Files
file	sem.c
	Semaphore functions.

Functions
RTAI_SYSCALL_MODE void	rt_typed_sem_init (SEM *sem, int value, int type)
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void	rt_sem_init (SEM *sem, int value)
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RTAI_SYSCALL_MODE int	rt_sem_delete (SEM *sem)
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RTAI_SYSCALL_MODE int	rt_sem_signal (SEM *sem)
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RTAI_SYSCALL_MODE int	rt_sem_broadcast (SEM *sem)
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RTAI_SYSCALL_MODE int	rt_sem_wait (SEM *sem)
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RTAI_SYSCALL_MODE int	rt_sem_wait_if (SEM *sem)
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RTAI_SYSCALL_MODE int	rt_sem_wait_until (SEM *sem, RTIME time)
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RTAI_SYSCALL_MODE int	rt_sem_wait_timed (SEM *sem, RTIME delay)
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RTAI_SYSCALL_MODE int	rt_sem_wait_barrier (SEM *sem)
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RTAI_SYSCALL_MODE int	rt_cond_signal (CND *cnd)
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RTAI_SYSCALL_MODE int	rt_cond_wait (CND cnd, SEM mtx)
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RTAI_SYSCALL_MODE int	rt_cond_wait_until (CND cnd, SEM mtx, RTIME time)
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RTAI_SYSCALL_MODE int	rt_cond_wait_timed (CND cnd, SEM mtx, RTIME delay)
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RTAI_SYSCALL_MODE int	rt_typed_rwl_init (RWL *rwl, int type)
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RTAI_SYSCALL_MODE int	rt_rwl_delete (RWL *rwl)
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RTAI_SYSCALL_MODE int	rt_rwl_rdlock (RWL *rwl)
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RTAI_SYSCALL_MODE int	rt_rwl_rdlock_if (RWL *rwl)
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RTAI_SYSCALL_MODE int	rt_rwl_rdlock_until (RWL *rwl, RTIME time)
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RTAI_SYSCALL_MODE int	rt_rwl_rdlock_timed (RWL *rwl, RTIME delay)
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RTAI_SYSCALL_MODE int	rt_rwl_wrlock (RWL *rwl)
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RTAI_SYSCALL_MODE int	rt_rwl_wrlock_if (RWL *rwl)
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RTAI_SYSCALL_MODE int	rt_rwl_wrlock_until (RWL *rwl, RTIME time)
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RTAI_SYSCALL_MODE int	rt_rwl_wrlock_timed (RWL *rwl, RTIME delay)
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RTAI_SYSCALL_MODE int	rt_rwl_unlock (RWL *rwl)
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RTAI_SYSCALL_MODE int	rt_spl_init (SPL *spl)
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RTAI_SYSCALL_MODE int	rt_spl_delete (SPL *spl)
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RTAI_SYSCALL_MODE int	rt_spl_lock (SPL *spl)
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RTAI_SYSCALL_MODE int	rt_spl_lock_if (SPL *spl)
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RTAI_SYSCALL_MODE int	rt_spl_lock_timed (SPL *spl, unsigned long ns)
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RTAI_SYSCALL_MODE int	rt_spl_unlock (SPL *spl)
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RTAI_SYSCALL_MODE SEM *	_rt_typed_named_sem_init (unsigned long sem_name, int value, int type, unsigned long *handle)
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RTAI_SYSCALL_MODE int	rt_named_sem_delete (SEM *sem)
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RTAI_SYSCALL_MODE RWL *	_rt_named_rwl_init (unsigned long rwl_name)
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RTAI_SYSCALL_MODE int	rt_named_rwl_delete (RWL *rwl)
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RTAI_SYSCALL_MODE SPL *	_rt_named_spl_init (unsigned long spl_name)
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RTAI_SYSCALL_MODE int	rt_named_spl_delete (SPL *spl)
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Detailed Description

Function Documentation

◆ _rt_named_rwl_init()

RTAI_SYSCALL_MODE RWL * _rt_named_rwl_init ( unsigned long rwl_name )

Initialize a multi readers single writer lock identified by a name.

