/*
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* Copyright (C) 2011 Philippe Gerum <rpm@xenomai.org>.
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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*/
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#ifndef _XENOMAI_ALCHEMY_TASK_H
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#define _XENOMAI_ALCHEMY_TASK_H
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#include <sys/types.h>
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#include <stdint.h>
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#include <xeno_config.h>
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#include <boilerplate/list.h>
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#include <copperplate/threadobj.h>
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#include <alchemy/timer.h>
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#include <alchemy/compat.h>
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/**
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* @addtogroup alchemy_task
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* @{
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*/
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/** Task priorities. */
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#define T_LOPRIO 0
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#define T_HIPRIO 99
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/** Task mode bits. */
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#define T_LOCK __THREAD_M_LOCK
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/** Cobalt only, nop over Mercury. */
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#define T_WARNSW __THREAD_M_WARNSW
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#define T_CONFORMING __THREAD_M_CONFORMING
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#define T_JOINABLE __THREAD_M_SPARE0
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struct RT_TASK {
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uintptr_t handle;
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pthread_t thread;
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};
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typedef struct RT_TASK RT_TASK;
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struct RT_TASK_MCB {
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int flowid;
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int opcode;
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union {
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dref_type(void *) __dref;
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void *data;
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};
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ssize_t size;
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};
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typedef struct RT_TASK_MCB RT_TASK_MCB;
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/**
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* @brief Task status descriptor
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* @anchor RT_TASK_INFO
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*
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* This structure reports various static and runtime information about
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* a real-time task, returned by a call to rt_task_inquire().
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*/
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struct RT_TASK_INFO {
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/**
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* Task priority.
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*/
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int prio;
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/**
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* Task status.
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*/
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struct threadobj_stat stat;
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/**
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* Name of task.
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*/
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char name[XNOBJECT_NAME_LEN];
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/**
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* Host pid.
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*/
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pid_t pid;
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};
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typedef struct RT_TASK_INFO RT_TASK_INFO;
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#define NO_ALCHEMY_TASK ((RT_TASK){ 0, 0 })
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#ifdef __cplusplus
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extern "C" {
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#endif
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CURRENT_DECL(int, rt_task_create(RT_TASK *task,
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const char *name,
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int stksize,
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int prio,
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int mode));
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int rt_task_delete(RT_TASK *task);
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int rt_task_set_affinity(RT_TASK *task,
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const cpu_set_t *cpus);
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int rt_task_start(RT_TASK *task,
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void (*entry)(void *arg),
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void *arg);
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CURRENT_DECL(int, rt_task_spawn(RT_TASK *task, const char *name,
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int stksize, int prio, int mode,
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void (*entry)(void *arg),
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void *arg));
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int rt_task_shadow(RT_TASK *task,
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const char *name,
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int prio,
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int mode);
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int rt_task_join(RT_TASK *task);
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CURRENT_DECL(int, rt_task_set_periodic(RT_TASK *task,
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RTIME idate, RTIME period));
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int rt_task_wait_period(unsigned long *overruns_r);
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int rt_task_sleep(RTIME delay);
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int rt_task_sleep_until(RTIME date);
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int rt_task_same(RT_TASK *task1, RT_TASK *task2);
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int rt_task_suspend(RT_TASK *task);
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int rt_task_resume(RT_TASK *task);
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RT_TASK *rt_task_self(void);
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int rt_task_set_priority(RT_TASK *task, int prio);
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int rt_task_set_mode(int clrmask, int setmask,
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int *mode_r);
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int rt_task_yield(void);
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int rt_task_unblock(RT_TASK *task);
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int rt_task_slice(RT_TASK *task, RTIME quantum);
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int rt_task_inquire(RT_TASK *task,
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RT_TASK_INFO *info);
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ssize_t rt_task_send_timed(RT_TASK *task,
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RT_TASK_MCB *mcb_s, RT_TASK_MCB *mcb_r,
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const struct timespec *abs_timeout);
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static inline
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ssize_t rt_task_send_until(RT_TASK *task,
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RT_TASK_MCB *mcb_s, RT_TASK_MCB *mcb_r,
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RTIME timeout)
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{
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struct timespec ts;
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return rt_task_send_timed(task, mcb_s, mcb_r,
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alchemy_abs_timeout(timeout, &ts));
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}
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static inline
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ssize_t rt_task_send(RT_TASK *task,
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RT_TASK_MCB *mcb_s, RT_TASK_MCB *mcb_r,
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RTIME timeout)
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{
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struct timespec ts;
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return rt_task_send_timed(task, mcb_s, mcb_r,
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alchemy_rel_timeout(timeout, &ts));
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}
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int rt_task_receive_timed(RT_TASK_MCB *mcb_r,
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const struct timespec *abs_timeout);
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static inline
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int rt_task_receive_until(RT_TASK_MCB *mcb_r, RTIME timeout)
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{
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struct timespec ts;
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return rt_task_receive_timed(mcb_r,
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alchemy_abs_timeout(timeout, &ts));
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}
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static inline
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int rt_task_receive(RT_TASK_MCB *mcb_r, RTIME timeout)
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{
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struct timespec ts;
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return rt_task_receive_timed(mcb_r,
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alchemy_rel_timeout(timeout, &ts));
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}
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int rt_task_reply(int flowid,
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RT_TASK_MCB *mcb_s);
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int rt_task_bind(RT_TASK *task,
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const char *name, RTIME timeout);
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int rt_task_unbind(RT_TASK *task);
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#ifdef __cplusplus
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}
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#endif
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/** @} */
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#endif /* _XENOMAI_ALCHEMY_TASK_H */
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