Xenomai  3.0.8
task.h
1 /*
2  * Copyright (C) 2011 Philippe Gerum <rpm@xenomai.org>.
3  *
4  * This library is free software; you can redistribute it and/or
5  * modify it under the terms of the GNU Lesser General Public
6  * License as published by the Free Software Foundation; either
7  * version 2 of the License, or (at your option) any later version.
8  *
9  * This library is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12  * Lesser General Public License for more details.
13 
14  * You should have received a copy of the GNU Lesser General Public
15  * License along with this library; if not, write to the Free Software
16  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
17  */
18 
19 #ifndef _ALCHEMY_TASK_H
20 #define _ALCHEMY_TASK_H
21 
22 #include <sched.h>
23 #include <semaphore.h>
24 #include <errno.h>
25 #include <boilerplate/list.h>
26 #include <copperplate/syncobj.h>
27 #include <copperplate/threadobj.h>
28 #include <copperplate/registry.h>
29 #include <copperplate/cluster.h>
30 #include <alchemy/task.h>
31 
32 struct alchemy_task {
33  char name[XNOBJECT_NAME_LEN];
34  int mode;
35  cpu_set_t affinity;
36  int suspends;
37  struct syncobj sobj_msg;
38  int flowgen;
39  struct threadobj thobj;
40  struct clusterobj cobj;
41  void (*entry)(void *arg);
42  void *arg;
43  RT_TASK self;
44  struct fsobj fsobj;
45 };
46 
47 struct alchemy_task_wait {
48  struct RT_TASK_MCB request;
49  struct RT_TASK_MCB reply;
50 };
51 
52 #define task_magic 0x8282ebeb
53 
54 static inline struct alchemy_task *alchemy_task_current(void)
55 {
56  struct threadobj *thobj = threadobj_current();
57 
58  if (thobj == NULL ||
59  threadobj_get_magic(thobj) != task_magic)
60  return NULL;
61 
62  return container_of(thobj, struct alchemy_task, thobj);
63 }
64 
65 struct alchemy_task *get_alchemy_task(RT_TASK *task, int *err_r);
66 
67 struct alchemy_task *get_alchemy_task_or_self(RT_TASK *task, int *err_r);
68 
69 void put_alchemy_task(struct alchemy_task *tcb);
70 
71 static inline int check_task_priority(int prio)
72 { /* FIXME: HIPRIO is lower over Mercury */
73  return prio < T_LOPRIO || prio > T_HIPRIO ? -EINVAL : 0;
74 }
75 
76 extern struct syncluster alchemy_task_table;
77 
78 #endif /* _ALCHEMY_TASK_H */