_rt_named_rwl_init allocate and initializes a multi readers single writer lock (RWL) identified by name. Once the lock structure is allocated the initialization is as for rt_rwl_init. The function returns the handle pointing to the allocated multi readers single writer lock o structure, to be used as the usual lock address in all rwl based services. Named objects are useful for use among different processes, kernel/user space and in distributed applications, see netrpc.

Parameters

rwl_name is the identifier associated with the returned object.

Since name can be a clumsy identifier, services are provided to convert 6 characters identifiers to unsigned long, and vice versa.

See also: nam2num() and num2nam().

As for all the named initialization functions it must be remarked that only the very first call to initilize/create a named RTAI object does a real allocation of the object, any following call with the same name will just increase its usage count. In any case the function returns a pointer to the named object, or zero if in error.

Returns: either a valid pointer or 0 if in error.

References rt_register(), and rt_rwl_delete().

◆ _rt_named_spl_init()

RTAI_SYSCALL_MODE SPL * _rt_named_spl_init ( unsigned long spl_name )

Initialize a spinlock identified by a name.

_rt_named_spl_init allocate and initializes a spinlock (SPL) identified by name. Once the spinlock structure is allocated the initialization is as for rt_spl_init. The function returns the handle pointing to the allocated spinlock structure, to be used as the usual spinlock address in all spinlock based services. Named objects are useful for use among different processes and kernel/user space.

Parameters

spl_name is the identifier associated with the returned object.

Since name can be a clumsy identifier, services are provided to convert 6 characters identifiers to unsigned long, and vice versa.

See also: nam2num() and num2nam().

As for all the named initialization functions it must be remarked that only the very first call to initilize/create a named RTAI object does a real allocation of the object, any following call with the same name will just increase its usage count. In any case the function returns a pointer to the named object, or zero if in error.

Returns: either a valid pointer or 0 if in error.

References rt_register(), rt_spl_delete(), and rt_spl_init().

◆ _rt_typed_named_sem_init()

RTAI_SYSCALL_MODE SEM * _rt_typed_named_sem_init	(	unsigned long	sem_name,
		int	value,
		int	type,
		unsigned long *	handle
	)

Initialize a specifically typed (counting, binary, resource) semaphore identified by a name.

_rt_typed_named_sem_init allocate and initializes a semaphore identified by name of type type. Once the semaphore structure is allocated the initialization is as for rt_typed_sem_init. The function returns the handle pointing to the allocated semaphore structure, to be used as the usual semaphore address in all semaphore based services. Named objects are useful for use among different processes, kernel/user space and in distributed applications, see netrpc.

Parameters

sem_name	is the identifier associated with the returned object.
value	is the initial value of the semaphore, always set to 1 for a resource semaphore.
type	is the semaphore type and queuing policy. It can be an OR a semaphore kind: CNT_SEM for counting semaphores, BIN_SEM for binary semaphores, RES_SEM for resource semaphores; and queuing policy: FIFO_Q, PRIO_Q for a fifo and priority queueing respectively. Resource semaphores will enforce a PRIO_Q policy anyhow.

Since name can be a clumsy identifier, services are provided to convert 6 characters identifiers to unsigned long, and vice versa.

See also: nam2num() and num2nam().

See rt_typed_sem_init for further clues.

As for all the named initialization functions it must be remarked that only the very first call to initilize/create a named RTAI object does a real allocation of the object, any following call with the same name will just increase its usage count. In any case the function returns a pointer to the named object, or zero if in error.

Returns: either a valid pointer or 0 if in error.

References rt_register(), rt_sem_delete(), and rt_typed_sem_init().

◆ rt_cond_signal()

RTAI_SYSCALL_MODE int rt_cond_signal ( CND * cnd )

Wait for a signal to a conditional variable.

rt_cond_signal resumes one of the tasks that are waiting on the condition semaphore cnd. Nothing happens if no task is waiting on cnd, while it resumed the first queued task blocked on cnd, according to the queueing method set at rt_cond_init.

Parameters

cnd	points to the structure used in the call to rt_cond_init().

Returns: 0

◆ rt_cond_wait()

RTAI_SYSCALL_MODE int rt_cond_wait	(	CND *	cnd,
		SEM *	mtx
	)

Wait for a signal to a conditional variable.

rt_cond_wait atomically unlocks mtx (as for using rt_sem_signal) and waits for the condition semaphore cnd to be signaled. The task execution is suspended until the condition semaphore is signalled. Mtx must be obtained by the calling task, before calling rt_cond_wait is called. Before returning to the calling task rt_cond_wait reacquires mtx by calling rt_sem_wait.

