Module: xenomai-forge
Branch: master
Commit: cacb53091dd395a015212154a951b03a268676c9
URL:
http://git.xenomai.org/?p=xenomai-forge.git;a=commit;h=cacb53091dd395a015212154a951b03a268676c9
Author: Philippe Gerum <r...@xenomai.org>
Date: Sat Nov 12 19:25:14 2011 +0100
alchemy: introduce message pipes (Cobalt only)
---
include/alchemy/Makefile.am | 1 +
include/alchemy/Makefile.in | 1 +
include/alchemy/pipe.h | 78 ++++++++++++
lib/alchemy/Makefile.am | 6 +
lib/alchemy/Makefile.in | 51 ++++----
lib/alchemy/pipe.c | 291 +++++++++++++++++++++++++++++++++++++++++++
lib/alchemy/pipe.h | 37 ++++++
7 files changed, 437 insertions(+), 28 deletions(-)
diff --git a/include/alchemy/Makefile.am b/include/alchemy/Makefile.am
index 6264677..1216fc4 100644
--- a/include/alchemy/Makefile.am
+++ b/include/alchemy/Makefile.am
@@ -5,6 +5,7 @@ includesub_HEADERS = \
buffer.h \
cond.h \
mutex.h \
+ pipe.h \
queue.h \
sem.h \
task.h \
diff --git a/include/alchemy/Makefile.in b/include/alchemy/Makefile.in
index 68d5063..553c483 100644
--- a/include/alchemy/Makefile.in
+++ b/include/alchemy/Makefile.in
@@ -244,6 +244,7 @@ includesub_HEADERS = \
buffer.h \
cond.h \
mutex.h \
+ pipe.h \
queue.h \
sem.h \
task.h \
diff --git a/include/alchemy/pipe.h b/include/alchemy/pipe.h
new file mode 100644
index 0000000..2e5ced7
--- /dev/null
+++ b/include/alchemy/pipe.h
@@ -0,0 +1,78 @@
+/*
+ * Copyright (C) 2011 Philippe Gerum <r...@xenomai.org>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _XENOMAI_ALCHEMY_PIPE_H
+#define _XENOMAI_ALCHEMY_PIPE_H
+
+#include <stdint.h>
+#include <alchemy/timer.h>
+
+/* Creation flags. */
+#define P_MINOR_AUTO XNPIPE_MINOR_AUTO
+
+/* Operation flags. */
+#define P_URGENT 0x1
+#define P_NORMAL 0x0
+
+struct RT_PIPE {
+ uintptr_t handle;
+};
+
+typedef struct RT_PIPE RT_PIPE;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int rt_pipe_create(RT_PIPE *pipe,
+ const char *name,
+ int minor,
+ size_t poolsize);
+
+int rt_pipe_delete(RT_PIPE *pipe);
+
+ssize_t rt_pipe_read(RT_PIPE *pipe,
+ void *buf,
+ size_t size,
+ RTIME timeout);
+
+ssize_t rt_pipe_read_until(RT_PIPE *pipe,
+ void *buf,
+ size_t size,
+ RTIME timeout);
+
+ssize_t rt_pipe_write(RT_PIPE *pipe,
+ const void *buf,
+ size_t size,
+ int mode);
+
+ssize_t rt_pipe_stream(RT_PIPE *pipe,
+ const void *buf,
+ size_t size);
+
+int rt_pipe_bind(RT_PIPE *pipe,
+ const char *name,
+ RTIME timeout);
+
+int rt_pipe_unbind(RT_PIPE *pipe);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _XENOMAI_ALCHEMY_PIPE_H */
diff --git a/lib/alchemy/Makefile.am b/lib/alchemy/Makefile.am
index 4632394..2f6a4ea 100644
--- a/lib/alchemy/Makefile.am
+++ b/lib/alchemy/Makefile.am
@@ -28,6 +28,12 @@ libalchemy_la_SOURCES = \
timer.c \
timer.h
+if XENO_COBALT
+libalchemy_la_SOURCES += \
+ pipe.c \
+ pipe.h
+endif
+
libalchemy_la_CPPFLAGS = \
@XENO_USER_CFLAGS@ \
