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------------------------------------------------------------------------------
-- --
-- GNAT RUN-TIME LIBRARY (GNARL) COMPONENTS --
-- --
-- S Y S T E M . O S _ I N T E R F A C E --
-- --
-- S p e c --
-- --
-- Copyright (C) 1991-2017, Florida State University --
-- Copyright (C) 1995-2022, Free Software Foundation, Inc. --
-- --
-- GNARL is free software; you can redistribute it and/or modify it under --
-- terms of the GNU General Public License as published by the Free Soft- --
-- ware Foundation; either version 3, or (at your option) any later ver- --
-- sion. GNARL is distributed in the hope that it will be useful, but WITH- --
-- OUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY --
-- or FITNESS FOR A PARTICULAR PURPOSE. --
-- --
-- As a special exception under Section 7 of GPL version 3, you are granted --
-- additional permissions described in the GCC Runtime Library Exception, --
-- version 3.1, as published by the Free Software Foundation. --
-- --
-- You should have received a copy of the GNU General Public License and --
-- a copy of the GCC Runtime Library Exception along with this program; --
-- see the files COPYING3 and COPYING.RUNTIME respectively. If not, see --
-- <http://www.gnu.org/licenses/>. --
-- --
-- GNARL was developed by the GNARL team at Florida State University. --
-- Extensive contributions were provided by Ada Core Technologies, Inc. --
-- --
------------------------------------------------------------------------------
-- This is the VxWorks version of this package
-- This package encapsulates all direct interfaces to OS services that are
-- needed by the tasking run-time (libgnarl).
-- PLEASE DO NOT add any with-clauses to this package or remove the pragma
-- Preelaborate. This package is designed to be a bottom-level (leaf) package.
with Interfaces.C;
with System.VxWorks;
with System.VxWorks.Ext;
with System.Multiprocessors;
with System.Parameters;
package System.OS_Interface is
pragma Preelaborate;
package SVE renames System.VxWorks.Ext;
subtype int is Interfaces.C.int;
subtype unsigned is Interfaces.C.unsigned;
subtype short is Short_Integer;
type unsigned_int is mod 2 ** int'Size;
type long is new Long_Integer;
type unsigned_long is mod 2 ** long'Size;
type long_long is new Long_Long_Integer;
type unsigned_long_long is mod 2 ** long_long'Size;
type size_t is mod 2 ** Standard'Address_Size;
subtype STATUS is SVE.STATUS;
subtype BOOL is SVE.BOOL;
subtype vx_freq_t is SVE.vx_freq_t;
-----------
-- Errno --
-----------
function errno return int;
pragma Import (C, errno, "errnoGet");
EINTR : constant := 4;
EAGAIN : constant := 35;
ENOMEM : constant := 12;
EINVAL : constant := 22;
ETIMEDOUT : constant := 60;
FUNC_ERR : constant := -1;
----------------------------
-- Signals and interrupts --
----------------------------
NSIG : constant := 64;
-- Number of signals on the target OS
type Signal is new int range 0 .. Interfaces.C."-" (NSIG, 1);
Max_HW_Interrupt : constant := System.VxWorks.Num_HW_Interrupts - 1;
type HW_Interrupt is new int range 0 .. Max_HW_Interrupt;
Max_Interrupt : constant := Max_HW_Interrupt;
subtype Interrupt_Range is Natural range 0 .. Max_HW_Interrupt;
-- For s-interr
-- Signals common to Vxworks 5.x and 6.x
SIGILL : constant := 4; -- illegal instruction (not reset when caught)
SIGABRT : constant := 6; -- used by abort, replace SIGIOT in the future
SIGFPE : constant := 8; -- floating point exception
SIGBUS : constant := 10; -- bus error
SIGSEGV : constant := 11; -- segmentation violation
-- Signals specific to VxWorks 6.x
SIGHUP : constant := 1; -- hangup
SIGINT : constant := 2; -- interrupt
SIGQUIT : constant := 3; -- quit
SIGTRAP : constant := 5; -- trace trap (not reset when caught)
SIGEMT : constant := 7; -- EMT instruction
