--- /dev/null
+//////////////////////////////////////////////////////////////////////////////
+// Filename: vxWorks.cc
+// Author: Tihomir Sokcevic
+// Acterna, Eningen.
+// Description: vxWorks adaptation of the omnithread wrapper classes
+// Notes: Munching strategy is imperative
+//////////////////////////////////////////////////////////////////////////////
+// $Log$
+// Revision 1.1 2004/04/10 18:00:52 eb
+// Initial revision
+//
+// Revision 1.1.1.1 2004/03/01 00:20:27 eb
+// initial checkin
+//
+// Revision 1.1 2003/05/25 05:29:04 eb
+// see ChangeLog
+//
+// Revision 1.1.2.1 2003/02/17 02:03:11 dgrisby
+// vxWorks port. (Thanks Michael Sturm / Acterna Eningen GmbH).
+//
+// Revision 1.1.1.1 2002/11/19 14:58:04 sokcevti
+// OmniOrb4.0.0 VxWorks port
+//
+// Revision 1.4 2002/10/15 07:54:09 kuttlest
+// change semaphore from SEM_FIFO to SEM_PRIO
+// ---
+//
+// Revision 1.3 2002/07/05 07:38:52 engeln
+// made priority redefinable on load time by defining int variables
+// omni_thread_prio_low = 220;
+// omni_thread_prio_normal = 110;
+// omni_thread_prio_high = 55;
+// the default priority is prio_normal.
+// The normal priority default has been increased from 200 to 110 and the
+// high priority from 100 to 55.
+// ---
+//
+// Revision 1.2 2002/06/14 12:44:57 engeln
+// replaced possibly unsafe wakeup procedure in broadcast.
+// ---
+//
+// Revision 1.1.1.1 2002/04/02 10:09:34 sokcevti
+// omniORB4 initial realease
+//
+// Revision 1.0 2001/10/23 14:22:45 sokcevti
+// Initial Version 4.00
+// ---
+//
+//////////////////////////////////////////////////////////////////////////////
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Include files
+//////////////////////////////////////////////////////////////////////////////
+#include <stdlib.h>
+#include <stdio.h>
+#include <errno.h>
+#include <time.h>
+#include <gnuradio/omnithread.h>
+#include <sysLib.h>
+
+#include <assert.h> // assert
+#include <intLib.h> // intContext
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Local defines
+//////////////////////////////////////////////////////////////////////////////
+#define ERRNO(x) (((x) != 0) ? (errno) : 0)
+#define THROW_ERRORS(x) { if((x) != OK) throw omni_thread_fatal(errno); }
+#define OMNI_THREAD_ID 0x7F7155AAl
+#define OMNI_STACK_SIZE 32768l
+
+#ifdef _DEBUG
+ #include <fstream>
+ #define DBG_TRACE(X) X
+#else // _DEBUG
+ #define DBG_TRACE(X)
+#endif // _DEBUG
+
+#define DBG_ASSERT(X)
+
+#define DBG_THROW(X) X
+
+int omni_thread_prio_low = 220;
+int omni_thread_prio_normal = 110;
+int omni_thread_prio_high = 55;
+///////////////////////////////////////////////////////////////////////////
+//
+// Mutex
+//
+///////////////////////////////////////////////////////////////////////////
+omni_mutex::omni_mutex(void):m_bConstructed(false)
+{
+ mutexID = semMCreate(SEM_Q_PRIORITY | SEM_INVERSION_SAFE);
+
+ DBG_ASSERT(assert(mutexID != NULL));
+
+ if(mutexID==NULL)
+ {
+ DBG_TRACE(cout<<"Exception: omni_mutex::omni_mutex() tid: "<<(int)taskIdSelf()<<endl);
+ DBG_THROW(throw omni_thread_fatal(-1));
+ }
+
+ m_bConstructed = true;
+}
+
+omni_mutex::~omni_mutex(void)
+{
+ m_bConstructed = false;
+
+ STATUS status = semDelete(mutexID);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_mutex::~omni_mutex() mutexID: "<<(int)mutexID<<" tid: "<<(int)taskIdSelf()<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+}
+
+/*
+void omni_mutex::lock(void)
+{
+ DBG_ASSERT(assert(!intContext())); // not in ISR context
+ DBG_ASSERT(assert(m_bConstructed));
+
+ STATUS status = semTake(mutexID, WAIT_FOREVER);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_mutex::lock() mutexID: "<<(int)mutexID<<" tid: "<<(int)taskIdSelf()<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+}
+
+void omni_mutex::unlock(void)
+{
+ DBG_ASSERT(assert(m_bConstructed));
+
+ STATUS status = semGive(mutexID);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_mutex::unlock() mutexID: "<<(int)mutexID<<" tid: "<<(int)taskIdSelf()<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+}
+*/
+