-I$(top_srcdir)/include \
diff --git a/lib/alchemy/Makefile.in b/lib/alchemy/Makefile.in
index 43be5b4..c46ebc5 100644
--- a/lib/alchemy/Makefile.in
+++ b/lib/alchemy/Makefile.in
@@ -35,6 +35,10 @@ POST_UNINSTALL = :
build_triplet = @build@
host_triplet = @host@
target_triplet = @target@
+@XENO_COBALT_TRUE@am__append_1 = \
+@XENO_COBALT_TRUE@ pipe.c \
+@XENO_COBALT_TRUE@ pipe.h
+
subdir = lib/alchemy
DIST_COMMON = $(srcdir)/Makefile.am $(srcdir)/Makefile.in COPYING
ACLOCAL_M4 = $(top_srcdir)/aclocal.m4
@@ -76,13 +80,18 @@ am__base_list = \
am__installdirs = "$(DESTDIR)$(libdir)"
LTLIBRARIES = $(lib_LTLIBRARIES)
libalchemy_la_LIBADD =
+am__libalchemy_la_SOURCES_DIST = init.c internal.c internal.h \
+ reference.h alarm.c alarm.h buffer.c buffer.h cond.c cond.h \
+ event.c event.h heap.c heap.h mutex.c mutex.h queue.c queue.h \
+ task.c task.h sem.c sem.h timer.c timer.h pipe.c pipe.h
+@XENO_COBALT_TRUE@am__objects_1 = libalchemy_la-pipe.lo
am_libalchemy_la_OBJECTS = libalchemy_la-init.lo \
libalchemy_la-internal.lo libalchemy_la-alarm.lo \
libalchemy_la-buffer.lo libalchemy_la-cond.lo \
libalchemy_la-event.lo libalchemy_la-heap.lo \
libalchemy_la-mutex.lo libalchemy_la-queue.lo \
libalchemy_la-task.lo libalchemy_la-sem.lo \
- libalchemy_la-timer.lo
+ libalchemy_la-timer.lo $(am__objects_1)
libalchemy_la_OBJECTS = $(am_libalchemy_la_OBJECTS)
libalchemy_la_LINK = $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) \
$(LIBTOOLFLAGS) --mode=link $(CCLD) $(AM_CFLAGS) $(CFLAGS) \
@@ -101,7 +110,7 @@ LINK = $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS)
$(LIBTOOLFLAGS) \
--mode=link $(CCLD) $(AM_CFLAGS) $(CFLAGS) $(AM_LDFLAGS) \
$(LDFLAGS) -o $@
SOURCES = $(libalchemy_la_SOURCES)
-DIST_SOURCES = $(libalchemy_la_SOURCES)
+DIST_SOURCES = $(am__libalchemy_la_SOURCES_DIST)
ETAGS = etags
CTAGS = ctags
DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
@@ -264,32 +273,10 @@ top_builddir = @top_builddir@
top_srcdir = @top_srcdir@
lib_LTLIBRARIES = libalchemy.la
libalchemy_la_LDFLAGS = -version-info 0:0:0 -lpthread
-libalchemy_la_SOURCES = \
- init.c \
- internal.c \
- internal.h \
- reference.h \
- alarm.c \
- alarm.h \
- buffer.c \
- buffer.h \
- cond.c \
- cond.h \
- event.c \
- event.h \
- heap.c \
- heap.h \
- mutex.c \
- mutex.h \
- queue.c \
- queue.h \
- task.c \
- task.h \
- sem.c \
- sem.h \
- timer.c \
- timer.h
-
+libalchemy_la_SOURCES = init.c internal.c internal.h reference.h \
+ alarm.c alarm.h buffer.c buffer.h cond.c cond.h event.c \
+ event.h heap.c heap.h mutex.c mutex.h queue.c queue.h task.c \
+ task.h sem.c sem.h timer.c timer.h $(am__append_1)
libalchemy_la_CPPFLAGS = \
@XENO_USER_CFLAGS@ \
-I$(top_srcdir)/include \
@@ -379,6 +366,7 @@ distclean-compile:
@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libalchemy_la-init.Plo@am__quote@
