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) 1991-2017, Florida State University -- 10-- Copyright (C) 1995-2021, 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-- As a special exception under Section 7 of GPL version 3, you are granted -- 20-- additional permissions described in the GCC Runtime Library Exception, -- 21-- version 3.1, as published by the Free Software Foundation. -- 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 41with Interfaces.C; 42with System.VxWorks; 43with System.VxWorks.Ext; 44with System.Multiprocessors; 45with System.Parameters; 46 47package System.OS_Interface is 48 pragma Preelaborate; 49 50 package SVE renames System.VxWorks.Ext; 51 52 subtype int is Interfaces.C.int; 53 subtype unsigned is Interfaces.C.unsigned; 54 subtype short is Short_Integer; 55 type unsigned_int is mod 2 ** int'Size; 56 type long is new Long_Integer; 57 type unsigned_long is mod 2 ** long'Size; 58 type long_long is new Long_Long_Integer; 59 type unsigned_long_long is mod 2 ** long_long'Size; 60 type size_t is mod 2 ** Standard'Address_Size; 61 62 subtype STATUS is SVE.STATUS; 63 subtype BOOL is SVE.BOOL; 64 subtype vx_freq_t is SVE.vx_freq_t; 65 66 ----------- 67 -- Errno -- 68 ----------- 69 70 function errno return int; 71 pragma Import (C, errno, "errnoGet"); 72 73 EINTR : constant := 4; 74 EAGAIN : constant := 35; 75 ENOMEM : constant := 12; 76 EINVAL : constant := 22; 77 ETIMEDOUT : constant := 60; 78 79 FUNC_ERR : constant := -1; 80 81 ---------------------------- 82 -- Signals and interrupts -- 83 ---------------------------- 84 85 NSIG : constant := 64; 86 -- Number of signals on the target OS 87 type Signal is new int range 0 .. Interfaces.C."-" (NSIG, 1); 88 89 Max_HW_Interrupt : constant := System.VxWorks.Num_HW_Interrupts - 1; 90 type HW_Interrupt is new int range 0 .. Max_HW_Interrupt; 91 92 Max_Interrupt : constant := Max_HW_Interrupt; 93 subtype Interrupt_Range is Natural range 0 .. Max_HW_Interrupt; 94 -- For s-interr 95 96 -- Signals common to Vxworks 5.x and 6.x 97 98 SIGILL : constant := 4; -- illegal instruction (not reset when caught) 99 SIGABRT : constant := 6; -- used by abort, replace SIGIOT in the future 100 SIGFPE : constant := 8; -- floating point exception 101 SIGBUS : constant := 10; -- bus error 102 SIGSEGV : constant := 11; -- segmentation violation 103 104 -- Signals specific to VxWorks 6.x 105 106 SIGHUP : constant := 1; -- hangup 107 SIGINT : constant := 2; -- interrupt 108 SIGQUIT : constant := 3; -- quit 109 SIGTRAP : constant := 5; -- trace trap (not reset when caught) 110 SIGEMT : constant := 7; -- EMT instruction 111 SIGKILL : constant := 9; -- kill 112 SIGFMT : constant := 12; -- STACK FORMAT ERROR (not posix) 113 SIGPIPE : constant := 13; -- write on a pipe with no one to read it 114 SIGALRM : constant := 14; -- alarm clock 115 SIGTERM : constant := 15; -- software termination signal from kill 116 SIGCNCL : constant := 16; -- pthreads cancellation signal 117 SIGSTOP : constant := 17; -- sendable stop signal not from tty 118 SIGTSTP : constant := 18; -- stop signal from tty 119 SIGCONT : constant := 19; -- continue a stopped process 120 SIGCHLD : constant := 20; -- to parent on child stop or exit 121 SIGTTIN : constant := 21; -- to readers pgrp upon background tty read 122 SIGTTOU : constant := 22; -- like TTIN for output 123 124 SIGRES1 : constant := 23; -- reserved signal number (Not POSIX) 125 SIGRES2 : constant := 24; -- reserved signal number (Not POSIX) 126 SIGRES3 : constant := 25; -- reserved signal number (Not POSIX) 127 SIGRES4 : constant := 26; -- reserved signal number (Not POSIX) 128 SIGRES5 : constant := 27; -- reserved signal number (Not POSIX) 129 SIGRES6 : constant := 28; -- reserved signal number (Not POSIX) 130 SIGRES7 : constant := 29; -- reserved signal number (Not POSIX) 131 132 SIGUSR1 : constant := 30; -- user defined signal 1 133 SIGUSR2 : constant := 31; -- user defined signal 2 134 135 SIGPOLL : constant := 32; -- pollable event 136 SIGPROF : constant := 33; -- profiling timer expired 137 SIGSYS : constant := 34; -- bad system call 138 SIGURG : constant := 35; -- high bandwidth data is available at socket 139 SIGVTALRM : constant := 36; -- virtual timer expired 140 SIGXCPU : constant := 37; -- CPU time limit exceeded 141 SIGXFSZ : constant := 38; -- file size time limit exceeded 142 143 SIGEVTS : constant := 39; -- signal event thread send 144 SIGEVTD : constant := 40; -- signal event thread delete 145 146 SIGRTMIN : constant := 48; -- Realtime signal min 147 SIGRTMAX : constant := 63; -- Realtime signal max 148 149 ----------------------------------- 150 -- Signal processing definitions -- 151 ----------------------------------- 152 153 -- The how in sigprocmask() 154 155 SIG_BLOCK : constant := 1; 156 SIG_UNBLOCK : constant := 2; 157 SIG_SETMASK : constant := 3; 158 159 -- The sa_flags in struct sigaction 160 161 SA_SIGINFO : constant := 16#0002#; 162 SA_ONSTACK : constant := 16#0004#; 163 164 SIG_DFL : constant := 0; 165 SIG_IGN : constant := 1; 166 167 type sigset_t is private; 168 169 type struct_sigaction is record 170 sa_handler : System.Address; 171 sa_mask : sigset_t; 172 sa_flags : int; 173 end record; 174 pragma Convention (C, struct_sigaction); 175 type struct_sigaction_ptr is access all struct_sigaction; 176 177 function sigaddset (set : access sigset_t; sig : Signal) return int; 178 pragma Import (C, sigaddset, "sigaddset"); 179 180 function sigdelset (set : access sigset_t; sig : Signal) return int; 181 pragma Import (C, sigdelset, "sigdelset"); 182 183 function sigfillset (set : access sigset_t) return int; 184 pragma Import (C, sigfillset, "sigfillset"); 185 186 function sigismember (set : access sigset_t; sig : Signal) return int; 187 pragma Import (C, sigismember, "sigismember"); 188 189 function sigemptyset (set : access sigset_t) return int; 190 pragma Import (C, sigemptyset, "sigemptyset"); 191 192 function sigaction 193 (sig : Signal; 194 act : struct_sigaction_ptr; 195 oact : struct_sigaction_ptr) return int; 196 pragma Import (C, sigaction, "sigaction"); 197 198 type isr_address is access procedure (sig : int); 199 pragma Convention (C, isr_address); 200 201 function c_signal (sig : Signal; handler : isr_address) return isr_address; 202 pragma Import (C, c_signal, "signal"); 203 204 function pthread_sigmask 205 (how : int; 206 set : access sigset_t; 207 oset : access sigset_t) return int; 208 pragma Import (C, pthread_sigmask, "sigprocmask"); 209 210 subtype t_id is SVE.t_id; 211 subtype Thread_Id is t_id; 212 -- Thread_Id and t_id are VxWorks identifiers for tasks. This value, 213 -- although represented as a Long_Integer, is in fact an address. With 214 -- some BSPs, this address can have a value sufficiently high that the 215 -- Thread_Id becomes negative: this should not be considered as an error. 216 217 function kill (pid : t_id; sig : Signal) return int; 218 pragma Inline (kill); 219 220 function getpid return t_id renames SVE.getpid; 221 222 function Task_Stop (tid : t_id) return STATUS renames SVE.Task_Stop; 223 -- If we are in the kernel space, stop the task whose t_id is given in 224 -- parameter in such a way that it can be examined by the debugger. This 225 -- typically maps to taskSuspend on VxWorks 5 and to taskStop on VxWorks 6. 