+///////////////////////////////////////////////////////////////////////////
+//
+// Condition variable
+//
+///////////////////////////////////////////////////////////////////////////
+omni_condition::omni_condition(omni_mutex* m) : mutex(m)
+{
+ DBG_TRACE(cout<<"omni_condition::omni_condition mutexID: "<<(int)mutex->mutexID<<" tid:"<<(int)taskIdSelf()<<endl);
+
+ waiters_ = 0;
+
+ sema_ = semCCreate(SEM_Q_PRIORITY, 0);
+ if(sema_ == NULL)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::omni_condition() tid: "<<(int)taskIdSelf()<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ waiters_lock_ = semMCreate(SEM_Q_PRIORITY | SEM_INVERSION_SAFE);
+ if(waiters_lock_ == NULL)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::omni_condition() tid: "<<(int)taskIdSelf()<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+}
+
+omni_condition::~omni_condition(void)
+{
+ STATUS status = semDelete(waiters_lock_);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::~omni_condition"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ status = semDelete(sema_);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::~omni_condition"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+}
+
+void omni_condition::wait(void)
+{
+ DBG_TRACE(cout<<"omni_condition::wait mutexID: "<<(int)mutex->mutexID<<" tid:"<<(int)taskIdSelf()<<endl);
+
+ // Prevent race conditions on the <waiters_> count.
+
+ STATUS status = semTake(waiters_lock_,WAIT_FOREVER);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::wait"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ ++waiters_;
+
+ status = semGive(waiters_lock_);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::wait"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ // disable task lock to have an atomic unlock+semTake
+ taskLock();
+
+ // We keep the lock held just long enough to increment the count of
+ // waiters by one. Note that we can't keep it held across the call
+ // to wait() since that will deadlock other calls to signal().
+ mutex->unlock();
+
+ // Wait to be awakened by a cond_signal() or cond_broadcast().
+ status = semTake(sema_,WAIT_FOREVER);
+
+ // reenable task rescheduling
+ taskUnlock();
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::wait"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ // Reacquire lock to avoid race conditions on the <waiters_> count.
+ status = semTake(waiters_lock_,WAIT_FOREVER);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::wait"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ // We're ready to return, so there's one less waiter.
+ --waiters_;
+
+ // Release the lock so that other collaborating threads can make
+ // progress.
+ status = semGive(waiters_lock_);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::wait"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ // Bad things happened, so let's just return below.
+
+ // We must always regain the <external_mutex>, even when errors
+ // occur because that's the guarantee that we give to our callers.
+ mutex->lock();
+}
+
+
+// The time given is absolute. Return 0 is timeout
+int omni_condition::timedwait(unsigned long secs, unsigned long nanosecs)
+{
+ STATUS result = OK;
+ timespec now;
+ unsigned long timeout;
+ int ticks;
+
+ // Prevent race conditions on the <waiters_> count.
+ STATUS status = semTake(waiters_lock_, WAIT_FOREVER);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::timedwait"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ ++waiters_;
+
+ status = semGive(waiters_lock_);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::timedwait"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ clock_gettime(CLOCK_REALTIME, &now);
+
+ if(((unsigned long)secs <= (unsigned long)now.tv_sec) &&
+ (((unsigned long)secs < (unsigned long)now.tv_sec) ||
+ (nanosecs < (unsigned long)now.tv_nsec)))
+ timeout = 0;
+ else
+ timeout = (secs-now.tv_sec) * 1000 + (nanosecs-now.tv_nsec) / 1000000l;
+
+ // disable task lock to have an atomic unlock+semTake
+ taskLock();
+
+ // We keep the lock held just long enough to increment the count
+ // of waiters by one.
