pragma Polling (Off);
with System.Tasking.Debug;
with System.Interrupt_Management;
with System.Soft_Links;
with System.OS_Interface;
with System.Parameters;
with System.Tasking;
with System.Task_Info;
with Interfaces.C;
with Unchecked_Conversion;
with Unchecked_Deallocation;
package body System.Task_Primitives.Operations is
use System.Tasking.Debug;
use System.Tasking;
use System.Task_Info;
use System.OS_Interface;
use System.Parameters;
use type Interfaces.C.int;
package SSL renames System.Soft_Links;
subtype int is System.OS_Interface.int;
Relative : constant := 0;
Current_Task : aliased Task_ID;
pragma Export (Ada, Current_Task);
Single_RTS_Lock : aliased RTS_Lock;
Environment_Task_ID : Task_ID;
Unblocked_Signal_Mask : aliased sigset_t;
Time_Slice_Val : Integer;
pragma Import (C, Time_Slice_Val, "__gl_time_slice_val");
Locking_Policy : Character;
pragma Import (C, Locking_Policy, "__gl_locking_policy");
Dispatching_Policy : Character;
pragma Import (C, Dispatching_Policy, "__gl_task_dispatching_policy");
FIFO_Within_Priorities : constant Boolean := Dispatching_Policy = 'F';
Mutex_Protocol : Priority_Type;
procedure Abort_Handler (signo : Signal);
function To_Address is new Unchecked_Conversion (Task_ID, System.Address);
procedure Abort_Handler (signo : Signal) is
Self_ID : constant Task_ID := Self;
Result : int;
Old_Set : aliased sigset_t;
begin
if Self_ID.Deferral_Level = 0
and then Self_ID.Pending_ATC_Level < Self_ID.ATC_Nesting_Level
and then not Self_ID.Aborting
then
Self_ID.Aborting := True;
Result := pthread_sigmask (SIG_UNBLOCK,
Unblocked_Signal_Mask'Unchecked_Access, Old_Set'Unchecked_Access);
pragma Assert (Result = 0);
raise Standard'Abort_Signal;
end if;
end Abort_Handler;
procedure Stack_Guard (T : ST.Task_ID; On : Boolean) is
begin
null;
end Stack_Guard;
function Get_Thread_Id (T : ST.Task_ID) return OSI.Thread_Id is
begin
return T.Common.LL.Thread;
end Get_Thread_Id;
function Self return Task_ID is
begin
pragma Assert (Current_Task /= null);
return Current_Task;
end Self;
procedure Install_Signal_Handlers;
procedure Install_Signal_Handlers is
act : aliased struct_sigaction;
old_act : aliased struct_sigaction;
Tmp_Set : aliased sigset_t;
Result : int;
begin
act.sa_flags := 0;
act.sa_handler := Abort_Handler'Address;
Result := sigemptyset (Tmp_Set'Access);
pragma Assert (Result = 0);
act.sa_mask := Tmp_Set;
Result :=
sigaction
(Signal (Interrupt_Management.Abort_Task_Interrupt),
act'Unchecked_Access,
old_act'Unchecked_Access);
pragma Assert (Result = 0);
Interrupt_Management.Initialize_Interrupts;
end Install_Signal_Handlers;
procedure Initialize_Lock (Prio : System.Any_Priority; L : access Lock) is
begin
L.Mutex := semMCreate (SEM_Q_PRIORITY + SEM_INVERSION_SAFE);
L.Prio_Ceiling := int (Prio);
L.Protocol := Mutex_Protocol;
pragma Assert (L.Mutex /= 0);
end Initialize_Lock;
procedure Initialize_Lock (L : access RTS_Lock; Level : Lock_Level) is
begin
L.Mutex := semMCreate (SEM_Q_PRIORITY + SEM_INVERSION_SAFE);
