
|
|
-- is set to False (RM D.10 (9)).
|
|
|
|
if S.State then
|
|
S.State := False;
|
|
|
|
Result := semGive (S.L);
|
|
pragma Assert (Result = 0);
|
|
|
|
SSL.Abort_Undefer.all;
|
|
|
|
else
|
|
S.Waiting := True;
|
|
|
|
-- Release the mutex before sleeping
|
|
|
|
Result := semGive (S.L);
|
|
pragma Assert (Result = OK);
|
|
|
|
SSL.Abort_Undefer.all;
|
|
|
|
Result := semTake (S.CV, WAIT_FOREVER);
|
|
pragma Assert (Result = 0);
|
|
end if;
|
|
end if;
|
|
end Suspend_Until_True;
|
|
|
|
----------------
|
|
-- Check_Exit --
|
|
----------------
|
|
|
|
-- Dummy version
|
|
|
|
function Check_Exit (Self_ID : ST.Task_Id) return Boolean is
|
|
pragma Unreferenced (Self_ID);
|
|
begin
|
|
return True;
|
|
end Check_Exit;
|
|
|
|
--------------------
|
|
-- Check_No_Locks --
|
|
--------------------
|
|
|
|
function Check_No_Locks (Self_ID : ST.Task_Id) return Boolean is
|
|
pragma Unreferenced (Self_ID);
|
|
begin
|
|
return True;
|
|
end Check_No_Locks;
|
|
|
|
----------------------
|
|
-- Environment_Task --
|
|
----------------------
|
|
|
|
function Environment_Task return Task_Id is
|
|
begin
|
|
return Environment_Task_Id;
|
|
end Environment_Task;
|
|
|
|
--------------
|
|
-- Lock_RTS --
|
|
--------------
|
|
|
|
procedure Lock_RTS is
|
|
begin
|
|
Write_Lock (Single_RTS_Lock'Access, Global_Lock => True);
|
|
end Lock_RTS;
|
|
|
|
----------------
|
|
-- Unlock_RTS --
|
|
----------------
|
|
|
|
procedure Unlock_RTS is
|
|
begin
|
|
Unlock (Single_RTS_Lock'Access, Global_Lock => True);
|
|
end Unlock_RTS;
|
|
|
|
------------------
|
|
-- Suspend_Task --
|
|
------------------
|
|
|
|
function Suspend_Task
|
|
(T : ST.Task_Id;
|
|
Thread_Self : Thread_Id) return Boolean
|
|
is
|
|
begin
|
|
if T.Common.LL.Thread /= Null_Thread_Id
|
|
and then T.Common.LL.Thread /= Thread_Self
|
|
then
|
|
return taskSuspend (T.Common.LL.Thread) = 0;
|
|
else
|
|
return True;
|
|
end if;
|
|
end Suspend_Task;
|
|
|
|
-----------------
|
|
-- Resume_Task --
|
|
-----------------
|
|
|
|
function Resume_Task
|
|
(T : ST.Task_Id;
|
|
Thread_Self : Thread_Id) return Boolean
|
|
is
|
|
begin
|
|
if T.Common.LL.Thread /= Null_Thread_Id
|
|
and then T.Common.LL.Thread /= Thread_Self
|
|
then
|
|
return taskResume (T.Common.LL.Thread) = 0;
|
|
else
|
|
return True;
|
|
end if;
|
|
end Resume_Task;
|
|
|
|
--------------------
|
|
-- Stop_All_Tasks --
|
|
--------------------
|
|
|
|
procedure Stop_All_Tasks
|
|
is
|
|
Thread_Self : constant Thread_Id := taskIdSelf;
|
|
C : Task_Id;
|
|
|
|
Dummy : int;
|
|
Old : int;
|
|
|
|
begin
|
|
Old := Int_Lock;
|
|
|
|
C := All_Tasks_List;
|
|
while C /= null loop
|
|
if C.Common.LL.Thread /= Null_Thread_Id
|
|
and then C.Common.LL.Thread /= Thread_Self
|
|
then
|
|
Dummy := Task_Stop (C.Common.LL.Thread);
|
|
end if;
|
|
|
|
C := C.Common.All_Tasks_Link;
|
|
end loop;
|
|
|
|
Dummy := Int_Unlock (Old);
|
|
end Stop_All_Tasks;
|
|
|
|
---------------
|
|
-- Stop_Task --
|
|
---------------
|
|
|
|
function Stop_Task (T : ST.Task_Id) return Boolean is
|
|
begin
|
|
if T.Common.LL.Thread /= Null_Thread_Id then
|
|
return Task_Stop (T.Common.LL.Thread) = 0;
|
|
else
|
|
return True;
|
|
end if;
|
|
end Stop_Task;
|
|
|
|
-------------------
|
|
-- Continue_Task --
|
|
-------------------
|
|
|
|
function Continue_Task (T : ST.Task_Id) return Boolean
|
|
is
|
|
begin
|
|
if T.Common.LL.Thread /= Null_Thread_Id then
|
|
return Task_Cont (T.Common.LL.Thread) = 0;