+ mutex->unlock();
+
+ // Wait to be awakened by a signal() or broadcast().
+ ticks = (timeout * sysClkRateGet()) / 1000L;
+ result = semTake(sema_, ticks);
+
+ // reenable task rescheduling
+ taskUnlock();
+
+ // Reacquire lock to avoid race conditions.
+ status = semTake(waiters_lock_, WAIT_FOREVER);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::timedwait"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ --waiters_;
+
+ status = semGive(waiters_lock_);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::timedwait"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ // A timeout has occured - fires exception if the origin is other than timeout
+ if(result!=OK && !(errno == S_objLib_OBJ_TIMEOUT || errno == S_objLib_OBJ_UNAVAILABLE))
+ {
+ DBG_TRACE(cout<<"omni_condition::timedwait! - thread:"<<omni_thread::self()->id()<<" SemID:"<<(int)sema_<<" errno:"<<errno<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ // We must always regain the <external_mutex>, even when errors
+ // occur because that's the guarantee that we give to our callers.
+ mutex->lock();
+
+ if(result!=OK) // timeout
+ return 0;
+
+ return 1;
+}
+
+void omni_condition::signal(void)
+{
+ DBG_TRACE(cout<<"omni_condition::signal mutexID: "<<(int)mutex->mutexID<<" tid:"<<(int)taskIdSelf()<<endl);
+
+ STATUS status = semTake(waiters_lock_, WAIT_FOREVER);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::signal"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ int have_waiters = waiters_ > 0;
+
+ status = semGive(waiters_lock_);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::signal"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ if(have_waiters != 0)
+ {
+ status = semGive(sema_);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::signal"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+ }
+}
+
+void omni_condition::broadcast(void)
+{
+ DBG_TRACE(cout<<"omni_condition::broadcast mutexID: "<<(int)mutex->mutexID<<" tid:"<<(int)taskIdSelf()<<endl);
+
+ int have_waiters = 0;
+
+ // The <external_mutex> must be locked before this call is made.
+ // This is needed to ensure that <waiters_> and <was_broadcast_> are
+ // consistent relative to each other.
+ STATUS status = semTake(waiters_lock_, WAIT_FOREVER);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::signal"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ if(waiters_ > 0)
+ {
+ // We are broadcasting, even if there is just one waiter...
+ // Record the fact that we are broadcasting. This helps the
+ // cond_wait() method know how to optimize itself. Be sure to
+ // set this with the <waiters_lock_> held.
+ have_waiters = 1;
+ }
+
+ status = semGive(waiters_lock_);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_condition::signal"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ if(have_waiters)
+ {
+ // Wake up all the waiters.
+ status = semFlush(sema_);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"omni_condition::broadcast1! - thread:"<<omni_thread::self()->id()<<" SemID:"<<(int)sema_<<" errno:"<<errno<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+
+ }
+}
+
+
+///////////////////////////////////////////////////////////////////////////
+//
+// Counting semaphore
+//
+///////////////////////////////////////////////////////////////////////////
+omni_semaphore::omni_semaphore(unsigned int initial)
+{
+
+ DBG_ASSERT(assert(0 <= (int)initial)); // POSIX expects only unsigned init values
+
+ semID = semCCreate(SEM_Q_PRIORITY, (int)initial);
+
+ DBG_ASSERT(assert(semID!=NULL));
+
+ if(semID==NULL)
+ {
+ DBG_TRACE(cout<<"Exception: omni_semaphore::omni_semaphore"<<endl);
+ DBG_THROW(throw omni_thread_fatal(-1));
+ }
+}
+
+omni_semaphore::~omni_semaphore(void)
+{
+ STATUS status = semDelete(semID);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_semaphore::~omni_semaphore"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+}
+
+void omni_semaphore::wait(void)
+{
+ DBG_ASSERT(assert(!intContext())); // no wait in ISR
+
+ STATUS status = semTake(semID, WAIT_FOREVER);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_semaphore::wait"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+}
+
+int omni_semaphore::trywait(void)
+{
+ STATUS status = semTake(semID, NO_WAIT);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ if(errno == S_objLib_OBJ_UNAVAILABLE)
+ {
+ return 0;
+ }
+ else
+ {
+ DBG_ASSERT(assert(false));
+
+ DBG_TRACE(cout<<"Exception: omni_semaphore::trywait"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+ }
+
+ return 1;
+}
+
+void omni_semaphore::post(void)
+{
+ STATUS status = semGive(semID);
+
+ DBG_ASSERT(assert(status == OK));
+
+ if(status != OK)
+ {
+ DBG_TRACE(cout<<"Exception: omni_semaphore::post"<<endl);
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+}
+
+
+
+///////////////////////////////////////////////////////////////////////////
+//
+// Thread
+//
+///////////////////////////////////////////////////////////////////////////
+
+
+//
+// static variables
+//
+omni_mutex* omni_thread::next_id_mutex = 0;
+int omni_thread::next_id = 0;
+
+// omniORB requires a larger stack size than the default (21120) on OSF/1
+static size_t stack_size = OMNI_STACK_SIZE;
+
+
+//
+// Initialisation function (gets called before any user code).