L.Prio_Ceiling := int (System.Any_Priority'Last);
L.Protocol := Mutex_Protocol;
pragma Assert (L.Mutex /= 0);
end Initialize_Lock;
procedure Finalize_Lock (L : access Lock) is
Result : int;
begin
Result := semDelete (L.Mutex);
pragma Assert (Result = 0);
end Finalize_Lock;
procedure Finalize_Lock (L : access RTS_Lock) is
Result : int;
begin
Result := semDelete (L.Mutex);
pragma Assert (Result = 0);
end Finalize_Lock;
procedure Write_Lock (L : access Lock; Ceiling_Violation : out Boolean) is
Result : int;
begin
if L.Protocol = Prio_Protect
and then int (Self.Common.Current_Priority) > L.Prio_Ceiling
then
Ceiling_Violation := True;
return;
else
Ceiling_Violation := False;
end if;
Result := semTake (L.Mutex, WAIT_FOREVER);
pragma Assert (Result = 0);
end Write_Lock;
procedure Write_Lock
(L : access RTS_Lock; Global_Lock : Boolean := False)
is
Result : int;
begin
if not Single_Lock or else Global_Lock then
Result := semTake (L.Mutex, WAIT_FOREVER);
pragma Assert (Result = 0);
end if;
end Write_Lock;
procedure Write_Lock (T : Task_ID) is
Result : int;
begin
if not Single_Lock then
Result := semTake (T.Common.LL.L.Mutex, WAIT_FOREVER);
pragma Assert (Result = 0);
end if;
end Write_Lock;
procedure Read_Lock (L : access Lock; Ceiling_Violation : out Boolean) is
begin
Write_Lock (L, Ceiling_Violation);
end Read_Lock;
procedure Unlock (L : access Lock) is
Result : int;
begin
Result := semGive (L.Mutex);
pragma Assert (Result = 0);
end Unlock;
procedure Unlock (L : access RTS_Lock; Global_Lock : Boolean := False) is
Result : int;
begin
if not Single_Lock or else Global_Lock then
Result := semGive (L.Mutex);
pragma Assert (Result = 0);
end if;
end Unlock;
procedure Unlock (T : Task_ID) is
Result : int;
begin
if not Single_Lock then
Result := semGive (T.Common.LL.L.Mutex);
pragma Assert (Result = 0);
end if;
end Unlock;
procedure Sleep (Self_ID : Task_ID; Reason : System.Tasking.Task_States) is
Result : int;
begin
pragma Assert (Self_ID = Self);
Result := taskLock;
if Single_Lock then
Result := semGive (Single_RTS_Lock.Mutex);
else
Result := semGive (Self_ID.Common.LL.L.Mutex);
end if;
pragma Assert (Result = 0);
Self_ID.Common.LL.CV.Waiting := Self_ID.Common.LL.CV.Waiting + 1;
Result := semTake (Self_ID.Common.LL.CV.Sem, WAIT_FOREVER);
if Result /= 0 then
Self_ID.Common.LL.CV.Waiting := Self_ID.Common.LL.CV.Waiting - 1;
pragma Assert (False);
end if;
if Single_Lock then
Result := semTake (Single_RTS_Lock.Mutex, WAIT_FOREVER);
else
Result := semTake (Self_ID.Common.LL.L.Mutex, WAIT_FOREVER);
end if;
pragma Assert (Result = 0);
Result := taskUnlock;
end Sleep;
procedure Timed_Sleep
(Self_ID : Task_ID;
Time : Duration;
Mode : ST.Delay_Modes;
Reason : System.Tasking.Task_States;
Timedout : out Boolean;
Yielded : out Boolean)
is
Ticks : int;
Result : int;
begin
Timedout := True;
Yielded := True;
if Mode = Relative then
Ticks := To_Clock_Ticks (Time) + 1;
else
Ticks := To_Clock_Ticks (Time - Monotonic_Clock);
end if;
if Ticks > 0 then
Result := taskLock;
if Single_Lock then
