File : s-osinte-vxworks.ads
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 -- --
20 -- --
21 -- --
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
41 with Interfaces.C;
42 with System.VxWorks;
43 with System.VxWorks.Ext;
44 with System.Multiprocessors;
45
46 package 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 pragma Import (C, taskDelay, "taskDelay");
307
308 function sysClkRateGet return int;
309 pragma Import (C, sysClkRateGet, "sysClkRateGet");
310
311 -- VxWorks 5.x specific functions
312 -- Must not be called from run-time for versions that do not support
313 -- taskVarLib: eg VxWorks 6 RTPs
314
315 function taskVarAdd
316 (tid : t_id; pVar : access System.Address) return int;
317 pragma Import (C, taskVarAdd, "taskVarAdd");
318
319 function taskVarDelete
320 (tid : t_id; pVar : access System.Address) return int;
321 pragma Import (C, taskVarDelete, "taskVarDelete");
322
323 function taskVarSet
324 (tid : t_id;
325 pVar : access System.Address;
326 value : System.Address) return int;
327 pragma Import (C, taskVarSet, "taskVarSet");
328
329 function taskVarGet
330 (tid : t_id;
331 pVar : access System.Address) return int;
332 pragma Import (C, taskVarGet, "taskVarGet");
333
334 -- VxWorks 6.x specific functions
335
336 -- Can only be called from the VxWorks 6 run-time libary that supports
337 -- tlsLib, and not by the VxWorks 6.6 SMP library
338
339 function tlsKeyCreate return int;
340 pragma Import (C, tlsKeyCreate, "tlsKeyCreate");
341
342 function tlsValueGet (key : int) return System.Address;
343 pragma Import (C, tlsValueGet, "tlsValueGet");
344
345 function tlsValueSet (key : int; value : System.Address) return STATUS;
346 pragma Import (C, tlsValueSet, "tlsValueSet");
347
348 -- Option flags for taskSpawn
349
350 VX_UNBREAKABLE : constant := 16#0002#;
351 VX_FP_PRIVATE_ENV : constant := 16#0080#;
352 VX_NO_STACK_FILL : constant := 16#0100#;
353
354 function taskSpawn
355 (name : System.Address; -- Pointer to task name
356 priority : int;
357 options : int;
358 stacksize : size_t;
359 start_routine : System.Address;
360 arg1 : System.Address;
361 arg2 : int := 0;
362 arg3 : int := 0;
363 arg4 : int := 0;
364 arg5 : int := 0;
365 arg6 : int := 0;
366 arg7 : int := 0;
367 arg8 : int := 0;
368 arg9 : int := 0;
369 arg10 : int := 0) return t_id;
370 pragma Import (C, taskSpawn, "taskSpawn");
371
372 procedure taskDelete (tid : t_id);
373 pragma Import (C, taskDelete, "taskDelete");
374
375 function Set_Time_Slice (ticks : int) return int
376 renames System.VxWorks.Ext.Set_Time_Slice;
377 -- Calls kernelTimeSlice under VxWorks 5.x, VxWorks 653, or in VxWorks 6
378 -- kernel apps. Returns ERROR for RTPs, VxWorks 5 /CERT
379
380 function taskPriorityGet (tid : t_id; pPriority : access int) return int;
381 pragma Import (C, taskPriorityGet, "taskPriorityGet");
382
383 function taskPrioritySet (tid : t_id; newPriority : int) return int;
384 pragma Import (C, taskPrioritySet, "taskPrioritySet");
385
386 -- Semaphore creation flags
387
388 SEM_Q_FIFO : constant := 0;
389 SEM_Q_PRIORITY : constant := 1;
390 SEM_DELETE_SAFE : constant := 4; -- only valid for binary semaphore
391 SEM_INVERSION_SAFE : constant := 8; -- only valid for binary semaphore
392
393 -- Semaphore initial state flags
394
395 SEM_EMPTY : constant := 0;
396 SEM_FULL : constant := 1;
397
398 -- Semaphore take (semTake) time constants
399
400 WAIT_FOREVER : constant := -1;
401 NO_WAIT : constant := 0;
402
403 -- Error codes (errno). The lower level 16 bits are the error code, with
404 -- the upper 16 bits representing the module number in which the error
405 -- occurred. By convention, the module number is 0 for UNIX errors. VxWorks
406 -- reserves module numbers 1-500, with the remaining module numbers being
407 -- available for user applications.