+//
+
+static int& count() {
+ static int the_count = 0;
+ return the_count;
+}
+
+omni_thread::init_t::init_t(void)
+{
+ // Only do it once however many objects get created.
+ if(count()++ != 0)
+ return;
+
+ attach();
+}
+
+omni_thread::init_t::~init_t(void)
+{
+ if (--count() != 0) return;
+
+ omni_thread* self = omni_thread::self();
+ if (!self) return;
+
+ taskTcb(taskIdSelf())->spare1 = 0;
+ delete self;
+
+ delete next_id_mutex;
+}
+
+
+//
+// Wrapper for thread creation.
+//
+extern "C" void omni_thread_wrapper(void* ptr)
+{
+ omni_thread* me = (omni_thread*)ptr;
+
+ DBG_TRACE(cout<<"omni_thread_wrapper: thread "<<me->id()<<" started\n");
+
+ //
+ // We can now tweaked the task info since the tcb exist now
+ //
+ me->mutex.lock(); // To ensure that start has had time to finish
+ taskTcb(me->tid)->spare1 = OMNI_THREAD_ID;
+ taskTcb(me->tid)->spare2 = (int)ptr;
+ me->mutex.unlock();
+
+ //
+ // Now invoke the thread function with the given argument.
+ //
+ if(me->fn_void != NULL)
+ {
+ (*me->fn_void)(me->thread_arg);
+ omni_thread::exit();
+ }
+
+ if(me->fn_ret != NULL)
+ {
+ void* return_value = (*me->fn_ret)(me->thread_arg);
+ omni_thread::exit(return_value);
+ }
+
+ if(me->detached)
+ {
+ me->run(me->thread_arg);
+ omni_thread::exit();
+ }
+ else
+ {
+ void* return_value = me->run_undetached(me->thread_arg);
+ omni_thread::exit(return_value);
+ }
+}
+
+
+//
+// Special functions for VxWorks only
+//
+void omni_thread::attach(void)
+{
+ DBG_TRACE(cout<<"omni_thread_attach: VxWorks mapping thread initialising\n");
+
+ int _tid = taskIdSelf();
+
+ // Check the task is not already attached
+ if(taskTcb(_tid)->spare1 == OMNI_THREAD_ID)
+ return;
+
+ // Create the mutex required to lock the threads debugging id (create before the thread!!!)
+ if(next_id_mutex == 0)
+ next_id_mutex = new omni_mutex;
+
+ // Create a thread object for THIS running process
+ omni_thread* t = new omni_thread;
+
+ // Lock its mutex straigh away!
+ omni_mutex_lock l(t->mutex);
+
+ // Adjust data members of this instance
+ t->_state = STATE_RUNNING;
+ t->tid = taskIdSelf();
+
+ // Set the thread values so it can be recongnised as a omni_thread
+ // Set the id last can possibly prevent race condition
+ taskTcb(t->tid)->spare2 = (int)t;
+ taskTcb(t->tid)->spare1 = OMNI_THREAD_ID;
+
+ // Create the running_mutex at this stage, but leave it empty. We are not running
+ // in the task context HERE, so taking it would be disastrous.