Result := semGive (Single_RTS_Lock.Mutex);
else
Result := semGive (Self_ID.Common.LL.L.Mutex);
end if;
pragma Assert (Result = 0);
Self_ID.Common.LL.CV.Waiting := Self_ID.Common.LL.CV.Waiting + 1;
Result := semTake (Self_ID.Common.LL.CV.Sem, Ticks);
if Result = 0 then
Timedout := False;
else
Self_ID.Common.LL.CV.Waiting := Self_ID.Common.LL.CV.Waiting - 1;
if errno /= S_objLib_OBJ_TIMEOUT then
Timedout := False;
end if;
end if;
if Single_Lock then
Result := semTake (Single_RTS_Lock.Mutex, WAIT_FOREVER);
else
Result := semTake (Self_ID.Common.LL.L.Mutex, WAIT_FOREVER);
end if;
pragma Assert (Result = 0);
Result := taskUnlock;
else
taskDelay (0);
end if;
end Timed_Sleep;
procedure Timed_Delay
(Self_ID : Task_ID;
Time : Duration;
Mode : ST.Delay_Modes)
is
Orig : constant Duration := Monotonic_Clock;
Absolute : Duration;
Ticks : int;
Timedout : Boolean;
Result : int;
begin
SSL.Abort_Defer.all;
if Single_Lock then
Result := semTake (Single_RTS_Lock.Mutex, WAIT_FOREVER);
else
Result := semTake (Self_ID.Common.LL.L.Mutex, WAIT_FOREVER);
end if;
pragma Assert (Result = 0);
if Mode = Relative then
Absolute := Orig + Time;
Ticks := To_Clock_Ticks (Time);
if Ticks > 0 then
Ticks := Ticks + 1;
end if;
else
Absolute := Time;
Ticks := To_Clock_Ticks (Time - Orig);
end if;
if Ticks > 0 then
Self_ID.Common.State := Delay_Sleep;
loop
if Self_ID.Pending_Priority_Change then
Self_ID.Pending_Priority_Change := False;
Self_ID.Common.Base_Priority := Self_ID.New_Base_Priority;
Set_Priority (Self_ID, Self_ID.Common.Base_Priority);
end if;
exit when Self_ID.Pending_ATC_Level < Self_ID.ATC_Nesting_Level;
Timedout := False;
Result := taskLock;
if Single_Lock then
Result := semGive (Single_RTS_Lock.Mutex);
else
Result := semGive (Self_ID.Common.LL.L.Mutex);
end if;
pragma Assert (Result = 0);
Self_ID.Common.LL.CV.Waiting := Self_ID.Common.LL.CV.Waiting + 1;
Result := semTake (Self_ID.Common.LL.CV.Sem, Ticks);
if Result /= 0 then
Self_ID.Common.LL.CV.Waiting :=
Self_ID.Common.LL.CV.Waiting - 1;
if errno = S_objLib_OBJ_TIMEOUT then
Timedout := True;
else
Ticks := To_Clock_Ticks (Absolute - Monotonic_Clock);
end if;
end if;
if Single_Lock then
Result := semTake (Single_RTS_Lock.Mutex, WAIT_FOREVER);
else
Result := semTake (Self_ID.Common.LL.L.Mutex, WAIT_FOREVER);
end if;
pragma Assert (Result = 0);
Result := taskUnlock;
exit when Timedout;
end loop;
Self_ID.Common.State := Runnable;
else
taskDelay (0);
end if;
if Single_Lock then
Result := semGive (Single_RTS_Lock.Mutex);
else
Result := semGive (Self_ID.Common.LL.L.Mutex);
end if;
pragma Assert (Result = 0);
SSL.Abort_Undefer.all;
end Timed_Delay;
function Monotonic_Clock return Duration is
TS : aliased timespec;
Result : int;
begin
Result := clock_gettime (CLOCK_REALTIME, TS'Unchecked_Access);
pragma Assert (Result = 0);
return To_Duration (TS);
end Monotonic_Clock;
function RT_Resolution return Duration is
begin
return 10#1.0#E-6;
end RT_Resolution;
procedure Wakeup (T : Task_ID; Reason : System.Tasking.Task_States) is