226 227 function Task_Cont (tid : t_id) return STATUS renames SVE.Task_Cont; 228 -- If we are in the kernel space, continue the task whose t_id is given 229 -- in parameter if it has been stopped previously to be examined by the 230 -- debugger (e.g. by taskStop). It typically maps to taskResume on VxWorks 231 -- 5 and to taskCont on VxWorks 6. 232 233 function Int_Lock return int renames SVE.Int_Lock; 234 -- If we are in the kernel space, lock interrupts. It typically maps to 235 -- intLock. 236 237 procedure Int_Unlock (Old : int) renames SVE.Int_Unlock; 238 -- If we are in the kernel space, unlock interrupts. It typically maps to 239 -- intUnlock. The parameter Old is only used on PowerPC where it contains 240 -- the returned value from Int_Lock (the old MPSR). 241 242 ---------- 243 -- Time -- 244 ---------- 245 246 type time_t is range -2 ** (System.Parameters.time_t_bits - 1) 247 .. 2 ** (System.Parameters.time_t_bits - 1) - 1; 248 -- Time_t here used to be unsigned to match the VxWorks header declaration. 249 -- The header declaration has changed in newer releases and is now signed 250 -- for applications. 251 252 type timespec is record 253 ts_sec : time_t; 254 ts_nsec : long; 255 end record; 256 pragma Convention (C, timespec); 257 258 type clockid_t is new int; 259 260 function To_Duration (TS : timespec) return Duration; 261 pragma Inline (To_Duration); 262 263 function To_Timespec (D : Duration) return timespec; 264 pragma Inline (To_Timespec); 265 -- Convert a Duration value to a timespec value. Note that in VxWorks, 266 -- timespec is always non-negative (since time_t is defined above as 267 -- unsigned long). This means that there is a potential problem if a 268 -- negative argument is passed for D. However, in actual usage, the 269 -- value of the input argument D is always non-negative, so no problem 270 -- arises in practice. 271 272 function To_Clock_Ticks (D : Duration) return int; 273 -- Convert a duration value (in seconds) into clock ticks 274 275 function clock_gettime 276 (clock_id : clockid_t; tp : access timespec) return int; 277 pragma Import (C, clock_gettime, "clock_gettime"); 278 279 ---------------------- 280 -- Utility Routines -- 281 ---------------------- 282 283 function To_VxWorks_Priority (Priority : int) return int; 284 pragma Inline (To_VxWorks_Priority); 285 -- Convenience routine to convert between VxWorks priority and Ada priority 286 287 -------------------------- 288 -- VxWorks specific API -- 289 -------------------------- 290 291 function taskIdVerify (tid : t_id) return STATUS; 292 pragma Import (C, taskIdVerify, "taskIdVerify"); 293 294 function taskIdSelf return t_id; 295 pragma Import (C, taskIdSelf, "taskIdSelf"); 296 297 function taskOptionsGet (tid : t_id; pOptions : access int) return STATUS; 298 pragma Import (C, taskOptionsGet, "taskOptionsGet"); 299 300 function taskSuspend (tid : t_id) return STATUS; 301 pragma Import (C, taskSuspend, "taskSuspend"); 302 303 function taskResume (tid : t_id) return STATUS; 304 pragma Import (C, taskResume, "taskResume"); 305 306 function taskIsSuspended (tid : t_id) return BOOL; 307 pragma Import (C, taskIsSuspended, "taskIsSuspended"); 308 309 function taskDelay (ticks : int) return STATUS; 310 pragma Import (C, taskDelay, "taskDelay"); 311 312 function sysClkRateGet return vx_freq_t; 313 pragma Import (C, sysClkRateGet, "sysClkRateGet"); 314 315 -- VxWorks 5.x specific functions 316 -- Must not be called from run-time for versions that do not support 317 -- taskVarLib: eg VxWorks 6 RTPs 318 319 function taskVarAdd 320 (tid : t_id; pVar : access System.Address) return STATUS; 321 pragma Import (C, taskVarAdd, "taskVarAdd"); 322 323 function taskVarDelete 324 (tid : t_id; pVar : access System.Address) return STATUS; 325 pragma Import (C, taskVarDelete, "taskVarDelete"); 326 327 function taskVarSet 328 (tid : t_id; 329 pVar : access System.Address; 330 value : System.Address) return STATUS; 331 pragma Import (C, taskVarSet, "taskVarSet"); 332 333 function taskVarGet 334 (tid : t_id; 335 pVar : access System.Address) return int; 336 pragma Import (C, taskVarGet, "taskVarGet"); 337 338 -- VxWorks 6.x specific functions 339 340 -- Can only be called from the VxWorks 6 run-time libary that supports 341 -- tlsLib, and not by the VxWorks 6.6 SMP library 342 343 function tlsKeyCreate return int; 344 pragma Import (C, tlsKeyCreate, "tlsKeyCreate"); 345 346 function tlsValueGet (key : int) return System.Address; 347 pragma Import (C, tlsValueGet, "tlsValueGet"); 348 349 function tlsValueSet (key : int; value : System.Address) return STATUS; 350 pragma Import (C, tlsValueSet, "tlsValueSet"); 351 352 -- Option flags for taskSpawn 353 354 VX_UNBREAKABLE : constant := 16#0002#; 355 VX_FP_PRIVATE_ENV : constant := 16#0080#; 356 VX_NO_STACK_FILL : constant := 16#0100#; 357 358 function taskSpawn 359 (name : System.Address; -- Pointer to task name 360 priority : int; 361 options : int; 362 stacksize : size_t; 363 start_routine : System.Address; 364 arg1 : System.Address; 365 arg2 : int := 0; 366 arg3 : int := 0; 367 arg4 : int := 0; 368 arg5 : int := 0; 369 arg6 : int := 0; 370 arg7 : int := 0; 371 arg8 : int := 0; 372 arg9 : int := 0; 373 arg10 : int := 0) return t_id; 374 pragma Import (C, taskSpawn, "taskSpawn"); 375 376 procedure taskDelete (tid : t_id); 377 pragma Import (C, taskDelete, "taskDelete"); 378 379 function Set_Time_Slice (ticks : int) return STATUS renames 380 SVE.Set_Time_Slice; 381 -- Calls kernelTimeSlice under VxWorks 5.x, VxWorks 653, or in VxWorks 6 382 -- kernel apps. Returns ERROR for RTPs, VxWorks 5 /CERT 383 384 function taskPriorityGet (tid : t_id; pPriority : access int) return STATUS; 385 pragma Import (C, taskPriorityGet, "taskPriorityGet"); 386 387 function taskPrioritySet (tid : t_id; newPriority : int) return STATUS; 388 pragma Import (C, taskPrioritySet, "taskPrioritySet"); 389 390 -- Semaphore creation flags 391 392 SEM_Q_FIFO : constant := 0; 393 SEM_Q_PRIORITY : constant := 1; 394 SEM_DELETE_SAFE : constant := 4; -- only valid for binary semaphore 395 SEM_INVERSION_SAFE : constant := 8; -- only valid for binary semaphore 396 397 -- Semaphore initial state flags 398 399 SEM_EMPTY : constant := 0; 400 SEM_FULL : constant := 1; 401 402 -- Semaphore take (semTake) time constants 403 404 WAIT_FOREVER : constant := -1; 405 NO_WAIT : constant := 0; 406 407 -- Error codes (errno). The lower level 16 bits are the error code, with 408 -- the upper 16 bits representing the module number in which the error 409 -- occurred. By convention, the module number is 0 for UNIX errors. VxWorks 410 -- reserves module numbers 1-500, with the remaining module numbers being 411 -- available for user applications. 412 413 M_objLib : constant := 61 * 2**16; 414 -- semTake() failure with ticks = NO_WAIT 415 S_objLib_OBJ_UNAVAILABLE : constant := M_objLib + 2; 416 -- semTake() timeout with ticks > NO_WAIT 417 S_objLib_OBJ_TIMEOUT : constant := M_objLib + 4; 418 419 subtype SEM_ID is SVE.SEM_ID; 420 -- typedef struct semaphore *SEM_ID; 421 422 -- We use two different kinds of VxWorks semaphores: mutex and binary 423 -- semaphores. A null ID is returned when a semaphore cannot be created. 424 425 function semBCreate (options : int; initial_state : int) return SEM_ID; 426 pragma Import (C, semBCreate, "semBCreate"); 427 -- Create a binary semaphore. Return ID, or 0 if memory could not 428 -- be allocated. 