+ t->running_cond = new omni_condition(&t->mutex);
+}
+
+
+void omni_thread::detach(void)
+{
+ DBG_TRACE(cout<<"omni_thread_detach: VxWorks detaching thread mapping\n");
+
+ int _tid = taskIdSelf();
+
+ // Check the task has a OMNI_THREAD attached
+ if(taskTcb(_tid)->spare1 != OMNI_THREAD_ID)
+ return;
+
+ // Invalidate the id NOW !
+ taskTcb(_tid)->spare1 = 0;
+
+ // Even if NULL, it is safe to delete the thread
+ omni_thread* t = (omni_thread*)taskTcb(_tid)->spare2;
+ // Fininsh cleaning the tcb structure
+ taskTcb(_tid)->spare2 = 0;
+
+ delete t;
+}
+
+
+//
+// Constructors for omni_thread - set up the thread object but don't
+// start it running.
+//
+
+// construct a detached thread running a given function.
+omni_thread::omni_thread(void (*fn)(void*), void* arg, priority_t pri)
+{
+ common_constructor(arg, pri, 1);
+ fn_void = fn;
+ fn_ret = NULL;
+}
+
+// construct an undetached thread running a given function.
+omni_thread::omni_thread(void* (*fn)(void*), void* arg, priority_t pri)
+{
+ common_constructor(arg, pri, 0);
+ fn_void = NULL;
+ fn_ret = fn;
+}
+
+// construct a thread which will run either run() or run_undetached().
+
+omni_thread::omni_thread(void* arg, priority_t pri)
+{
+ common_constructor(arg, pri, 1);
+ fn_void = NULL;
+ fn_ret = NULL;
+}
+
+// common part of all constructors.
+void omni_thread::common_constructor(void* arg, priority_t pri, int det)
+{
+ _state = STATE_NEW;
+ _priority = pri;
+
+ // Set the debugging id
+ next_id_mutex->lock();
+ _id = next_id++;
+ next_id_mutex->unlock();
+
+ // Note : tid can only be setup when the task is up and running
+ tid = 0;
+
+ thread_arg = arg;
+ detached = det; // may be altered in start_undetached()
+
+ _dummy = 0;
+ _values = 0;
+ _value_alloc = 0;
+}
+
+//
+// Destructor for omni_thread.
+//
+omni_thread::~omni_thread(void)
+{
+ DBG_TRACE(cout<<"omni_thread::~omni_thread for thread "<<id()<<endl);
+
+ if (_values) {
+ for (key_t i=0; i < _value_alloc; i++) {
+ if (_values[i]) {
+ delete _values[i];
+ }
+ }
+ delete [] _values;
+ }
+
+ delete running_cond;
+}
+
+
+//
+// Start the thread
+//
+void omni_thread::start(void)
+{
+ omni_mutex_lock l(mutex);
+
+ DBG_ASSERT(assert(_state == STATE_NEW));
+
+ if(_state != STATE_NEW)
+ DBG_THROW(throw omni_thread_invalid());
+
+ // Allocate memory for the task. (The returned id cannot be trusted by the task)
+ tid = taskSpawn(
+ NULL, // Task name
+ vxworks_priority(_priority), // Priority
+ 0, // Option
+ stack_size, // Stack size
+ (FUNCPTR)omni_thread_wrapper, // Priority
+ (int)this, // First argument is this
+ 0,0,0,0,0,0,0,0,0 // Remaining unused args
+ );
+
+ DBG_ASSERT(assert(tid!=ERROR));
+
+ if(tid==ERROR)
+ DBG_THROW(throw omni_thread_invalid());
+
+ _state = STATE_RUNNING;
+
+ // Create the running_mutex at this stage, but leave it empty. We are not running
+ // in the task context HERE, so taking it would be disastrous.
+ running_cond = new omni_condition(&mutex);
+}
+
+
+//
+// Start a thread which will run the member function run_undetached().