SIGKILL : constant := 9; -- kill
SIGFMT : constant := 12; -- STACK FORMAT ERROR (not posix)
SIGPIPE : constant := 13; -- write on a pipe with no one to read it
SIGALRM : constant := 14; -- alarm clock
SIGTERM : constant := 15; -- software termination signal from kill
SIGCNCL : constant := 16; -- pthreads cancellation signal
SIGSTOP : constant := 17; -- sendable stop signal not from tty
SIGTSTP : constant := 18; -- stop signal from tty
SIGCONT : constant := 19; -- continue a stopped process
SIGCHLD : constant := 20; -- to parent on child stop or exit
SIGTTIN : constant := 21; -- to readers pgrp upon background tty read
SIGTTOU : constant := 22; -- like TTIN for output
SIGRES1 : constant := 23; -- reserved signal number (Not POSIX)
SIGRES2 : constant := 24; -- reserved signal number (Not POSIX)
SIGRES3 : constant := 25; -- reserved signal number (Not POSIX)
SIGRES4 : constant := 26; -- reserved signal number (Not POSIX)
SIGRES5 : constant := 27; -- reserved signal number (Not POSIX)
SIGRES6 : constant := 28; -- reserved signal number (Not POSIX)
SIGRES7 : constant := 29; -- reserved signal number (Not POSIX)
SIGUSR1 : constant := 30; -- user defined signal 1
SIGUSR2 : constant := 31; -- user defined signal 2
SIGPOLL : constant := 32; -- pollable event
SIGPROF : constant := 33; -- profiling timer expired
SIGSYS : constant := 34; -- bad system call
SIGURG : constant := 35; -- high bandwidth data is available at socket
SIGVTALRM : constant := 36; -- virtual timer expired
SIGXCPU : constant := 37; -- CPU time limit exceeded
SIGXFSZ : constant := 38; -- file size time limit exceeded
SIGEVTS : constant := 39; -- signal event thread send
SIGEVTD : constant := 40; -- signal event thread delete
SIGRTMIN : constant := 48; -- Realtime signal min
SIGRTMAX : constant := 63; -- Realtime signal max
-----------------------------------
-- Signal processing definitions --
-----------------------------------
-- The how in sigprocmask()
SIG_BLOCK : constant := 1;
SIG_UNBLOCK : constant := 2;
SIG_SETMASK : constant := 3;
-- The sa_flags in struct sigaction
SA_SIGINFO : constant := 16#0002#;
SA_ONSTACK : constant := 16#0004#;
SIG_DFL : constant := 0;
SIG_IGN : constant := 1;
type sigset_t is private;
type struct_sigaction is record
sa_handler : System.Address;
sa_mask : sigset_t;
sa_flags : int;
end record;
pragma Convention (C, struct_sigaction);
type struct_sigaction_ptr is access all struct_sigaction;
function sigaddset (set : access sigset_t; sig : Signal) return int;
pragma Import (C, sigaddset, "sigaddset");
function sigdelset (set : access sigset_t; sig : Signal) return int;
pragma Import (C, sigdelset, "sigdelset");
function sigfillset (set : access sigset_t) return int;
pragma Import (C, sigfillset, "sigfillset");
function sigismember (set : access sigset_t; sig : Signal) return int;
pragma Import (C, sigismember, "sigismember");
function sigemptyset (set : access sigset_t) return int;
pragma Import (C, sigemptyset, "sigemptyset");
function sigaction
(sig : Signal;
act : struct_sigaction_ptr;
oact : struct_sigaction_ptr) return int;
pragma Import (C, sigaction, "sigaction");
type isr_address is access procedure (sig : int);
pragma Convention (C, isr_address);
function c_signal (sig : Signal; handler : isr_address) return isr_address;
pragma Import (C, c_signal, "signal");
function pthread_sigmask
(how : int;
set : access sigset_t;
oset : access sigset_t) return int;
pragma Import (C, pthread_sigmask, "sigprocmask");
subtype t_id is SVE.t_id;
subtype Thread_Id is t_id;
-- Thread_Id and t_id are VxWorks identifiers for tasks. This value,
-- although represented as a Long_Integer, is in fact an address. With
-- some BSPs, this address can have a value sufficiently high that the
-- Thread_Id becomes negative: this should not be considered as an error.