Result : int;
begin
Result := taskLock;
if T.Common.LL.CV.Waiting > 0 then
Result := semGive (T.Common.LL.CV.Sem);
T.Common.LL.CV.Waiting := T.Common.LL.CV.Waiting - 1;
pragma Assert (Result = 0);
end if;
Result := taskUnlock;
end Wakeup;
procedure Yield (Do_Yield : Boolean := True) is
Result : int;
begin
Result := taskDelay (0);
end Yield;
type Prio_Array_Type is array (System.Any_Priority) of Integer;
pragma Atomic_Components (Prio_Array_Type);
Prio_Array : Prio_Array_Type;
procedure Set_Priority
(T : Task_ID;
Prio : System.Any_Priority;
Loss_Of_Inheritance : Boolean := False)
is
Array_Item : Integer;
Result : int;
begin
Result := taskPrioritySet
(T.Common.LL.Thread, To_VxWorks_Priority (int (Prio)));
pragma Assert (Result = 0);
if FIFO_Within_Priorities then
if Loss_Of_Inheritance
and then Prio < T.Common.Current_Priority
then
Array_Item := Prio_Array (T.Common.Base_Priority) + 1;
Prio_Array (T.Common.Base_Priority) := Array_Item;
loop
Yield;
exit when Array_Item = Prio_Array (T.Common.Base_Priority)
or else Prio_Array (T.Common.Base_Priority) = 1;
end loop;
Prio_Array (T.Common.Base_Priority) :=
Prio_Array (T.Common.Base_Priority) - 1;
end if;
end if;
T.Common.Current_Priority := Prio;
end Set_Priority;
function Get_Priority (T : Task_ID) return System.Any_Priority is
begin
return T.Common.Current_Priority;
end Get_Priority;
procedure Enter_Task (Self_ID : Task_ID) is
Result : int;
procedure Init_Float;
pragma Import (C, Init_Float, "__gnat_init_float");
begin
Self_ID.Common.LL.Thread := taskIdSelf;
Result := taskVarAdd (0, Current_Task'Address);
Current_Task := Self_ID;
Init_Float;
Install_Signal_Handlers;
Lock_RTS;
for J in Known_Tasks'Range loop
if Known_Tasks (J) = null then
Known_Tasks (J) := Self_ID;
Self_ID.Known_Tasks_Index := J;
exit;
end if;
end loop;
Unlock_RTS;
end Enter_Task;
function New_ATCB (Entry_Num : Task_Entry_Index) return Task_ID is
begin
return new Ada_Task_Control_Block (Entry_Num);
end New_ATCB;
procedure Initialize_TCB (Self_ID : Task_ID; Succeeded : out Boolean) is
begin
Self_ID.Common.LL.CV.Sem := semBCreate (SEM_Q_PRIORITY, SEM_EMPTY);
Self_ID.Common.LL.CV.Waiting := 0;
Self_ID.Common.LL.Thread := 0;
if Self_ID.Common.LL.CV.Sem = 0 then
Succeeded := False;
else
Succeeded := True;
if not Single_Lock then
Initialize_Lock (Self_ID.Common.LL.L'Access, ATCB_Level);
end if;
end if;
end Initialize_TCB;
procedure Create_Task
(T : Task_ID;
Wrapper : System.Address;
Stack_Size : System.Parameters.Size_Type;
Priority : System.Any_Priority;
Succeeded : out Boolean)
is
use type System.Task_Info.Task_Image_Type;
Adjusted_Stack_Size : size_t;
begin
if Stack_Size = Unspecified_Size then
Adjusted_Stack_Size := size_t (Default_Stack_Size);
elsif Stack_Size < Minimum_Stack_Size then
Adjusted_Stack_Size := size_t (Minimum_Stack_Size);
else
Adjusted_Stack_Size := size_t (Stack_Size);
end if;
Adjusted_Stack_Size := Adjusted_Stack_Size + 2048;
if T.Common.Task_Image = null then
T.Common.LL.Thread := taskSpawn
(System.Null_Address,