+//
+void omni_thread::start_undetached(void)
+{
+ DBG_ASSERT(assert(!((fn_void != NULL) || (fn_ret != NULL))));
+
+ if((fn_void != NULL) || (fn_ret != NULL))
+ DBG_THROW(throw omni_thread_invalid());
+
+ detached = 0;
+
+ start();
+}
+
+
+//
+// join - Wait for the task to complete before returning to the calling process
+//
+void omni_thread::join(void** status)
+{
+ mutex.lock();
+
+ if((_state != STATE_RUNNING) && (_state != STATE_TERMINATED))
+ {
+ mutex.unlock();
+
+ DBG_ASSERT(assert(false));
+
+ DBG_THROW(throw omni_thread_invalid());
+ }
+
+ mutex.unlock();
+
+ DBG_ASSERT(assert(this != self()));
+
+ if(this == self())
+ DBG_THROW(throw omni_thread_invalid());
+
+ DBG_ASSERT(assert(!detached));
+
+ if(detached)
+ DBG_THROW(throw omni_thread_invalid());
+
+ mutex.lock();
+ running_cond->wait();
+ mutex.unlock();
+
+ if(status)
+ *status = return_val;
+
+ delete this;
+}
+
+
+//
+// Change this thread's priority.
+//
+void omni_thread::set_priority(priority_t pri)
+{
+ omni_mutex_lock l(mutex);
+
+ DBG_ASSERT(assert(_state == STATE_RUNNING));
+
+ if(_state != STATE_RUNNING)
+ {
+ DBG_THROW(throw omni_thread_invalid());
+ }
+
+ _priority = pri;
+
+ if(taskPrioritySet(tid, vxworks_priority(pri))==ERROR)
+ {
+ DBG_ASSERT(assert(false));
+
+ DBG_THROW(throw omni_thread_fatal(errno));
+ }
+}
+
+
+//
+// create - construct a new thread object and start it running. Returns thread
+// object if successful, null pointer if not.
+//
+
+// detached version (the entry point is a void)
+omni_thread* omni_thread::create(void (*fn)(void*), void* arg, priority_t pri)
+{
+ omni_thread* t = new omni_thread(fn, arg, pri);
+
+ t->start();
+
+ return t;
+}
+
+// undetached version (the entry point is a void*)
+omni_thread* omni_thread::create(void* (*fn)(void*), void* arg, priority_t pri)
+{
+ omni_thread* t = new omni_thread(fn, arg, pri);
+
+ t->start();
+
+ return t;
+}
+
+
+//
+// exit() _must_ lock the mutex even in the case of a detached thread. This is
+// because a thread may run to completion before the thread that created it has
+// had a chance to get out of start(). By locking the mutex we ensure that the
+// creating thread must have reached the end of start() before we delete the
+// thread object. Of course, once the call to start() returns, the user can
+// still incorrectly refer to the thread object, but that's their problem.
+//
+void omni_thread::exit(void* return_value)
+{
+ omni_thread* me = self();
+
+ if(me)
+ {
+ me->mutex.lock();
+
+ me->return_val = return_value;
+ me->_state = STATE_TERMINATED;
+ me->running_cond->signal();
+
+ me->mutex.unlock();
+
+ DBG_TRACE(cout<<"omni_thread::exit: thread "<<me->id()<<" detached "<<me->detached<<" return value "<<(int)return_value<<endl);
+
+ if(me->detached)
+ delete me;
+ }
+ else
+ DBG_TRACE(cout<<"omni_thread::exit: called with a non-omnithread. Exit quietly."<<endl);
+
+ taskDelete(taskIdSelf());
+}
+
+
+omni_thread* omni_thread::self(void)
+{
+ if(taskTcb(taskIdSelf())->spare1 != OMNI_THREAD_ID)
+ return NULL;
+
+ return (omni_thread*)taskTcb(taskIdSelf())->spare2;
+}
+
+
+void omni_thread::yield(void)
+{
+ taskDelay(NO_WAIT);
+}
+
+
+void omni_thread::sleep(unsigned long secs, unsigned long nanosecs)
+{
+ int tps = sysClkRateGet();
+
+ // Convert to us to avoid overflow in the multiplication
+ // tps should always be less than 1000 !
