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) 1995-2019, 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; 45 46package 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 subtype Interrupt_Range is Natural range 0 .. Max_HW_Interrupt; 87 -- For s-interr 88 89 -- Signals common to Vxworks 5.x and 6.x 90 91 SIGILL : constant := 4; -- illegal instruction (not reset when caught) 92 SIGABRT : constant := 6; -- used by abort, replace SIGIOT in the future 93 SIGFPE : constant := 8; -- floating point exception 94 SIGBUS : constant := 10; -- bus error 95 SIGSEGV : constant := 11; -- segmentation violation 96 97 -- Signals specific to VxWorks 6.x 98 99 SIGHUP : constant := 1; -- hangup 100 SIGINT : constant := 2; -- interrupt 101 SIGQUIT : constant := 3; -- quit 102 SIGTRAP : constant := 5; -- trace trap (not reset when caught) 103 SIGEMT : constant := 7; -- EMT instruction 104 SIGKILL : constant := 9; -- kill 105 SIGFMT : constant := 12; -- STACK FORMAT ERROR (not posix) 106 SIGPIPE : constant := 13; -- write on a pipe with no one to read it 107 SIGALRM : constant := 14; -- alarm clock 108 SIGTERM : constant := 15; -- software termination signal from kill 109 SIGCNCL : constant := 16; -- pthreads cancellation signal 110 SIGSTOP : constant := 17; -- sendable stop signal not from tty 111 SIGTSTP : constant := 18; -- stop signal from tty 112 SIGCONT : constant := 19; -- continue a stopped process 113 SIGCHLD : constant := 20; -- to parent on child stop or exit 114 SIGTTIN : constant := 21; -- to readers pgrp upon background tty read 115 SIGTTOU : constant := 22; -- like TTIN for output 116 117 SIGRES1 : constant := 23; -- reserved signal number (Not POSIX) 118 SIGRES2 : constant := 24; -- reserved signal number (Not POSIX) 119 SIGRES3 : constant := 25; -- reserved signal number (Not POSIX) 120 SIGRES4 : constant := 26; -- reserved signal number (Not POSIX) 121 SIGRES5 : constant := 27; -- reserved signal number (Not POSIX) 122 SIGRES6 : constant := 28; -- reserved signal number (Not POSIX) 123 SIGRES7 : constant := 29; -- reserved signal number (Not POSIX) 124 125 SIGUSR1 : constant := 30; -- user defined signal 1 126 SIGUSR2 : constant := 31; -- user defined signal 2 127 128 SIGPOLL : constant := 32; -- pollable event 129 SIGPROF : constant := 33; -- profiling timer expired 130 SIGSYS : constant := 34; -- bad system call 131 SIGURG : constant := 35; -- high bandwidth data is available at socket 132 SIGVTALRM : constant := 36; -- virtual timer expired 133 SIGXCPU : constant := 37; -- CPU time limit exceeded 134 SIGXFSZ : constant := 38; -- file size time limit exceeded 135 136 SIGEVTS : constant := 39; -- signal event thread send 137 SIGEVTD : constant := 40; -- signal event thread delete 138 139 SIGRTMIN : constant := 48; -- Realtime signal min 140 SIGRTMAX : constant := 63; -- Realtime signal max 141 142 ----------------------------------- 143 -- Signal processing definitions -- 144 ----------------------------------- 145 146 -- The how in sigprocmask() 147 148 SIG_BLOCK : constant := 1; 149 SIG_UNBLOCK : constant := 2; 150 SIG_SETMASK : constant := 3; 151 152 -- The sa_flags in struct sigaction 153 154 SA_SIGINFO : constant := 16#0002#; 155 SA_ONSTACK : constant := 16#0004#; 156 157 SIG_DFL : constant := 0; 158 SIG_IGN : constant := 1; 159 160 type sigset_t is private; 161 162 type struct_sigaction is record 163 sa_handler : System.Address; 164 sa_mask : sigset_t; 165 sa_flags : int; 166 end record; 167 pragma Convention (C, struct_sigaction); 168 type struct_sigaction_ptr is access all struct_sigaction; 169 170 function sigaddset (set : access sigset_t; sig : Signal) return int; 171 pragma Import (C, sigaddset, "sigaddset"); 172 173 function sigdelset (set : access sigset_t; sig : Signal) return int; 174 pragma Import (C, sigdelset, "sigdelset"); 175 176 function sigfillset (set : access sigset_t) return int; 177 pragma Import (C, sigfillset, "sigfillset"); 178 179 function sigismember (set : access sigset_t; sig : Signal) return int; 180 pragma Import (C, sigismember, "sigismember"); 181 182 function sigemptyset (set : access sigset_t) return int; 183 pragma Import (C, sigemptyset, "sigemptyset"); 