To_VxWorks_Priority (int (Priority)),
VX_FP_TASK,
Adjusted_Stack_Size,
Wrapper,
To_Address (T));
else
declare
Name : aliased String (1 .. T.Common.Task_Image'Length + 1);
begin
Name (1 .. Name'Last - 1) := T.Common.Task_Image.all;
Name (Name'Last) := ASCII.NUL;
T.Common.LL.Thread := taskSpawn
(Name'Address,
To_VxWorks_Priority (int (Priority)),
VX_FP_TASK,
Adjusted_Stack_Size,
Wrapper,
To_Address (T));
end;
end if;
if T.Common.LL.Thread = -1 then
Succeeded := False;
else
Succeeded := True;
end if;
Task_Creation_Hook (T.Common.LL.Thread);
Set_Priority (T, Priority);
end Create_Task;
procedure Finalize_TCB (T : Task_ID) is
Result : int;
Tmp : Task_ID := T;
procedure Free is new
Unchecked_Deallocation (Ada_Task_Control_Block, Task_ID);
begin
if Single_Lock then
Result := semDelete (T.Common.LL.L.Mutex);
pragma Assert (Result = 0);
end if;
T.Common.LL.Thread := 0;
Result := semDelete (T.Common.LL.CV.Sem);
pragma Assert (Result = 0);
if T.Known_Tasks_Index /= -1 then
Known_Tasks (T.Known_Tasks_Index) := null;
end if;
Free (Tmp);
end Finalize_TCB;
procedure Exit_Task is
begin
Task_Termination_Hook;
taskDelete (0);
end Exit_Task;
procedure Abort_Task (T : Task_ID) is
Result : int;
begin
Result := kill (T.Common.LL.Thread,
Signal (Interrupt_Management.Abort_Task_Interrupt));
pragma Assert (Result = 0);
end Abort_Task;
function Check_Exit (Self_ID : ST.Task_ID) return Boolean is
begin
return True;
end Check_Exit;
function Check_No_Locks (Self_ID : ST.Task_ID) return Boolean is
begin
return True;
end Check_No_Locks;
function Environment_Task return Task_ID is
begin
return Environment_Task_ID;
end Environment_Task;
procedure Lock_RTS is
begin
Write_Lock (Single_RTS_Lock'Access, Global_Lock => True);
end Lock_RTS;
procedure Unlock_RTS is
begin
Unlock (Single_RTS_Lock'Access, Global_Lock => True);
end Unlock_RTS;
function Suspend_Task
(T : ST.Task_ID;
Thread_Self : Thread_Id) return Boolean is
begin
if T.Common.LL.Thread /= 0
and then T.Common.LL.Thread /= Thread_Self
then
return taskSuspend (T.Common.LL.Thread) = 0;
else
return True;
end if;
end Suspend_Task;
function Resume_Task
(T : ST.Task_ID;
Thread_Self : Thread_Id) return Boolean is
begin
if T.Common.LL.Thread /= 0
and then T.Common.LL.Thread /= Thread_Self
then
return taskResume (T.Common.LL.Thread) = 0;
else
return True;
end if;
end Resume_Task;
procedure Initialize (Environment_Task : Task_ID) is
begin
Environment_Task_ID := Environment_Task;
Initialize_Lock (Single_RTS_Lock'Access, RTS_Lock_Level);
Enter_Task (Environment_Task);
end Initialize;
begin
declare
Result : int;
begin
if Locking_Policy = 'C' then
Mutex_Protocol := Prio_Protect;
elsif Locking_Policy = 'I' then
Mutex_Protocol := Prio_Inherit;
else
Mutex_Protocol := Prio_None;
end if;
if Time_Slice_Val > 0 then
Result := kernelTimeSlice
(To_Clock_Ticks
(Duration (Time_Slice_Val) / Duration (1_000_000.0)));
end if;
Result := sigemptyset (Unblocked_Signal_Mask'Access);
pragma Assert (Result = 0);
end;
end System.Task_Primitives.Operations;