Parameters

cnd	points to the structure used in the call to rt_cond_init().
mtx	points to the structure used in the call to rt_sem_init().

Returns: 0 on succes, SEM_ERR in case of error.

References rt_sem_wait().

◆ rt_cond_wait_timed()

RTAI_SYSCALL_MODE int rt_cond_wait_timed	(	CND *	cnd,
		SEM *	mtx,
		RTIME	delay
	)

Wait a semaphore with timeout.

rt_cond_wait_timed atomically unlocks mtx (as for using rt_sem_signal) and waits for the condition semaphore cnd to be signalled. The task execution is suspended until the condition semaphore is either signaled or a timeout expires. Mtx must be obtained by the calling task, before calling rt_cond_wait is called. Before returning to the calling task rt_cond_wait_until reacquires mtx by calling rt_sem_wait and returns a value to indicate if it has been signalled pr timedout.

Parameters

cnd	points to the structure used in the call to rt_cond_init().
mtx	points to the structure used in the call to rt_sem_init().
delay	is a realtive time values with respect to the current time, in timer count unit.

Returns: 0 if it was signaled, SEM_TIMOUT if a timeout occured, SEM_ERR if the task has been resumed because of any other action (likely cnd was deleted).

References rt_cond_wait_until().

◆ rt_cond_wait_until()

RTAI_SYSCALL_MODE int rt_cond_wait_until	(	CND *	cnd,
		SEM *	mtx,
		RTIME	time
	)

Wait a semaphore with timeout.

rt_cond_wait_until atomically unlocks mtx (as for using rt_sem_signal) and waits for the condition semaphore cnd to be signalled. The task execution is suspended until the condition semaphore is either signaled or a timeout expires. Mtx must be obtained by the calling task, before calling rt_cond_wait is called. Before returning to the calling task rt_cond_wait_until reacquires mtx by calling rt_sem_wait and returns a value to indicate if it has been signalled pr timedout.

Parameters

cnd	points to the structure used in the call to rt_cond_init().
mtx	points to the structure used in the call to rt_sem_init().
time	is an absolute value to the current time, in timer count unit.

Returns: 0 if it was signaled, SEM_TIMOUT if a timeout occured, SEM_ERR if the task has been resumed because of any other action (likely cnd was deleted).

References rt_sem_wait().

Referenced by rt_cond_wait_timed().

◆ rt_named_rwl_delete()

RTAI_SYSCALL_MODE int rt_named_rwl_delete ( RWL * rwl )

Delete a multi readers single writer lock in named mode.

rt_named_rwl_delete deletes a multi readers single writer lock previously created with _rt_named_rwl_init().

Parameters

rwl	points to the structure pointer returned by a corresponding call to rt_named_rwl_init.

As it is done by all the named allocation functions delete calls have just the effect of decrementing a usage count till the last is done, as that is the one the really frees the object.

Returns: an int >=0 is returned upon success, SEM_ERR if it failed to delete the multi readers single writer lock, -EFAULT if the lock does not exist anymore.

References rt_rwl_delete().

◆ rt_named_sem_delete()

RTAI_SYSCALL_MODE int rt_named_sem_delete ( SEM * sem )

Delete a semaphore initialized in named mode.

rt_named_sem_delete deletes a semaphore previously created with _rt_typed_named_sem_init().

Parameters

sem	points to the structure pointer returned by a corresponding call to _rt_typed_named_sem_init.

Any tasks blocked on this semaphore is returned in error and allowed to run when semaphore is destroyed. As it is done by all the named allocation functions delete calls have just the effect of decrementing a usage count till the last is done, as that is the one the really frees the object.

Returns: an int >=0 is returned upon success, SEM_ERR if it failed to delete the semafore, -EFAULT if the semaphore does not exist anymore.

References rt_sem_delete().

◆ rt_named_spl_delete()

RTAI_SYSCALL_MODE int rt_named_spl_delete ( SPL * spl )

Delete a spinlock in named mode.

rt_named_spl_delete deletes a spinlock previously created with _rt_named_spl_init().