@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libalchemy_la-internal.Plo@am__quote@
@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libalchemy_la-mutex.Plo@am__quote@
+@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libalchemy_la-pipe.Plo@am__quote@
@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libalchemy_la-queue.Plo@am__quote@
@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libalchemy_la-sem.Plo@am__quote@
@AMDEP_TRUE@@am__include@
@am__quote@./$(DEPDIR)/libalchemy_la-task.Plo@am__quote@
@@ -489,6 +477,13 @@ libalchemy_la-timer.lo: timer.c
@AMDEP_TRUE@@am__fastdepCC_FALSE@ DEPDIR=$(DEPDIR) $(CCDEPMODE)
$(depcomp) @AMDEPBACKSLASH@
@am__fastdepCC_FALSE@ $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS)
--mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES)
$(libalchemy_la_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o
libalchemy_la-timer.lo `test -f 'timer.c' || echo '$(srcdir)/'`timer.c
+libalchemy_la-pipe.lo: pipe.c
+@am__fastdepCC_TRUE@ $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS)
--mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES)
$(libalchemy_la_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -MT
libalchemy_la-pipe.lo -MD -MP -MF $(DEPDIR)/libalchemy_la-pipe.Tpo -c -o
libalchemy_la-pipe.lo `test -f 'pipe.c' || echo '$(srcdir)/'`pipe.c
+@am__fastdepCC_TRUE@ $(am__mv) $(DEPDIR)/libalchemy_la-pipe.Tpo
$(DEPDIR)/libalchemy_la-pipe.Plo
+@AMDEP_TRUE@@am__fastdepCC_FALSE@ source='pipe.c'
object='libalchemy_la-pipe.lo' libtool=yes @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCC_FALSE@ DEPDIR=$(DEPDIR) $(CCDEPMODE)
$(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCC_FALSE@ $(LIBTOOL) --tag=CC $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS)
--mode=compile $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES)
$(libalchemy_la_CPPFLAGS) $(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS) -c -o
libalchemy_la-pipe.lo `test -f 'pipe.c' || echo '$(srcdir)/'`pipe.c
+
mostlyclean-libtool:
-rm -f *.lo
diff --git a/lib/alchemy/pipe.c b/lib/alchemy/pipe.c
new file mode 100644
index 0000000..604c103
--- /dev/null
+++ b/lib/alchemy/pipe.c
@@ -0,0 +1,291 @@
+/*
+ * Copyright (C) 2011 Philippe Gerum <r...@xenomai.org>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <unistd.h>
+#include <errno.h>
+#include <string.h>
+#include <fcntl.h>
+#include "rtdm/rtipc.h"
+#include "copperplate/threadobj.h"
+#include "copperplate/heapobj.h"
+#include "copperplate/cluster.h"
+#include "reference.h"
+#include "internal.h"
+#include "pipe.h"
+#include "timer.h"
+
+struct syncluster alchemy_pipe_table;
+
+static struct alchemy_namegen pipe_namegen = {
+ .prefix = "pipe",
+ .length = sizeof ((struct alchemy_pipe *)0)->name,
+};
+
+static struct alchemy_pipe *find_alchemy_pipe(RT_PIPE *pipe, int *err_r)
+{