184 185 function sigaction 186 (sig : Signal; 187 act : struct_sigaction_ptr; 188 oact : struct_sigaction_ptr) return int; 189 pragma Import (C, sigaction, "sigaction"); 190 191 type isr_address is access procedure (sig : int); 192 pragma Convention (C, isr_address); 193 194 function c_signal (sig : Signal; handler : isr_address) return isr_address; 195 pragma Import (C, c_signal, "signal"); 196 197 function pthread_sigmask 198 (how : int; 199 set : access sigset_t; 200 oset : access sigset_t) return int; 201 pragma Import (C, pthread_sigmask, "sigprocmask"); 202 203 subtype t_id is System.VxWorks.Ext.t_id; 204 subtype Thread_Id is t_id; 205 -- Thread_Id and t_id are VxWorks identifiers for tasks. This value, 206 -- although represented as a Long_Integer, is in fact an address. With 207 -- some BSPs, this address can have a value sufficiently high that the 208 -- Thread_Id becomes negative: this should not be considered as an error. 209 210 function kill (pid : t_id; sig : Signal) return int; 211 pragma Inline (kill); 212 213 function getpid return t_id renames System.VxWorks.Ext.getpid; 214 215 function Task_Stop (tid : t_id) return int 216 renames System.VxWorks.Ext.Task_Stop; 217 -- If we are in the kernel space, stop the task whose t_id is given in 218 -- parameter in such a way that it can be examined by the debugger. This 219 -- typically maps to taskSuspend on VxWorks 5 and to taskStop on VxWorks 6. 220 221 function Task_Cont (tid : t_id) return int 222 renames System.VxWorks.Ext.Task_Cont; 223 -- If we are in the kernel space, continue the task whose t_id is given 224 -- in parameter if it has been stopped previously to be examined by the 225 -- debugger (e.g. by taskStop). It typically maps to taskResume on VxWorks 226 -- 5 and to taskCont on VxWorks 6. 227 228 function Int_Lock return int renames System.VxWorks.Ext.Int_Lock; 229 -- If we are in the kernel space, lock interrupts. It typically maps to 230 -- intLock. 231 232 function Int_Unlock (Old : int) return int 233 renames System.VxWorks.Ext.Int_Unlock; 234 -- If we are in the kernel space, unlock interrupts. It typically maps to 235 -- intUnlock. The parameter Old is only used on PowerPC where it contains 236 -- the returned value from Int_Lock (the old MPSR). 237 238 ---------- 239 -- Time -- 240 ---------- 241 242 type time_t is new unsigned_long; 243 244 type timespec is record 245 ts_sec : time_t; 246 ts_nsec : long; 247 end record; 248 pragma Convention (C, timespec); 249 250 type clockid_t is new int; 251 252 function To_Duration (TS : timespec) return Duration; 253 pragma Inline (To_Duration); 254 255 function To_Timespec (D : Duration) return timespec; 256 pragma Inline (To_Timespec); 257 -- Convert a Duration value to a timespec value. Note that in VxWorks, 258 -- timespec is always non-negative (since time_t is defined above as 259 -- unsigned long). This means that there is a potential problem if a 260 -- negative argument is passed for D. However, in actual usage, the 261 -- value of the input argument D is always non-negative, so no problem 262 -- arises in practice. 263 264 function To_Clock_Ticks (D : Duration) return int; 265 -- Convert a duration value (in seconds) into clock ticks 266 267 function clock_gettime 268 (clock_id : clockid_t; tp : access timespec) return int; 269 pragma Import (C, clock_gettime, "clock_gettime"); 270 271 ---------------------- 272 -- Utility Routines -- 273 ---------------------- 274 275 function To_VxWorks_Priority (Priority : int) return int; 276 pragma Inline (To_VxWorks_Priority); 277 -- Convenience routine to convert between VxWorks priority and Ada priority 278 279 -------------------------- 280 -- VxWorks specific API -- 281 -------------------------- 282 283 subtype STATUS is int; 284 -- Equivalent of the C type STATUS 285 286 OK : constant STATUS := 0; 287 ERROR : constant STATUS := Interfaces.C.int (-1); 288 289 function taskIdVerify (tid : t_id) return STATUS; 290 pragma Import (C, taskIdVerify, "taskIdVerify"); 291 292 function taskIdSelf return t_id; 293 pragma Import (C, taskIdSelf, "taskIdSelf"); 294 295 function taskOptionsGet (tid : t_id; pOptions : access int) return int; 296 pragma Import (C, taskOptionsGet, "taskOptionsGet"); 297 298 function taskSuspend (tid : t_id) return int; 299 pragma Import (C, taskSuspend, "taskSuspend"); 300 301 function taskResume (tid : t_id) return int; 302 pragma Import (C, taskResume, "taskResume"); 303 304 function taskIsSuspended (tid : t_id) return int; 305 pragma Import (C, taskIsSuspended, "taskIsSuspended"); 306 307 function taskDelay (ticks : int) return int; 308 pragma Import (C, taskDelay, "taskDelay"); 309 310 function sysClkRateGet return int; 311 pragma Import (C, sysClkRateGet, "sysClkRateGet"); 312 313 -- VxWorks 5.x specific functions 314 -- Must not be called from run-time for versions that do not support 315 -- taskVarLib: eg VxWorks 6 RTPs 316 317 function taskVarAdd 318 (tid : t_id; pVar : access System.Address) return int; 319 pragma Import (C, taskVarAdd, "taskVarAdd"); 320 321 function taskVarDelete 322 (tid : t_id; pVar : access System.Address) return int; 323 pragma Import (C, taskVarDelete, "taskVarDelete"); 324 325 function taskVarSet 326 (tid : t_id; 327 pVar : access System.Address; 328 value : System.Address) return int; 329 pragma Import (C, taskVarSet, "taskVarSet"); 330 331 function taskVarGet 332 (tid : t_id; 333 pVar : access System.Address) return int; 334 pragma Import (C, taskVarGet, "taskVarGet"); 335 336 -- VxWorks 6.x specific functions 337 338 -- Can only be called from the VxWorks 6 run-time libary that supports 339 -- tlsLib, and not by the VxWorks 6.6 SMP library 340 341 function tlsKeyCreate return int; 342 pragma Import (C, tlsKeyCreate, "tlsKeyCreate"); 343 344 function tlsValueGet (key : int) return System.Address; 345 pragma Import (C, tlsValueGet, "tlsValueGet"); 346 347 function tlsValueSet (key : int; value : System.Address) return STATUS; 348 pragma Import (C, tlsValueSet, "tlsValueSet"); 349 350 -- Option flags for taskSpawn 351 352 VX_UNBREAKABLE : constant := 16#0002#; 353 VX_FP_PRIVATE_ENV : constant := 16#0080#; 354 VX_NO_STACK_FILL : constant := 16#0100#; 355 356 function taskSpawn 357 (name : System.Address; -- Pointer to task name 358 priority : int; 359 options : int; 360 stacksize : size_t; 361 start_routine : System.Address; 362 arg1 : System.Address; 363 arg2 : int := 0; 364 arg3 : int := 0; 365 arg4 : int := 0; 366 arg5 : int := 0; 367 arg6 : int := 0; 368 arg7 : int := 0; 369 arg8 : int := 0; 370 arg9 : int := 0; 371 arg10 : int := 0) return t_id; 372 pragma Import (C, taskSpawn, "taskSpawn"); 373 374 procedure taskDelete (tid : t_id); 375 pragma Import (C, taskDelete, "taskDelete"); 376 377 function Set_Time_Slice (ticks : int) return int 378 renames System.VxWorks.Ext.Set_Time_Slice; 379 -- Calls kernelTimeSlice under VxWorks 5.x, VxWorks 653, or in VxWorks 6 380 -- kernel apps. Returns ERROR for RTPs, VxWorks 5 /CERT 381 382 function taskPriorityGet (tid : t_id; pPriority : access int) return int; 383 pragma Import (C, taskPriorityGet, "taskPriorityGet"); 384 385 function taskPrioritySet (tid : t_id; newPriority : int) return int; 386 pragma Import (C, taskPrioritySet, "taskPrioritySet"); 387 388 -- Semaphore creation flags 389 390 SEM_Q_FIFO : constant := 0; 391 SEM_Q_PRIORITY : constant := 1; 392 SEM_DELETE_SAFE : constant := 4; -- only valid for binary semaphore 393 SEM_INVERSION_SAFE : constant := 8; -- only valid for binary semaphore 394 395 -- Semaphore initial state flags 396 397 SEM_EMPTY : constant := 0; 398 SEM_FULL : constant := 1; 399 400 -- Semaphore take (semTake) time constants 401 402 WAIT_FOREVER : constant := -1; 403 NO_WAIT : constant := 0; 404 405 -- Error codes (errno). The lower level 16 bits are the error code, with 406 -- the upper 16 bits representing the module number in which the error 407 -- occurred. By convention, the module number is 0 for UNIX errors. VxWorks 408 -- reserves module numbers 1-500, with the remaining module numbers being 409 -- available for user applications. 