/*
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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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#include <stdio.h>
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#include <time.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <getopt.h>
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#include <xenomai/init.h>
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#include <vxworks/errnoLib.h>
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#include "tickLib.h"
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#include "taskLib.h"
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/**
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* @defgroup vxworks VxWorks® emulator
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*
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* A VxWorks® emulation library on top of Xenomai.
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*
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* The emulator mimicks the behavior described in the public
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* documentation of the WIND 5.x API for the following class of
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* services:
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*
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* - taskLib, taskInfoLib, taskHookLib,
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* - semLib, msgQLib, wdLib, memPartLib
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* - intLib, tickLib, sysLib (partial)
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* - errnoLib, lstLib, kernelLib (partial)
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*/
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static unsigned int clock_resolution = 1000000; /* 1ms */
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static const struct option vxworks_options[] = {
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{
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#define clock_resolution_opt 0
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.name = "vxworks-clock-resolution",
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.has_arg = required_argument,
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},
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{ /* Sentinel */ }
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};
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static int vxworks_parse_option(int optnum, const char *optarg)
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{
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switch (optnum) {
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case clock_resolution_opt:
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clock_resolution = atoi(optarg);
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break;
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default:
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/* Paranoid, can't happen. */
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return -EINVAL;
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}
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return 0;
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}
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static void vxworks_help(void)
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{
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fprintf(stderr, "--vxworks-clock-resolution=<ns> tick value (default 1ms)\n");
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}
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static int vxworks_init(void)
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{
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int ret;
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registry_add_dir("/vxworks");
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registry_add_dir("/vxworks/tasks");
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registry_add_dir("/vxworks/semaphores");
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registry_add_dir("/vxworks/queues");
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registry_add_dir("/vxworks/watchdogs");
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cluster_init(&wind_task_table, "vxworks.task");
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ret = clockobj_init(&wind_clock, clock_resolution);
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if (ret) {
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warning("%s: failed to initialize VxWorks clock (res=%u ns)",
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__FUNCTION__, clock_resolution);
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return __bt(ret);
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}
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__RT(pthread_mutex_init(&wind_task_lock, NULL));
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return 0;
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}
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static struct setup_descriptor vxworks_skin = {
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.name = "vxworks",
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.init = vxworks_init,
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.options = vxworks_options,
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.parse_option = vxworks_parse_option,
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.help = vxworks_help,
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};
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interface_setup_call(vxworks_skin);
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