Parameters

spl	points to the structure pointer returned by a corresponding call to rt_named_spl_init.

As it is done by all the named allocation functions delete calls have just the effect of decrementing a usage count till the last is done, as that is the one the really frees the object.

Returns: an int >=0 is returned upon success, -EFAULT if the spinlock does not exist anymore.

References rt_spl_delete().

◆ rt_rwl_delete()

RTAI_SYSCALL_MODE int rt_rwl_delete ( RWL * rwl )

destroys a multi readers single writer lock.

rt_rwl_init destroys a multi readers single writer lock rwl.

Parameters

rwl	must point to an allocated RWL structure.

Returns: 0 if OK, SEM_ERR if anything went wrong.

References rt_sem_delete().

Referenced by _rt_named_rwl_init(), and rt_named_rwl_delete().

◆ rt_rwl_rdlock()

RTAI_SYSCALL_MODE int rt_rwl_rdlock ( RWL * rwl )

acquires a multi readers single writer lock for reading.

rt_rwl_rdlock acquires a multi readers single writer lock rwl for reading. The calling task will block only if any writer owns the lock already or there are writers with higher priority waiting to acquire write access.

Parameters

rwl	must point to an allocated RWL structure.

Returns: 0 if OK, SEM_ERR if anything went wrong after being blocked.

References rt_sem_wait().

◆ rt_rwl_rdlock_if()

RTAI_SYSCALL_MODE int rt_rwl_rdlock_if ( RWL * rwl )

try to acquire a multi readers single writer lock just for reading.

rt_rwl_rdlock_if tries to acquire a multi readers single writer lock rwl for reading immediately, i.e. without blocking if a writer owns the lock or there are writers with higher priority waiting to acquire write access.

Parameters

rwl	must point to an allocated RWL structure.

Returns: 0 if the lock was acquired, -1 if the lock was already owned.

◆ rt_rwl_rdlock_timed()

RTAI_SYSCALL_MODE int rt_rwl_rdlock_timed	(	RWL *	rwl,
		RTIME	delay
	)

try to acquire a multi readers single writer lock for reading within a relative deadline time.

rt_rwl_rdlock_timed tries to acquire a multi readers single writer lock rwl for reading, as for rt_rwl_rdlock, but timing out if the lock has not been acquired within an assigned deadline.

Parameters

rwl	must point to an allocated RWL structure.
delay	is the time delay within which the lock must be acquired, in internal count units.

Returns: 0 if the lock was acquired, SEM_TIMOUT if the deadline expired without acquiring the lock, SEM_ERR in case something went wrong.

References rt_rwl_rdlock_until().

◆ rt_rwl_rdlock_until()

RTAI_SYSCALL_MODE int rt_rwl_rdlock_until	(	RWL *	rwl,
		RTIME	time
	)

try to acquire a multi readers single writer lock for reading within an absolute deadline time.

rt_rwl_rdlock_untill tries to acquire a multi readers single writer lock rwl for reading, as for rt_rwl_rdlock, but timing out if the lock has not been acquired within an assigned deadline.

Parameters

rwl	must point to an allocated RWL structure.
time	is the time deadline, in internal count units.

Returns: 0 if the lock was acquired, SEM_TIMOUT if the deadline expired without acquiring the lock, SEM_ERR in case something went wrong.

References rt_sem_wait_until().

Referenced by rt_rwl_rdlock_timed().

◆ rt_rwl_unlock()

RTAI_SYSCALL_MODE int rt_rwl_unlock ( RWL * rwl )

unlock an acquired multi readers single writer lock.

rt_rwl_unlock unlocks an acquired multi readers single writer lock rwl. After releasing the lock any task waiting to acquire it will own the lock according to its priority, whether it is a reader or a writer, otherwise the lock will be fully unlocked.

Parameters

rwl	must point to an allocated RWL structure.

Returns: 0 always.

References rt_sem_broadcast(), and rt_sem_signal().

◆ rt_rwl_wrlock()

RTAI_SYSCALL_MODE int rt_rwl_wrlock ( RWL * rwl )

acquires a multi readers single writer lock for wrtiting.

rt_rwl_rwlock acquires a multi readers single writer lock rwl for writing. The calling task will block if any other task, reader or writer, owns the lock already.