+ nanosecs /= 1000;
+
+ taskDelay(secs*tps + (nanosecs*tps)/1000000l);
+}
+
+
+void omni_thread::get_time( unsigned long* abs_sec,
+ unsigned long* abs_nsec,
+ unsigned long rel_sec,
+ unsigned long rel_nsec)
+{
+ timespec abs;
+ clock_gettime(CLOCK_REALTIME, &abs);
+ abs.tv_nsec += rel_nsec;
+ abs.tv_sec += rel_sec + abs.tv_nsec / 1000000000;
+ abs.tv_nsec = abs.tv_nsec % 1000000000;
+ *abs_sec = abs.tv_sec;
+ *abs_nsec = abs.tv_nsec;
+}
+
+
+int omni_thread::vxworks_priority(priority_t pri)
+{
+ switch (pri)
+ {
+ case PRIORITY_LOW:
+ return omni_thread_prio_low;
+
+ case PRIORITY_NORMAL:
+ return omni_thread_prio_normal;
+
+ case PRIORITY_HIGH:
+ return omni_thread_prio_high;
+ }
+
+ DBG_ASSERT(assert(false));
+
+ DBG_THROW(throw omni_thread_invalid());
+}
+
+
+void omni_thread::stacksize(unsigned long sz)
+{
+ stack_size = sz;
+}
+
+
+unsigned long omni_thread::stacksize()
+{
+ return stack_size;
+}
+
+
+void omni_thread::show(void)
+{
+ omni_thread *pThread;
+ int s1, s2;
+ int tid = taskIdSelf();
+
+ printf("TaskId is %.8x\n", tid);
+
+ s1 = taskTcb(tid)->spare1;
+
+ if(s1 != OMNI_THREAD_ID)
+ {
+ printf("Spare 1 is %.8x, and not recongnized\n", s1);
+
+ return;
+ }
+ else
+ {
+ printf("Spare 1 indicate an omni_thread.\n");
+ }
+
+ s2 = taskTcb(tid)->spare2;
+
+ if(s2 == 0)
+ {
+ printf("Spare 2 is NULL! - No thread object attached !!\n");
+
+ return;
+ }
+ else
+ {
+ printf("Thread object at %.8x\n", s2);
+ }
+
+ pThread = (omni_thread *)s2;
+
+ state_t status = pThread->_state;
+
+ printf(" | Thread status is ");
+
+ switch (status)
+ {
+ case STATE_NEW:
+ printf("NEW\n"); break;
+ case STATE_RUNNING:
+ printf("STATE_RUNNING\n"); break;
+ case STATE_TERMINATED:
+ printf("TERMINATED\n"); break;
+ default:
+ printf("Illegal (=%.8x)\n", (unsigned int)status);
+
+ return;
+ }
+
+ if(pThread->tid != tid)
+ {
+ printf(" | Task ID in thread object is different!! (=%.8x)\n", pThread->tid);
+
+ return;
+ }
+ else
+ {
+ printf(" | Task ID in thread consistent\n");
+ }
+
+ printf("\n");
+}
+
+
+//
+// Dummy thread
+//
+
+class omni_thread_dummy : public omni_thread {
+public:
+ inline omni_thread_dummy() : omni_thread()
+ {
+ _dummy = 1;
+ _state = STATE_RUNNING;
+
+ // Adjust data members of this instance
+ tid = taskIdSelf();
+
+ // Set the thread values so it can be recongnised as a omni_thread
+ // Set the id last can possibly prevent race condition
+ taskTcb(tid)->spare2 = (int)this;
+ taskTcb(tid)->spare1 = OMNI_THREAD_ID;
+ }
+ inline ~omni_thread_dummy()
+ {
+ taskTcb(taskIdSelf())->spare1 = 0;
+ }
+};
+
+omni_thread*
+omni_thread::create_dummy()
+{
+ if (omni_thread::self())
+ throw omni_thread_invalid();
+
+ return new omni_thread_dummy;
+}
+
+void
+omni_thread::release_dummy()
+{
+ omni_thread* self = omni_thread::self();
+ if (!self || !self->_dummy)
+ throw omni_thread_invalid();
+
+ omni_thread_dummy* dummy = (omni_thread_dummy*)self;
+ delete dummy;
+}
+
+
+#define INSIDE_THREAD_IMPL_CC
+#include "threaddata.cc"
+#undef INSIDE_THREAD_IMPL_CC
projects / debian / gnuradio / blobdiff