function kill (pid : t_id; sig : Signal) return int;
pragma Inline (kill);
function getpid return t_id renames SVE.getpid;
function Task_Stop (tid : t_id) return STATUS renames SVE.Task_Stop;
-- If we are in the kernel space, stop the task whose t_id is given in
-- parameter in such a way that it can be examined by the debugger. This
-- typically maps to taskSuspend on VxWorks 5 and to taskStop on VxWorks 6.
function Task_Cont (tid : t_id) return STATUS renames SVE.Task_Cont;
-- If we are in the kernel space, continue the task whose t_id is given
-- in parameter if it has been stopped previously to be examined by the
-- debugger (e.g. by taskStop). It typically maps to taskResume on VxWorks
-- 5 and to taskCont on VxWorks 6.
function Int_Lock return int renames SVE.Int_Lock;
-- If we are in the kernel space, lock interrupts. It typically maps to
-- intLock.
procedure Int_Unlock (Old : int) renames SVE.Int_Unlock;
-- If we are in the kernel space, unlock interrupts. It typically maps to
-- intUnlock. The parameter Old is only used on PowerPC where it contains
-- the returned value from Int_Lock (the old MPSR).
----------
-- Time --
----------
type time_t is range -2 ** (System.Parameters.time_t_bits - 1)
.. 2 ** (System.Parameters.time_t_bits - 1) - 1;
-- Time_t here used to be unsigned to match the VxWorks header declaration.
-- The header declaration has changed in newer releases and is now signed
-- for applications.
type timespec is record
ts_sec : time_t;
ts_nsec : long;
end record;
pragma Convention (C, timespec);
type clockid_t is new int;
function To_Duration (TS : timespec) return Duration;
pragma Inline (To_Duration);
function To_Timespec (D : Duration) return timespec;
pragma Inline (To_Timespec);
-- Convert a Duration value to a timespec value. Note that in VxWorks,
-- timespec is always non-negative (since time_t is defined above as
-- unsigned long). This means that there is a potential problem if a
-- negative argument is passed for D. However, in actual usage, the
-- value of the input argument D is always non-negative, so no problem
-- arises in practice.
function To_Clock_Ticks (D : Duration) return int;
-- Convert a duration value (in seconds) into clock ticks
function clock_gettime
(clock_id : clockid_t; tp : access timespec) return int;
pragma Import (C, clock_gettime, "clock_gettime");
----------------------
-- Utility Routines --
----------------------
function To_VxWorks_Priority (Priority : int) return int;
pragma Inline (To_VxWorks_Priority);
-- Convenience routine to convert between VxWorks priority and Ada priority
--------------------------
-- VxWorks specific API --
--------------------------
function taskIdVerify (tid : t_id) return STATUS;
pragma Import (C, taskIdVerify, "taskIdVerify");
function taskIdSelf return t_id;
pragma Import (C, taskIdSelf, "taskIdSelf");
function taskOptionsGet (tid : t_id; pOptions : access int) return STATUS;
pragma Import (C, taskOptionsGet, "taskOptionsGet");
function taskSuspend (tid : t_id) return STATUS;
pragma Import (C, taskSuspend, "taskSuspend");
function taskResume (tid : t_id) return STATUS;
pragma Import (C, taskResume, "taskResume");
function taskIsSuspended (tid : t_id) return BOOL;