410 411 M_objLib : constant := 61 * 2**16; 412 -- semTake() failure with ticks = NO_WAIT 413 S_objLib_OBJ_UNAVAILABLE : constant := M_objLib + 2; 414 -- semTake() timeout with ticks > NO_WAIT 415 S_objLib_OBJ_TIMEOUT : constant := M_objLib + 4; 416 417 subtype SEM_ID is System.VxWorks.Ext.SEM_ID; 418 -- typedef struct semaphore *SEM_ID; 419 420 -- We use two different kinds of VxWorks semaphores: mutex and binary 421 -- semaphores. A null ID is returned when a semaphore cannot be created. 422 423 function semBCreate (options : int; initial_state : int) return SEM_ID; 424 pragma Import (C, semBCreate, "semBCreate"); 425 -- Create a binary semaphore. Return ID, or 0 if memory could not 426 -- be allocated. 427 428 function semMCreate (options : int) return SEM_ID; 429 pragma Import (C, semMCreate, "semMCreate"); 430 431 function semDelete (Sem : SEM_ID) return int 432 renames System.VxWorks.Ext.semDelete; 433 -- Delete a semaphore 434 435 function semGive (Sem : SEM_ID) return int; 436 pragma Import (C, semGive, "semGive"); 437 438 function semTake (Sem : SEM_ID; timeout : int) return int; 439 pragma Import (C, semTake, "semTake"); 440 -- Attempt to take binary semaphore. Error is returned if operation 441 -- times out 442 443 function semFlush (SemID : SEM_ID) return STATUS; 444 pragma Import (C, semFlush, "semFlush"); 445 -- Release all threads blocked on the semaphore 446 447 ------------------------------------------------------------ 448 -- Binary Semaphore Wrapper to Support interrupt Tasks -- 449 ------------------------------------------------------------ 450 451 type Binary_Semaphore_Id is new Long_Integer; 452 453 function Binary_Semaphore_Create return Binary_Semaphore_Id; 454 pragma Inline (Binary_Semaphore_Create); 455 456 function Binary_Semaphore_Delete (ID : Binary_Semaphore_Id) return int; 457 pragma Inline (Binary_Semaphore_Delete); 458 459 function Binary_Semaphore_Obtain (ID : Binary_Semaphore_Id) return int; 460 pragma Inline (Binary_Semaphore_Obtain); 461 462 function Binary_Semaphore_Release (ID : Binary_Semaphore_Id) return int; 463 pragma Inline (Binary_Semaphore_Release); 464 465 function Binary_Semaphore_Flush (ID : Binary_Semaphore_Id) return int; 466 pragma Inline (Binary_Semaphore_Flush); 467 468 ------------------------------------------------------------ 469 -- Hardware Interrupt Wrappers to Support Interrupt Tasks -- 470 ------------------------------------------------------------ 471 472 type Interrupt_Handler is access procedure (parameter : System.Address); 473 pragma Convention (C, Interrupt_Handler); 474 475 type Interrupt_Vector is new System.Address; 476 477 function Interrupt_Connect 478 (Vector : Interrupt_Vector; 479 Handler : Interrupt_Handler; 480 Parameter : System.Address := System.Null_Address) return int; 481 pragma Inline (Interrupt_Connect); 482 -- Use this to set up an user handler. The routine installs a user handler 483 -- which is invoked after the OS has saved enough context for a high-level 484 -- language routine to be safely invoked. 485 486 function Interrupt_Context return int; 487 pragma Inline (Interrupt_Context); 488 -- Return 1 if executing in an interrupt context; return 0 if executing in 489 -- a task context. 490 491 function Interrupt_Number_To_Vector (intNum : int) return Interrupt_Vector; 492 pragma Inline (Interrupt_Number_To_Vector); 493 -- Convert a logical interrupt number to the hardware interrupt vector 494 -- number used to connect the interrupt. 495 496 -------------------------------- 497 -- Processor Affinity for SMP -- 498 -------------------------------- 499 500 function taskCpuAffinitySet (tid : t_id; CPU : int) return int 501 renames System.VxWorks.Ext.taskCpuAffinitySet; 502 -- For SMP run-times the affinity to CPU. 503 -- For uniprocessor systems return ERROR status. 504 505 function taskMaskAffinitySet (tid : t_id; CPU_Set : unsigned) return int 506 renames System.VxWorks.Ext.taskMaskAffinitySet; 507 -- For SMP run-times the affinity to CPU_Set. 508 -- For uniprocessor systems return ERROR status. 509 510 --------------------- 511 -- Multiprocessors -- 512 --------------------- 513 514 function Current_CPU return Multiprocessors.CPU; 515 -- Return the id of the current CPU 516 517private 518 type pid_t is new int; 519 520 ERROR_PID : constant pid_t := -1; 521 522 type sigset_t is new System.VxWorks.Ext.sigset_t; 523end System.OS_Interface; 524