Overview
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========
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This directory contains a VxWorks(*) emulation interface on top of the
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Xenomai framework.
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Known variations from VxWorks/WIND
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==================================
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You may observe some variations from VxWorks. If you find such a
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variation and you think it would be easy to correct, please mail to
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the Xenomai mailing list at <xenomai@xenomai.org>. Here are the known
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variations:
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- VxWorks task priorities are restricted to [97..0] in the current
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implementation of the emulator.
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- taskInit() does not allow to create unnamed tasks, but assigns an
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auto-generated name like taskSpawn() whenever a NULL or empty name
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string is given.
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- taskUnlock() may induce a round-robin effect within the priority
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level of the task releasing the scheduler lock.
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- semDelete() does not flush a mutex semaphore. May return
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S_semLib_INVALID_OPERATION if busy upon deletion.
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- semMCreate() does not support FIFO queuing mode, but only PRIO.
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- semTake() will complain about the owner of a mutex-type semaphore
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exiting without releasing the lock while the current task pends on
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it. S_objLib_OBJ_UNAVAILABLE is then returned to the caller, and the
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semaphore is left in an inconsistent state.
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- kernelInit() has a different signature than the original WIND kernel
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call, i.e.:
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STATUS kernelInit(FUNCPTR rootRtn, int argc, char *const argv[]).
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The first argument is a pointer to an optional root task entry
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point, which the emulator will name "rootTask", and start with
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priority 50. Since kernelInit() is usually called on behalf of a non
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real-time thread within the application's main() routine, the root
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task will preempt the caller immediately. If NULL is passed, no root
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task will be started by kernelInit().
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The second and third arguments should be the argument count and
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vector, as passed to the application's main() routine on the
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command line. Passing 0/NULL is valid, meaning that no command line
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argument may be used to override the default emulator settings.
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- memPartCreate() may return S_memLib_NOT_ENOUGH_MEMORY in case a
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memory shortage happens while allocating the internal partition
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descriptor. I.e. this descriptor is not laid into the user-provided
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memory.
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- memPartAddToPool() may return S_objLib_OBJ_ID_ERROR when called with
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an invalid partition identifier.
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- The following calls may return S_objLib_OBJ_NO_METHOD when called
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from a non-VxWorks task context:
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taskDelay, taskLock, taskUnlock, taskSafe, taskUnsafe, and taskIdSelf.
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(*) VxWorks is a registered trademark of Wind River Systems, Inc
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(http://www.windriver.com).
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