/*
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* Copyright (C) 2014 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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#include <xeno_config.h>
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#include <errno.h>
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#include <signal.h>
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#include <time.h>
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#include <memory.h>
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#include <boilerplate/ancillaries.h>
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#include <boilerplate/signal.h>
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#include <trank/posix/pthread.h>
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#include "cobalt/internal.h"
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#include "internal.h"
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/**
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* @ingroup trank
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* @{
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*/
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/**
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* Make a thread periodic (compatibility service).
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*
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* This service makes the POSIX @a thread periodic.
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*
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* @param thread thread to arm a periodic timer for.
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*
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* @param starttp start time, expressed as an absolute value of the
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* CLOCK_REALTIME clock.
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*
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* @param periodtp period, expressed as a time interval.
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*
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* @return 0 on success;
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* @return an error number if:
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* - ESRCH, @a thread is invalid.
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* - ETIMEDOUT, the start time has already passed.
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* - EPERM, the caller is not a Xenomai thread.
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* - EINVAL, @a thread does not refer to the current thread.
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*
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* @note Unlike the original Xenomai 2.x call, this emulation does not
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* delay the caller waiting for the first periodic release point. In
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* addition, @a thread must be equal to pthread_self().
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*
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* @deprecated This service is a non-portable extension of the Xenomai
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* 2.x POSIX interface, not available with Xenomai 3.x. Instead,
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* Cobalt-based applications should set up a periodic timer using the
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* timer_create(), timer_settime() call pair, then wait for release
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* points via sigwaitinfo(). Overruns can be detected by looking at
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* the siginfo.si_overrun field. Alternatively, applications may
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* obtain a file descriptor referring to a Cobalt timer via the
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* timerfd() call, and read() from it to wait for timeouts.
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*/
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int pthread_make_periodic_np(pthread_t thread,
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struct timespec *starttp,
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struct timespec *periodtp)
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{
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struct trank_context *tc;
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struct itimerspec its;
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struct sigevent sev;
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int ret;
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tc = trank_get_context();
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if (tc == NULL)
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return EPERM;
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if (thread != pthread_self())
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return EINVAL;
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if (tc->periodic_timer == NULL) {
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memset(&sev, 0, sizeof(sev));
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sev.sigev_signo = SIGPERIOD;
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sev.sigev_notify = SIGEV_SIGNAL|SIGEV_THREAD_ID;
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sev.sigev_notify_thread_id = cobalt_thread_pid(thread);
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ret = __RT(timer_create(CLOCK_REALTIME, &sev,
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&tc->periodic_timer));
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if (ret)
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return -errno;
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}
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its.it_value = *starttp;
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its.it_interval = *periodtp;
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ret = __RT(timer_settime(tc->periodic_timer, TIMER_ABSTIME, &its, NULL));
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if (ret)
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return -errno;
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return 0;
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}
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/**
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* Wait for the next periodic release point (compatibility service)
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*
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* Delay the current thread until the next periodic release point is
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* reached. The periodic timer should have been previously started for
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* @a thread by a call to pthread_make_periodic_np().
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*
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* @param overruns_r If non-NULL, @a overruns_r shall be a pointer to
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* a memory location which will be written with the count of pending
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* overruns. This value is written to only when pthread_wait_np()
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* returns ETIMEDOUT or success. The memory location remains
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* unmodified otherwise. If NULL, this count will not be returned.
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*
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* @return Zero is returned upon success. If @a overruns_r is
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* non-NULL, zero is written to the pointed memory
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* location. Otherwise:
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*
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* - EWOULDBLOCK is returned if pthread_make_periodic_np() was not
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* called for the current thread.
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*
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* - EINTR is returned if @a thread was interrupted by a signal before
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* the next periodic release point was reached.
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*
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* - ETIMEDOUT is returned if a timer overrun occurred, which
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* indicates that a previous release point was missed by the calling
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* thread. If @a overruns_r is non-NULL, the count of pending overruns
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* is written to the pointed memory location.
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*
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* - EPERM is returned if this service was called from an invalid
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* context.
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*
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* @note If the current release point has already been reached at the
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* time of the call, the current thread immediately returns from this
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* service with no delay.
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*
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* @deprecated This service is a non-portable extension of the Xenomai
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* 2.x POSIX interface, not available with Xenomai 3.x. Instead,
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* Cobalt-based applications should set up a periodic timer using the
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* timer_create(), timer_settime() call pair, then wait for release
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* points via sigwaitinfo(). Overruns can be detected by looking at
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* the siginfo.si_overrun field. Alternatively, applications may
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* obtain a file descriptor referring to a Cobalt timer via the
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* timerfd() call, and read() from it to wait for timeouts.
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*/
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int pthread_wait_np(unsigned long *overruns_r)
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{
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struct trank_context *tc;
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siginfo_t si;
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int sig;
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tc = trank_get_context();
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if (tc == NULL)
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return EPERM;
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if (tc->periodic_timer == NULL)
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return EWOULDBLOCK;
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for (;;) {
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sig = __RT(sigwaitinfo(&trank_sigperiod_set, &si));
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if (sig == SIGPERIOD)
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break;
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if (errno == EINTR)
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return EINTR;
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panic("cannot wait for next period, %s", symerror(-errno));
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}
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if (overruns_r)
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*overruns_r = si.si_overrun;
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return 0;
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}
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/** @} */
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