pragma Import (C, taskIsSuspended, "taskIsSuspended");
function taskDelay (ticks : int) return STATUS;
pragma Import (C, taskDelay, "taskDelay");
function sysClkRateGet return vx_freq_t;
pragma Import (C, sysClkRateGet, "sysClkRateGet");
-- VxWorks 5.x specific functions
-- Must not be called from run-time for versions that do not support
-- taskVarLib: eg VxWorks 6 RTPs
function taskVarAdd
(tid : t_id; pVar : access System.Address) return STATUS;
pragma Import (C, taskVarAdd, "taskVarAdd");
function taskVarDelete
(tid : t_id; pVar : access System.Address) return STATUS;
pragma Import (C, taskVarDelete, "taskVarDelete");
function taskVarSet
(tid : t_id;
pVar : access System.Address;
value : System.Address) return STATUS;
pragma Import (C, taskVarSet, "taskVarSet");
function taskVarGet
(tid : t_id;
pVar : access System.Address) return int;
pragma Import (C, taskVarGet, "taskVarGet");
-- VxWorks 6.x specific functions
-- Can only be called from the VxWorks 6 run-time libary that supports
-- tlsLib, and not by the VxWorks 6.6 SMP library
function tlsKeyCreate return int;
pragma Import (C, tlsKeyCreate, "tlsKeyCreate");
function tlsValueGet (key : int) return System.Address;
pragma Import (C, tlsValueGet, "tlsValueGet");
function tlsValueSet (key : int; value : System.Address) return STATUS;
pragma Import (C, tlsValueSet, "tlsValueSet");
-- Option flags for taskSpawn
VX_UNBREAKABLE : constant := 16#0002#;
VX_FP_PRIVATE_ENV : constant := 16#0080#;
VX_NO_STACK_FILL : constant := 16#0100#;
function taskSpawn
(name : System.Address; -- Pointer to task name
priority : int;
options : int;
stacksize : size_t;
start_routine : System.Address;
arg1 : System.Address;
arg2 : int := 0;
arg3 : int := 0;
arg4 : int := 0;
arg5 : int := 0;
arg6 : int := 0;
arg7 : int := 0;
arg8 : int := 0;
arg9 : int := 0;
arg10 : int := 0) return t_id;
pragma Import (C, taskSpawn, "taskSpawn");
procedure taskDelete (tid : t_id);
pragma Import (C, taskDelete, "taskDelete");
function Set_Time_Slice (ticks : int) return STATUS renames
SVE.Set_Time_Slice;
-- Calls kernelTimeSlice under VxWorks 5.x, VxWorks 653, or in VxWorks 6
-- kernel apps. Returns ERROR for RTPs, VxWorks 5 /CERT
function taskPriorityGet (tid : t_id; pPriority : access int) return STATUS;
pragma Import (C, taskPriorityGet, "taskPriorityGet");
function taskPrioritySet (tid : t_id; newPriority : int) return STATUS;
pragma Import (C, taskPrioritySet, "taskPrioritySet");
-- Semaphore creation flags
SEM_Q_FIFO : constant := 0;
SEM_Q_PRIORITY : constant := 1;
SEM_DELETE_SAFE : constant := 4; -- only valid for binary semaphore
SEM_INVERSION_SAFE : constant := 8; -- only valid for binary semaphore
-- Semaphore initial state flags
SEM_EMPTY : constant := 0;
SEM_FULL : constant := 1;
-- Semaphore take (semTake) time constants
WAIT_FOREVER : constant := -1;
NO_WAIT : constant := 0;
-- Error codes (errno). The lower level 16 bits are the error code, with
-- the upper 16 bits representing the module number in which the error
-- occurred. By convention, the module number is 0 for UNIX errors. VxWorks
-- reserves module numbers 1-500, with the remaining module numbers being
-- available for user applications.