|
|
else
|
|
return True;
|
|
end if;
|
|
end Continue_Task;
|
|
|
|
---------------------
|
|
-- Is_Task_Context --
|
|
---------------------
|
|
|
|
function Is_Task_Context return Boolean is
|
|
begin
|
|
return System.OS_Interface.Interrupt_Context /= 1;
|
|
end Is_Task_Context;
|
|
|
|
----------------
|
|
-- Initialize --
|
|
----------------
|
|
|
|
procedure Initialize (Environment_Task : Task_Id) is
|
|
Result : int;
|
|
pragma Unreferenced (Result);
|
|
|
|
begin
|
|
Environment_Task_Id := Environment_Task;
|
|
|
|
Interrupt_Management.Initialize;
|
|
Specific.Initialize;
|
|
|
|
if Locking_Policy = 'C' then
|
|
Mutex_Protocol := Prio_Protect;
|
|
elsif Locking_Policy = 'I' then
|
|
Mutex_Protocol := Prio_Inherit;
|
|
else
|
|
Mutex_Protocol := Prio_None;
|
|
end if;
|
|
|
|
if Time_Slice_Val > 0 then
|
|
Result :=
|
|
Set_Time_Slice
|
|
(To_Clock_Ticks
|
|
(Duration (Time_Slice_Val) / Duration (1_000_000.0)));
|
|
|
|
elsif Dispatching_Policy = 'R' then
|
|
Result := Set_Time_Slice (To_Clock_Ticks (0.01));
|
|
|
|
end if;
|
|
|
|
-- Initialize the lock used to synchronize chain of all ATCBs
|
|
|
|
Initialize_Lock (Single_RTS_Lock'Access, RTS_Lock_Level);
|
|
|
|
-- Make environment task known here because it doesn't go through
|
|
-- Activate_Tasks, which does it for all other tasks.
|
|
|
|
Known_Tasks (Known_Tasks'First) := Environment_Task;
|
|
Environment_Task.Known_Tasks_Index := Known_Tasks'First;
|
|
|
|
Enter_Task (Environment_Task);
|
|
|
|
-- Set processor affinity
|
|
|
|
Set_Task_Affinity (Environment_Task);
|
|
end Initialize;
|
|
|
|
-----------------------
|
|
-- Set_Task_Affinity --
|
|
-----------------------
|
|
|
|
procedure Set_Task_Affinity (T : ST.Task_Id) is
|
|
Result : int := 0;
|
|
pragma Unreferenced (Result);
|
|
|
|
use System.Task_Info;
|
|
use type System.Multiprocessors.CPU_Range;
|
|
|
|
begin
|
|
-- Do nothing if the underlying thread has not yet been created. If the
|
|
-- thread has not yet been created then the proper affinity will be set
|
|
-- during its creation.
|
|
|
|
if T.Common.LL.Thread = Null_Thread_Id then
|
|
null;
|
|
|
|
-- pragma CPU
|
|
|
|
elsif T.Common.Base_CPU /= Multiprocessors.Not_A_Specific_CPU then
|
|
|
|
-- Ada 2012 pragma CPU uses CPU numbers starting from 1, while on
|
|
-- VxWorks the first CPU is identified by a 0, so we need to adjust.
|
|
|
|
Result :=
|
|
taskCpuAffinitySet
|
|
(T.Common.LL.Thread, int (T.Common.Base_CPU) - 1);
|
|
|
|
-- Task_Info
|
|
|
|
elsif T.Common.Task_Info /= Unspecified_Task_Info then
|
|
Result := taskCpuAffinitySet (T.Common.LL.Thread, T.Common.Task_Info);
|
|
|
|
-- Handle dispatching domains
|
|
|
|
elsif T.Common.Domain /= null
|
|
and then (T.Common.Domain /= ST.System_Domain
|
|
or else T.Common.Domain.all /=
|
|
(Multiprocessors.CPU'First ..
|
|
Multiprocessors.Number_Of_CPUs => True))
|
|
then
|
|
declare
|
|
CPU_Set : unsigned := 0;
|
|
|
|
begin
|
|
-- Set the affinity to all the processors belonging to the
|
|
-- dispatching domain.
|
|
|
|
for Proc in T.Common.Domain'Range loop
|
|
if T.Common.Domain (Proc) then
|
|
|
|
-- The thread affinity mask is a bit vector in which each
|
|
-- bit represents a logical processor.
|
|
|
|
CPU_Set := CPU_Set + 2 ** (Integer (Proc) - 1);
|
|
end if;
|
|
end loop;
|
|
|
|
Result := taskMaskAffinitySet (T.Common.LL.Thread, CPU_Set);
|
|
end;
|
|
end if;
|
|
end Set_Task_Affinity;
|
|
|
|
end System.Task_Primitives.Operations;
|