+ struct alchemy_pipe *pcb;
+
+ if (pipe == NULL || ((intptr_t)pipe & (sizeof(intptr_t)-1)) != 0)
+ goto bad_handle;
+
+ pcb = mainheap_deref(pipe->handle, struct alchemy_pipe);
+ if (pcb == NULL || ((intptr_t)pcb & (sizeof(intptr_t)-1)) != 0)
+ goto bad_handle;
+
+ if (pcb->magic == ~pipe_magic)
+ goto dead_handle;
+
+ if (pcb->magic == pipe_magic)
+ return pcb;
+bad_handle:
+ *err_r = -EINVAL;
+ return NULL;
+
+dead_handle:
+ /* Removed under our feet. */
+ *err_r = -EIDRM;
+ return NULL;
+}
+
+int rt_pipe_create(RT_PIPE *pipe,
+ const char *name, int minor, size_t poolsize)
+{
+ struct rtipc_port_label plabel;
+ struct sockaddr_ipc saddr;
+ struct alchemy_pipe *pcb;
+ struct service svc;
+ size_t streambufsz;
+ int ret = 0, sock;
+
+ if (threadobj_irq_p())
+ return -EPERM;
+
+ COPPERPLATE_PROTECT(svc);
+
+ pcb = xnmalloc(sizeof(*pcb));
+ if (pcb == NULL) {
+ COPPERPLATE_UNPROTECT(svc);
+ return -ENOMEM;
+ }
+
+ alchemy_build_name(pcb->name, name, &pipe_namegen);
+
+ if (syncluster_addobj(&alchemy_pipe_table, pcb->name, &pcb->cobj)) {
+ xnfree(pcb);
+ COPPERPLATE_UNPROTECT(svc);
+ return -EEXIST;
+ }
+
+ sock = __RT(socket(AF_RTIPC, SOCK_DGRAM, IPCPROTO_XDDP));
+ if (sock < 0) {
+ ret = -errno;
+ xnfree(pcb);
+ goto out;
+ }
+
+ if (name && *name) {
+ strncpy(plabel.label, name, sizeof(plabel.label)-1);
+ plabel.label[sizeof(plabel.label)-1] = '\0';
+ ret = __RT(setsockopt(sock, SOL_XDDP, XDDP_LABEL,
+ &plabel, sizeof(plabel)));
+ if (ret)
+ goto fail;
+ }
+
+ if (poolsize > 0) {
+ ret = setsockopt(pcb->sock, SOL_XDDP, XDDP_POOLSZ,
+ &poolsize, sizeof(poolsize));
+ if (ret)
+ goto fail;
+ }
+
+ streambufsz = ALCHEMY_PIPE_STREAMSZ;
+ ret = __RT(setsockopt(pcb->sock, SOL_XDDP, XDDP_BUFSZ,
+ &streambufsz, streambufsz));
+ if (ret)
+ goto fail;
+
+ memset(&saddr, 0, sizeof(saddr));
+ saddr.sipc_family = AF_RTIPC;
+ saddr.sipc_port = minor;
+ ret = bind(sock, (struct sockaddr *)&saddr, sizeof(saddr));
+ if (ret)
+ goto fail;
+
+ pcb->sock = sock;
+ pcb->magic = pipe_magic;
+ pipe->handle = mainheap_ref(pcb, uintptr_t);
+out:
+ COPPERPLATE_UNPROTECT(svc);
+
+ return 0;
+fail:
+ ret = -errno;
+ __RT(close(sock));
+ syncluster_delobj(&alchemy_pipe_table, &pcb->cobj);
+ xnfree(pcb);
+
+ COPPERPLATE_UNPROTECT(svc);
+
+ return ret;
+}
+
+int rt_pipe_delete(RT_PIPE *pipe)
+{
+ struct alchemy_pipe *pcb;
+ struct service svc;
+ int ret = 0;
+
+ if (threadobj_irq_p())
+ return -EPERM;
+
+ COPPERPLATE_PROTECT(svc);
+
+ pcb = find_alchemy_pipe(pipe, &ret);
+ if (pcb == NULL)
+ goto out;
+
+ ret = __RT(close(pcb->sock));
+ if (ret) {
+ ret = -errno;
+ if (ret == -EBADF)
+ ret = -EIDRM;
+ goto out;
+ }
+
+ syncluster_delobj(&alchemy_pipe_table, &pcb->cobj);
+ pcb->magic = ~pipe_magic;
+out:
+ COPPERPLATE_UNPROTECT(svc);
+
+ return ret;
+}
+
+ssize_t rt_pipe_read_until(RT_PIPE *pipe,
+ void *buf, size_t size, RTIME timeout)