408
409 M_objLib : constant := 61 * 2**16;
410 -- semTake() failure with ticks = NO_WAIT
411 S_objLib_OBJ_UNAVAILABLE : constant := M_objLib + 2;
412 -- semTake() timeout with ticks > NO_WAIT
413 S_objLib_OBJ_TIMEOUT : constant := M_objLib + 4;
414
415 subtype SEM_ID is System.VxWorks.Ext.SEM_ID;
416 -- typedef struct semaphore *SEM_ID;
417
418 -- We use two different kinds of VxWorks semaphores: mutex and binary
419 -- semaphores. A null ID is returned when a semaphore cannot be created.
420
421 function semBCreate (options : int; initial_state : int) return SEM_ID;
422 pragma Import (C, semBCreate, "semBCreate");
423 -- Create a binary semaphore. Return ID, or 0 if memory could not
424 -- be allocated.
425
426 function semMCreate (options : int) return SEM_ID;
427 pragma Import (C, semMCreate, "semMCreate");
428
429 function semDelete (Sem : SEM_ID) return int
430 renames System.VxWorks.Ext.semDelete;
431 -- Delete a semaphore
432
433 function semGive (Sem : SEM_ID) return int;
434 pragma Import (C, semGive, "semGive");
435
436 function semTake (Sem : SEM_ID; timeout : int) return int;
437 pragma Import (C, semTake, "semTake");
438 -- Attempt to take binary semaphore. Error is returned if operation
439 -- times out
440
441 function semFlush (SemID : SEM_ID) return STATUS;
442 pragma Import (C, semFlush, "semFlush");
443 -- Release all threads blocked on the semaphore
444
445 ------------------------------------------------------------
446 -- Binary Semaphore Wrapper to Support interrupt Tasks --
447 ------------------------------------------------------------
448
449 type Binary_Semaphore_Id is new Long_Integer;
450
451 function Binary_Semaphore_Create return Binary_Semaphore_Id;
452 pragma Inline (Binary_Semaphore_Create);
453
454 function Binary_Semaphore_Delete (ID : Binary_Semaphore_Id) return int;
455 pragma Inline (Binary_Semaphore_Delete);
456
457 function Binary_Semaphore_Obtain (ID : Binary_Semaphore_Id) return int;
458 pragma Inline (Binary_Semaphore_Obtain);
459
460 function Binary_Semaphore_Release (ID : Binary_Semaphore_Id) return int;
461 pragma Inline (Binary_Semaphore_Release);
462
463 function Binary_Semaphore_Flush (ID : Binary_Semaphore_Id) return int;
464 pragma Inline (Binary_Semaphore_Flush);
465
466 ------------------------------------------------------------
467 -- Hardware Interrupt Wrappers to Support Interrupt Tasks --
468 ------------------------------------------------------------
469
470 type Interrupt_Handler is access procedure (parameter : System.Address);
471 pragma Convention (C, Interrupt_Handler);
472
473 type Interrupt_Vector is new System.Address;
474
475 function Interrupt_Connect
476 (Vector : Interrupt_Vector;
477 Handler : Interrupt_Handler;
478 Parameter : System.Address := System.Null_Address) return int;
479 pragma Inline (Interrupt_Connect);
480 -- Use this to set up an user handler. The routine installs a user handler
481 -- which is invoked after the OS has saved enough context for a high-level
482 -- language routine to be safely invoked.
483
484 function Interrupt_Context return int;
485 pragma Inline (Interrupt_Context);
486 -- Return 1 if executing in an interrupt context; return 0 if executing in
487 -- a task context.
488
489 function Interrupt_Number_To_Vector (intNum : int) return Interrupt_Vector;
490 pragma Inline (Interrupt_Number_To_Vector);
491 -- Convert a logical interrupt number to the hardware interrupt vector
492 -- number used to connect the interrupt.
493
494 --------------------------------
495 -- Processor Affinity for SMP --
496 --------------------------------
497
498 function taskCpuAffinitySet (tid : t_id; CPU : int) return int
499 renames System.VxWorks.Ext.taskCpuAffinitySet;
500 -- For SMP run-times the affinity to CPU.
501 -- For uniprocessor systems return ERROR status.
502
503 function taskMaskAffinitySet (tid : t_id; CPU_Set : unsigned) return int
504 renames System.VxWorks.Ext.taskMaskAffinitySet;
505 -- For SMP run-times the affinity to CPU_Set.
506 -- For uniprocessor systems return ERROR status.
507
508 ---------------------
509 -- Multiprocessors --
510 ---------------------
511
512 function Current_CPU return Multiprocessors.CPU;
513 -- Return the id of the current CPU
514
515 private
516 type pid_t is new int;
517
518 ERROR_PID : constant pid_t := -1;
519
520 type sigset_t is new System.VxWorks.Ext.sigset_t;
521 end System.OS_Interface;