include/nucleus/pod.h

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#ifndef _XENO_NUCLEUS_POD_H
#define _XENO_NUCLEUS_POD_H

#include <nucleus/sched.h>

/* Pod status flags */
#define XNFATAL  0x00000001     /* Fatal error in progress */
#define XNPEXEC  0x00000002     /* Pod is active (a skin is attached) */

/* These flags are available to the real-time interfaces */
#define XNPOD_SPARE0  0x01000000
#define XNPOD_SPARE1  0x02000000
#define XNPOD_SPARE2  0x04000000
#define XNPOD_SPARE3  0x08000000
#define XNPOD_SPARE4  0x10000000
#define XNPOD_SPARE5  0x20000000
#define XNPOD_SPARE6  0x40000000
#define XNPOD_SPARE7  0x80000000

#define XNPOD_NORMAL_EXIT  0x0
#define XNPOD_FATAL_EXIT   0x1

#define XNPOD_ALL_CPUS  XNARCH_CPU_MASK_ALL

#define XNPOD_FATAL_BUFSZ  16384

#define nkpod (&nkpod_struct)

struct xnsynch;

struct xnpod {

        xnflags_t status;       
        xnsched_t sched[XNARCH_NR_CPUS];        
        xnqueue_t threadq;      
        int threadq_rev;        
        xnqueue_t tstartq,      
         tswitchq,              
         tdeleteq;              
        atomic_counter_t timerlck;      
        xntimer_t tslicer;      
        int tsliced;            
        int refcnt;             
#ifdef __XENO_SIM__
        void (*schedhook) (xnthread_t *thread, xnflags_t mask); 
#endif  /* __XENO_SIM__ */
};

typedef struct xnpod xnpod_t;

DECLARE_EXTERN_XNLOCK(nklock);

extern u_long nklatency;

extern u_long nktimerlat;

extern char *nkmsgbuf;

extern xnarch_cpumask_t nkaffinity;

extern xnpod_t nkpod_struct;

#ifdef CONFIG_PROC_FS
void xnpod_init_proc(void);
void xnpod_cleanup_proc(void);
#else /* !CONFIG_PROC_FS */
static inline void xnpod_init_proc(void) {}
static inline void xnpod_cleanup_proc(void) {}
#endif /* !CONFIG_PROC_FS */

static inline void xnpod_mount(void)
{
        xnsched_register_classes();
        xnpod_init_proc();
}

static inline void xnpod_umount(void)
{
        xnpod_cleanup_proc();
}

#ifdef __cplusplus
extern "C" {
#endif

int __xnpod_set_thread_schedparam(struct xnthread *thread,
                                  struct xnsched_class *sched_class,
                                  const union xnsched_policy_param *sched_param,
                                  int propagate);

void __xnpod_reset_thread(struct xnthread *thread);

#ifdef CONFIG_XENO_HW_FPU
void xnpod_switch_fpu(xnsched_t *sched);
#endif /* CONFIG_XENO_HW_FPU */

void __xnpod_schedule(struct xnsched *sched);

        /* -- Beginning of the exported interface */

#define xnpod_sched_slot(cpu) \
    (&nkpod->sched[cpu])

#define xnpod_current_sched() \
    xnpod_sched_slot(xnarch_current_cpu())

#define xnpod_active_p() \
    testbits(nkpod->status, XNPEXEC)

#define xnpod_fatal_p() \
    testbits(nkpod->status, XNFATAL)

#define xnpod_interrupt_p() \
    testbits(xnpod_current_sched()->lflags, XNINIRQ)

#define xnpod_callout_p() \
    testbits(xnpod_current_sched()->status, XNKCOUT)

#define xnpod_asynch_p() \
        ({                                                              \
                xnsched_t *sched = xnpod_current_sched();               \
                testbits(sched->status | sched->lflags, XNKCOUT|XNINIRQ); \
        })

#define xnpod_current_thread() \
    (xnpod_current_sched()->curr)

#define xnpod_current_root() \
    (&xnpod_current_sched()->rootcb)

#ifdef CONFIG_XENO_OPT_PERVASIVE
#define xnpod_current_p(thread)                                         \
    ({ int __shadow_p = xnthread_test_state(thread, XNSHADOW);          \
       int __curr_p = __shadow_p ? xnshadow_thread(current) == thread   \
           : thread == xnpod_current_thread();                          \
       __curr_p;})
#else
#define xnpod_current_p(thread) \
    (xnpod_current_thread() == (thread))
#endif

#define xnpod_locked_p() \
    xnthread_test_state(xnpod_current_thread(), XNLOCK)

#define xnpod_unblockable_p() \
    (xnpod_asynch_p() || xnthread_test_state(xnpod_current_thread(), XNROOT))

#define xnpod_root_p() \
    xnthread_test_state(xnpod_current_thread(),XNROOT)

#define xnpod_shadow_p() \
    xnthread_test_state(xnpod_current_thread(),XNSHADOW)

#define xnpod_userspace_p() \
    xnthread_test_state(xnpod_current_thread(),XNROOT|XNSHADOW)

