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#include "config.h"
#include "rtapi.h"
#include "rtapi_uspace.hh"
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wnarrowing"
#include <rtai_lxrt.h>
#pragma GCC diagnostic pop
#include <atomic>
#ifdef HAVE_SYS_IO_H
#include <sys/io.h>
#endif
namespace
{
RtapiApp *app;
struct RtaiTask : rtapi_task {
RtaiTask() : rtapi_task{}, cancel{}, rt_task{}, thr{} {}
std::atomic<int> cancel;
RT_TASK *rt_task;
pthread_t thr;
};
template<class T=rtapi_task>
T *get_task(int task_id) {
return static_cast<T*>(RtapiApp::get_task(task_id));
}
struct RtaiApp : RtapiApp {
RtaiApp() : RtapiApp(SCHED_FIFO) {
pthread_once(&key_once, init_key);
}
RtaiTask *do_task_new() {
return new RtaiTask;
}
int task_delete(int id) {
auto task = ::get_task<RtaiTask>(id);
if(!task) return -EINVAL;
task->cancel = 1;
pthread_join(task->thr, nullptr);
task->magic = 0;
task_array[id] = 0;
delete task;
return 0;
}
int task_start(int task_id, unsigned long period_nsec) {
auto task = ::get_task<RtaiTask>(task_id);
if(!task) return -EINVAL;
task->period = period_nsec;
struct sched_param param;
memset(¶m, 0, sizeof(param));
param.sched_priority = task->prio;
// PLL functions not supported
task->pll_correction_limit = 0;
task->pll_correction = 0;
pthread_attr_t attr;
if(pthread_attr_init(&attr) < 0)
return -errno;
if(pthread_attr_setstacksize(&attr, task->stacksize) < 0)
return -errno;
if(pthread_attr_setschedpolicy(&attr, policy) < 0)
return -errno;
if(pthread_attr_setschedparam(&attr, ¶m) < 0)
return -errno;
if(pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED) < 0)
return -errno;
if(pthread_create(&task->thr, &attr, &wrapper, reinterpret_cast<void*>(task)) < 0)
return -errno;
return 0;
}
static void *wrapper(void *arg) {
auto task = reinterpret_cast<RtaiTask*>(arg);
pthread_setspecific(key, arg);
task->rt_task = rt_task_init(task->id, task->prio, 0, 0);
rt_set_periodic_mode();
start_rt_timer(nano2count(task->period));
if(task->uses_fp) rt_task_use_fpu(task->rt_task, 1);
// assumes processor numbers are contiguous
int nprocs = sysconf( _SC_NPROCESSORS_ONLN );
rt_set_runnable_on_cpus(task->rt_task, 1u << (nprocs - 1));
rt_make_hard_real_time();
rt_task_make_periodic_relative_ns(task->rt_task, task->period, task->period);
(task->taskcode) (task->arg);
rtapi_print("ERROR: reached end of wrapper for task %d\n", task->id);
rt_make_soft_real_time();
return nullptr;
}
int task_pause(int task_id) {
auto task = ::get_task<RtaiTask>(task_id);
if(!task) return -EINVAL;
return rt_task_suspend(task->rt_task);
}
int task_resume(int task_id) {
auto task = ::get_task<RtaiTask>(task_id);
if(!task) return -EINVAL;
return rt_task_resume(task->rt_task);
}
long long task_pll_get_reference(void) {
// PLL functions not supported
return 0;
}
int task_pll_set_correction(long value) {
// PLL functions not supported
return -EINVAL;
}
void wait() {
int task_id = task_self();
auto task = ::get_task<RtaiTask>(task_id);
if(task->cancel) {
rt_make_soft_real_time();
pthread_exit(nullptr);
}
if(rt_task_wait_period() < 0) unexpected_realtime_delay(task);
}
unsigned char do_inb(unsigned int port) {
#ifdef HAVE_SYS_IO_H
return inb(port);
#endif
}
void do_outb(unsigned char val, unsigned int port) {
#ifdef HAVE_SYS_IO_H
return outb(val, port);
#endif
}
int run_threads(int fd, int (*callback)(int fd)) {
while(callback(fd)) { /* nothing */ }
return 0;
}
int task_self() {
struct rtapi_task *task = reinterpret_cast<rtapi_task*>(pthread_getspecific(key));
if(!task) return -EINVAL;
return task->id;
}
static pthread_once_t key_once;
static pthread_key_t key;
static void init_key(void) {
pthread_key_create(&key, NULL);
}
long long do_get_time() {
return rt_get_cpu_time_ns();
}
void do_delay(long ns) {
rt_sleep(nano2count(ns));
}
int prio_highest() const {
return RT_SCHED_HIGHEST_PRIORITY;
}
int prio_lowest() const {
return RT_SCHED_LOWEST_PRIORITY;
}
};
pthread_once_t RtaiApp::key_once;
pthread_key_t RtaiApp::key;
}
extern "C" RtapiApp *make();
RtapiApp *make() {
rtapi_print_msg(RTAPI_MSG_ERR, "Note: Using LXRT realtime\n");
return app = new RtaiApp;
}
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