429 430 function semMCreate (options : int) return SEM_ID; 431 pragma Import (C, semMCreate, "semMCreate"); 432 433 function semDelete (Sem : SEM_ID) return STATUS renames SVE.semDelete; 434 -- Delete a semaphore 435 436 function semGive (Sem : SEM_ID) return STATUS; 437 pragma Import (C, semGive, "semGive"); 438 439 function semTake (Sem : SEM_ID; timeout : int) return STATUS; 440 pragma Import (C, semTake, "semTake"); 441 -- Attempt to take binary semaphore. Error is returned if operation 442 -- times out 443 444 function semFlush (SemID : SEM_ID) return STATUS; 445 pragma Import (C, semFlush, "semFlush"); 446 -- Release all threads blocked on the semaphore 447 448 ------------------------------------------------------------ 449 -- Binary Semaphore Wrapper to Support interrupt Tasks -- 450 ------------------------------------------------------------ 451 452 type Binary_Semaphore_Id is new Long_Integer; 453 454 function Binary_Semaphore_Create return Binary_Semaphore_Id; 455 pragma Inline (Binary_Semaphore_Create); 456 457 function Binary_Semaphore_Delete (ID : Binary_Semaphore_Id) return STATUS; 458 pragma Inline (Binary_Semaphore_Delete); 459 460 function Binary_Semaphore_Obtain (ID : Binary_Semaphore_Id) return STATUS; 461 pragma Inline (Binary_Semaphore_Obtain); 462 463 function Binary_Semaphore_Release (ID : Binary_Semaphore_Id) return STATUS; 464 pragma Inline (Binary_Semaphore_Release); 465 466 function Binary_Semaphore_Flush (ID : Binary_Semaphore_Id) return STATUS; 467 pragma Inline (Binary_Semaphore_Flush); 468 469 ------------------------------------------------------------ 470 -- Hardware Interrupt Wrappers to Support Interrupt Tasks -- 471 ------------------------------------------------------------ 472 473 type Interrupt_Handler is access procedure (parameter : System.Address); 474 pragma Convention (C, Interrupt_Handler); 475 476 type Interrupt_Vector is new System.Address; 477 478 function Interrupt_Connect 479 (Vector : Interrupt_Vector; 480 Handler : Interrupt_Handler; 481 Parameter : System.Address := System.Null_Address) return STATUS; 482 pragma Inline (Interrupt_Connect); 483 -- Use this to set up an user handler. The routine installs a user handler 484 -- which is invoked after the OS has saved enough context for a high-level 485 -- language routine to be safely invoked. 486 487 function Interrupt_Context return BOOL; 488 pragma Inline (Interrupt_Context); 489 -- Return 1 (TRUE) if executing in an interrupt context; 490 -- return 0 (FALSE) if executing in a task context. 491 492 function Interrupt_Number_To_Vector (intNum : int) return Interrupt_Vector; 493 pragma Inline (Interrupt_Number_To_Vector); 494 -- Convert a logical interrupt number to the hardware interrupt vector 495 -- number used to connect the interrupt. 496 497 -------------------------------- 498 -- Processor Affinity for SMP -- 499 -------------------------------- 500 501 function taskCpuAffinitySet (tid : t_id; CPU : int) return int 502 renames SVE.taskCpuAffinitySet; 503 -- For SMP run-times the affinity to CPU. 504 -- For uniprocessor systems return ERROR status. 505 506 function taskMaskAffinitySet (tid : t_id; CPU_Set : unsigned) return int 507 renames SVE.taskMaskAffinitySet; 508 -- For SMP run-times the affinity to CPU_Set. 509 -- For uniprocessor systems return ERROR status. 510 511 --------------------- 512 -- Multiprocessors -- 513 --------------------- 514 515 function Current_CPU return Multiprocessors.CPU; 516 -- Return the id of the current CPU 517 518private 519 type pid_t is new int; 520 521 ERROR_PID : constant pid_t := -1; 522 523 type sigset_t is new SVE.sigset_t; 524end System.OS_Interface; 525