M_objLib : constant := 61 * 2**16;
-- semTake() failure with ticks = NO_WAIT
S_objLib_OBJ_UNAVAILABLE : constant := M_objLib + 2;
-- semTake() timeout with ticks > NO_WAIT
S_objLib_OBJ_TIMEOUT : constant := M_objLib + 4;
subtype SEM_ID is SVE.SEM_ID;
-- typedef struct semaphore *SEM_ID;
-- We use two different kinds of VxWorks semaphores: mutex and binary
-- semaphores. A null ID is returned when a semaphore cannot be created.
function semBCreate (options : int; initial_state : int) return SEM_ID;
pragma Import (C, semBCreate, "semBCreate");
-- Create a binary semaphore. Return ID, or 0 if memory could not
-- be allocated.
function semMCreate (options : int) return SEM_ID;
pragma Import (C, semMCreate, "semMCreate");
function semDelete (Sem : SEM_ID) return STATUS renames SVE.semDelete;
-- Delete a semaphore
function semGive (Sem : SEM_ID) return STATUS;
pragma Import (C, semGive, "semGive");
function semTake (Sem : SEM_ID; timeout : int) return STATUS;
pragma Import (C, semTake, "semTake");
-- Attempt to take binary semaphore. Error is returned if operation
-- times out
function semFlush (SemID : SEM_ID) return STATUS;
pragma Import (C, semFlush, "semFlush");
-- Release all threads blocked on the semaphore
------------------------------------------------------------
-- Binary Semaphore Wrapper to Support interrupt Tasks --
------------------------------------------------------------
type Binary_Semaphore_Id is new Long_Integer;
function Binary_Semaphore_Create return Binary_Semaphore_Id;
pragma Inline (Binary_Semaphore_Create);
function Binary_Semaphore_Delete (ID : Binary_Semaphore_Id) return STATUS;
pragma Inline (Binary_Semaphore_Delete);
function Binary_Semaphore_Obtain (ID : Binary_Semaphore_Id) return STATUS;
pragma Inline (Binary_Semaphore_Obtain);
function Binary_Semaphore_Release (ID : Binary_Semaphore_Id) return STATUS;
pragma Inline (Binary_Semaphore_Release);
function Binary_Semaphore_Flush (ID : Binary_Semaphore_Id) return STATUS;
pragma Inline (Binary_Semaphore_Flush);
------------------------------------------------------------
-- Hardware Interrupt Wrappers to Support Interrupt Tasks --
------------------------------------------------------------
type Interrupt_Handler is access procedure (parameter : System.Address);
pragma Convention (C, Interrupt_Handler);
type Interrupt_Vector is new System.Address;
function Interrupt_Connect
(Vector : Interrupt_Vector;
Handler : Interrupt_Handler;
Parameter : System.Address := System.Null_Address) return STATUS;
pragma Inline (Interrupt_Connect);
-- Use this to set up an user handler. The routine installs a user handler
-- which is invoked after the OS has saved enough context for a high-level
-- language routine to be safely invoked.
function Interrupt_Context return BOOL;
pragma Inline (Interrupt_Context);
-- Return 1 (TRUE) if executing in an interrupt context;
-- return 0 (FALSE) if executing in a task context.
function Interrupt_Number_To_Vector (intNum : int) return Interrupt_Vector;
pragma Inline (Interrupt_Number_To_Vector);
-- Convert a logical interrupt number to the hardware interrupt vector
-- number used to connect the interrupt.
--------------------------------
-- Processor Affinity for SMP --
--------------------------------
function taskCpuAffinitySet (tid : t_id; CPU : int) return int
renames SVE.taskCpuAffinitySet;
-- For SMP run-times the affinity to CPU.
-- For uniprocessor systems return ERROR status.
function taskMaskAffinitySet (tid : t_id; CPU_Set : unsigned) return int
renames SVE.taskMaskAffinitySet;
-- For SMP run-times the affinity to CPU_Set.
-- For uniprocessor systems return ERROR status.
---------------------
-- Multiprocessors --
---------------------
function Current_CPU return Multiprocessors.CPU;
-- Return the id of the current CPU
private
type pid_t is new int;
ERROR_PID : constant pid_t := -1;
type sigset_t is new SVE.sigset_t;
end System.OS_Interface;