/* *  rt_ipc.h -- intertask communication primitives for Real-Time Linux * *  Copyright (C) 1997 Jerry Epplin.  All rights reserved. * *  This program 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 General Public License for more details. * *  You should have received a copy of the GNU General Public License *  along with this program; if not, write to the Free Software *  Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. * *  History: *   17-Jul-97 jhe  Original. *   28-Jul-97 jhe  V0.2 Timeouts on semaphores.  Message queues. *   15-Aug-97 jhe  V0.3 rt_ipc fifos.  Modified semantics of timeouts. */#include <rtl_sched.h>typedef enum { RT_SEM_BINARY, RT_SEM_COUNTING } RT_SEMTYPE;typedef struct tsk_list{  struct tsk_list *prev;  struct tsk_list *next;  RT_TASK *task;} RT_TASK_ENTRY;		/* wait list entry structure *//* use this macro when calling rtl functions requiring an RT_TASK */#define MAKE_RT_TASK(rt_task_ipc)	(&((rt_task_ipc)->rtl_task))/* use this macro for a timeout relative to the current time.  rt_ipc *//* timeouts are stated in absolute times; i.e., the functions time out *//* at the time specified in the timeout parameter. */#define RELATIVE_TIME(TIME_FROM_NOW)	(rt_get_time() + (TIME_FROM_NOW))typedef struct{  int magic;			/* for verifying correctness of struct */  int val;			/* current semaphore value */  RT_SEMTYPE type;		/* type of semaphore */  RT_TASK_ENTRY *wait_list;	/* list of tasks waiting for this mq */} rt_sem_t;			/* semaphore structure */typedef enum { RT_MQ_NORMAL, RT_MQ_URGENT } RT_MQ_PRIO;typedef enum { RT_MQ_FULL, RT_MQ_EMPTY, RT_MQ_NEITHER } RT_MQ_STATUS;typedef struct{  int magic;			/* for verifying correctness of struct */  char *q;			/* message queue data */  int msg_size;			/* size of each message queue entry */  int max_msgs;			/* number of messages allowed at a time */  char *f, *r;			/* current front and rear of queue */  RT_MQ_STATUS status;		/* indicates full/empty/neither status of q */  RT_TASK_ENTRY *wait_list;	/* list of tasks waiting for this mq */} rt_mq_t;			/* message queue structure */typedef struct{  RT_TASK rtl_task;	/* normal, rtlinux part of structure -- MUST BE FIRST */  int magic;  RT_TASK_ENTRY rte;	/* used when this task is blocked */  rt_sem_t *sem_at;	/* sem at which task is blocked (or NULL if none) */  rt_mq_t *mq_at;	/* mq at which task is blocked (or NULL if none) */  int timed_out;	/* set if rt_sem_wait() timed out */} RT_TASK_IPC;		/* task structure for tasks using ipc primitives */#define RT_WAIT_FOREVER	-1	/* use for no timeout on funcs with timeout */#define RT_NO_WAIT	0	/* use for return immediately if can't */  				/* perform operation */#define RT_SEM_MAGIC		0x8529afdb#define RT_MQ_MAGIC		0x6a39746c#define RT_TASK_IPC_MAGIC	0x9573ed98#define IPC_RTF_NO		64	/* should be same as in rt_fifo_new.c *//* available functions */extern int rt_sem_init(rt_sem_t *sem, RT_SEMTYPE type, int init_val);extern int rt_sem_destroy(rt_sem_t *sem);extern int rt_sem_post(rt_sem_t *sem);extern int rt_sem_wait(rt_sem_t *sem, RTIME timeout);extern int rt_sem_trywait(rt_sem_t *sem);extern int rt_task_delay(RTIME duration);extern int rt_task_ipc_init(RT_TASK_IPC *task, void (*fn)(int data),  int data, int stack_size, int priority);extern int rt_task_ipc_delete(RT_TASK_IPC *task);extern int rt_mq_init(rt_mq_t *mq, int max_msgs, int msg_size);extern int rt_mq_destroy(rt_mq_t *mq);extern int rt_mq_send(rt_mq_t *mq, char *msg, RT_MQ_PRIO prio, RTIME wait);extern int rt_mq_receive(rt_mq_t *mq, char *msg, RTIME wait);extern int rtf_ipc_create(unsigned int fifo, int size, int rtl_to_linux);extern int rtf_ipc_destroy(unsigned int fifo);extern int rtf_receive(unsigned int fifo, void *buf, int count, RTIME timeout);extern int rtf_send(unsigned int fifo, void *buf, int count, RTIME timeout);