+{
+ struct timeval tv = { .tv_sec = 0, .tv_usec = 0 };
+ struct timespec ts, *timespec;
+ struct alchemy_pipe *pcb;
+ struct service svc;
+ int err, flags;
+ ssize_t ret;
+
+ if (!threadobj_current_p())
+ return -EPERM;
+
+ COPPERPLATE_PROTECT(svc);
+
+ pcb = find_alchemy_pipe(pipe, &err);
+ if (pcb == NULL) {
+ ret = err;
+ goto out;
+ }
+
+ switch (timeout) {
+ default:
+ timespec = alchemy_get_timespec(timeout, &ts);
+ tv.tv_sec = ts.tv_sec;
+ tv.tv_usec = ts.tv_nsec / 1000;
+ /* Falldown wanted. */
+ case TM_INFINITE:
+ __RT(setsockopt(pcb->sock, SOL_SOCKET,
+ SO_RCVTIMEO, &tv, sizeof(tv)));
+ flags = 0;
+ break;
+ case TM_NONBLOCK:
+ flags = MSG_DONTWAIT;
+ break;
+ }
+
+ ret = __RT(recvfrom(pcb->sock, buf, size, flags, NULL, 0));
+ if (ret < 0)
+ ret = -errno;
+out:
+ COPPERPLATE_UNPROTECT(svc);
+
+ return ret;
+}
+
+ssize_t rt_pipe_read(RT_PIPE *pipe,
+ void *buf, size_t size, RTIME timeout)
+{
+ timeout = alchemy_rel2abs_timeout(timeout);
+ return rt_pipe_read_until(pipe, buf, size, timeout);
+}
+
+static ssize_t do_write_pipe(RT_PIPE *pipe,
+ const void *buf, size_t size, int flags)
+{
+ struct alchemy_pipe *pcb;
+ struct service svc;
+ ssize_t ret;
+ int err;
+
+ if (threadobj_irq_p())
+ return -EPERM;
+
+ COPPERPLATE_PROTECT(svc);
+
+ pcb = find_alchemy_pipe(pipe, &err);
+ if (pcb == NULL) {
+ ret = err;
+ goto out;
+ }
+
+ ret = __RT(sendto(pcb->sock, buf, size, flags, NULL, 0));
+ if (ret < 0)
+ ret = -errno;
+out:
+ COPPERPLATE_UNPROTECT(svc);
+
+ return ret;
+}
+
+ssize_t rt_pipe_write(RT_PIPE *pipe,
+ const void *buf, size_t size, int mode)
+{
+ int flags = 0;
+
+ if (mode & P_URGENT)
+ flags |= MSG_OOB;
+
+ return do_write_pipe(pipe, buf, size, flags);
+}
+
+ssize_t rt_pipe_stream(RT_PIPE *pipe,
+ const void *buf, size_t size)
+{
+ return do_write_pipe(pipe, buf, size, MSG_MORE);
+}
+
+int rt_pipe_bind(RT_PIPE *pipe,
+ const char *name, RTIME timeout)
+{
+ return alchemy_bind_object(name,
+ &alchemy_pipe_table,
+ timeout,
+ offsetof(struct alchemy_pipe, cobj),
+ &pipe->handle);
+}
+
+int rt_pipe_unbind(RT_PIPE *pipe)
+{
+ pipe->handle = 0;
+ return 0;
+}
diff --git a/lib/alchemy/pipe.h b/lib/alchemy/pipe.h
new file mode 100644
index 0000000..1cfb6c0
--- /dev/null
+++ b/lib/alchemy/pipe.h
@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2011 Philippe Gerum <r...@xenomai.org>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _ALCHEMY_PIPE_H
+#define _ALCHEMY_PIPE_H
+
+#include <copperplate/cluster.h>
+#include <alchemy/pipe.h>
+
+/* Fixed default for MSG_MORE accumulation. */
+#define ALCHEMY_PIPE_STREAMSZ 16384
+
+struct alchemy_pipe {
+ unsigned int magic; /* Must be first. */
+ char name[32];
+ int sock;
+ struct clusterobj cobj;
+};
+
+#define pipe_magic 0x8b8bebeb
+
+#endif /* _ALCHEMY_PIPE_H */
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