#define xnpod_primary_p() \
    (!(xnpod_asynch_p() || xnpod_root_p()))

#define xnpod_secondary_p()     xnpod_root_p()

#define xnpod_idle_p()          xnpod_root_p()

int xnpod_init(void);

int xnpod_enable_timesource(void);

void xnpod_disable_timesource(void);

void xnpod_shutdown(int xtype);

int xnpod_init_thread(struct xnthread *thread,
                      const struct xnthread_init_attr *attr,
                      struct xnsched_class *sched_class,
                      const union xnsched_policy_param *sched_param);

int xnpod_start_thread(xnthread_t *thread,
                       const struct xnthread_start_attr *attr);

void xnpod_stop_thread(xnthread_t *thread);

void xnpod_restart_thread(xnthread_t *thread);

void xnpod_delete_thread(xnthread_t *thread);

void xnpod_abort_thread(xnthread_t *thread);

xnflags_t xnpod_set_thread_mode(xnthread_t *thread,
                                xnflags_t clrmask,
                                xnflags_t setmask);

void xnpod_suspend_thread(xnthread_t *thread,
                          xnflags_t mask,
                          xnticks_t timeout,
                          xntmode_t timeout_mode,
                          struct xnsynch *wchan);

void xnpod_resume_thread(xnthread_t *thread,
                         xnflags_t mask);

int xnpod_unblock_thread(xnthread_t *thread);

int xnpod_set_thread_schedparam(struct xnthread *thread,
                                struct xnsched_class *sched_class,
                                const union xnsched_policy_param *sched_param);

int xnpod_migrate_thread(int cpu);

void xnpod_dispatch_signals(void);

static inline void xnpod_schedule(void)
{
        struct xnsched *sched;
        /*
         * NOTE: Since __xnpod_schedule() won't run if an escalation
         * to primary domain is needed, we won't use critical
         * scheduler information before we actually run in primary
         * mode; therefore we can first test the scheduler status then
         * escalate.  Running in the primary domain means that no
         * Linux-triggered CPU migration may occur from that point
         * either. Finally, since migration is always a self-directed
         * operation for Xenomai threads, we can safely read the
         * scheduler state bits without holding the nklock.
         *
         * Said differently, if we race here because of a CPU
         * migration, it must have been Linux-triggered because we run
         * in secondary mode; in which case we will escalate to the
         * primary domain, then unwind the current call frame without
         * running the rescheduling procedure in
         * __xnpod_schedule(). Therefore, the scheduler pointer will
         * be either valid, or unused.
         */
        sched = xnpod_current_sched();
        /*
         * No immediate rescheduling is possible if an ISR or callout
         * context is active, or if we are caught in the middle of a
         * unlocked context switch.
         */
#if XENO_DEBUG(NUCLEUS)
        if (testbits(sched->status | sched->lflags, XNKCOUT|XNINIRQ|XNSWLOCK))
                return;
#else /* !XENO_DEBUG(NUCLEUS) */
        if (testbits(sched->status | sched->lflags,
                     XNKCOUT|XNINIRQ|XNSWLOCK|XNRESCHED) != XNRESCHED)
                return;
#endif /* !XENO_DEBUG(NUCLEUS) */

        __xnpod_schedule(sched);
}

void xnpod_lock_sched(void);

void xnpod_unlock_sched(void);

void xnpod_fire_callouts(xnqueue_t *hookq,
                         xnthread_t *thread);

static inline void xnpod_run_hooks(struct xnqueue *q,
                                   struct xnthread *thread, const char *type)
{
        if (!emptyq_p(q)) {
                trace_mark(xn_nucleus, thread_callout,
                           "thread %p thread_name %s hook %s",
                           thread, xnthread_name(thread), type);
                xnpod_fire_callouts(q, thread);
        }
}

int xnpod_set_thread_periodic(xnthread_t *thread,
                              xnticks_t idate,
                              xnticks_t period);

int xnpod_wait_thread_period(unsigned long *overruns_r);

int xnpod_set_thread_tslice(struct xnthread *thread,
                            xnticks_t quantum);

static inline xntime_t xnpod_get_cpu_time(void)
{
        return xnarch_get_cpu_time();
}

int xnpod_add_hook(int type, void (*routine) (xnthread_t *));

int xnpod_remove_hook(int type, void (*routine) (xnthread_t *));

static inline void xnpod_yield(void)
{
        xnpod_resume_thread(xnpod_current_thread(), 0);
        xnpod_schedule();
}

static inline void xnpod_delay(xnticks_t timeout)
{
        xnpod_suspend_thread(xnpod_current_thread(), XNDELAY, timeout, XN_RELATIVE, NULL);
}

static inline void xnpod_suspend_self(void)
{
        xnpod_suspend_thread(xnpod_current_thread(), XNSUSP, XN_INFINITE, XN_RELATIVE, NULL);
}

static inline void xnpod_delete_self(void)
{
        xnpod_delete_thread(xnpod_current_thread());
}

#ifdef __cplusplus
}
#endif

#endif /* !_XENO_NUCLEUS_POD_H */