Parameters

rwl	must point to an allocated RWL structure.

Returns: 0 if OK, SEM_ERR if anything went wrong after being blocked.

References rt_sem_wait().

◆ rt_rwl_wrlock_if()

RTAI_SYSCALL_MODE int rt_rwl_wrlock_if ( RWL * rwl )

acquires a multi readers single writer lock for writing.

rt_rwl_wrlock_if try to acquire a multi readers single writer lock rwl for writing immediately, i.e without blocking if the lock is owned already.

Parameters

rwl	must point to an allocated RWL structure.

Returns: 0 if the lock was acquired, -1 if the lock was already owned.

References rt_sem_wait_if().

◆ rt_rwl_wrlock_timed()

RTAI_SYSCALL_MODE int rt_rwl_wrlock_timed	(	RWL *	rwl,
		RTIME	delay
	)

try to acquire a multi readers single writer lock for writing within a relative deadline time.

rt_rwl_wrlock_timed tries to acquire a multi readers single writer lock rwl for writing, as for rt_rwl_wrlock, timing out if the lock has not been acquired within an assigned deadline.

Parameters

rwl	must point to an allocated RWL structure.
delay	is the time delay within which the lock must be acquired, in internal count units.

Returns: 0 if the lock was acquired, SEM_TIMOUT if the deadline expired without acquiring the lock, SEM_ERR in case something went wrong.

References rt_rwl_wrlock_until().

◆ rt_rwl_wrlock_until()

RTAI_SYSCALL_MODE int rt_rwl_wrlock_until	(	RWL *	rwl,
		RTIME	time
	)

try to acquire a multi readers single writer lock for writing within an absolute deadline time.

rt_rwl_rwlock_until tries to acquire a multi readers single writer lock rwl for writing, as for rt_rwl_rwlock, but timing out if the lock has not been acquired within an assigned deadline.

Parameters

rwl	must point to an allocated RWL structure.
time	is the time deadline, in internal count units.

Returns: 0 if the lock was acquired, SEM_TIMOUT if the deadline expired without acquiring the lock, SEM_ERR in case something went wrong.

References rt_sem_wait_until().

Referenced by rt_rwl_wrlock_timed().

◆ rt_sem_broadcast()

RTAI_SYSCALL_MODE int rt_sem_broadcast ( SEM * sem )

Signaling a semaphore.

rt_sem_broadcast signals an event to a semaphore that unblocks all tasks waiting on it. It is used as a support for RTAI proper conditional variables but can be of help in many other instances. After the broadcast the semaphore counts is set to zero, thus all tasks waiting on it will blocked. rt_sem_broadcast should not be used for resource semaphares.

Parameters

sem	points to the structure used in the call to rt_sem_init().

Returns: 0 always.

Referenced by rt_rwl_unlock(), and rt_sem_wait_barrier().

◆ rt_sem_delete()

RTAI_SYSCALL_MODE int rt_sem_delete ( SEM * sem )

Delete a semaphore

rt_sem_delete deletes a semaphore previously created with rt_sem_init().

Parameters

sem	points to the structure used in the corresponding call to rt_sem_init.

Any tasks blocked on this semaphore is returned in error and allowed to run when semaphore is destroyed.

Returns

0 is returned upon success. A negative value is returned on failure as described below:

0xFFFF: sem does not refer to a valid semaphore.

Note: In principle 0xFFFF could theoretically be a usable semaphores events count, so it could be returned also under normal circumstances. It is unlikely you are going to count up to such number of events, in any case avoid counting up to 0xFFFF.

Referenced by _rt_typed_named_sem_init(), rt_named_sem_delete(), and rt_rwl_delete().

◆ rt_sem_init()

void rt_sem_init	(	SEM *	sem,
		int	value
	)

Initialize a counting semaphore.

rt_sem_init initializes a counting fifo queueing semaphore sem.

A semaphore can be used for communication and synchronization among real time tasks.

Parameters

sem	must point to an allocated SEM structure.
value	is the initial value of the semaphore.

Positive values of the semaphore variable show how many tasks can do a rt_sem_wait() call without blocking. Negative value of a semaphore shows how many tasks are blocked on the semaphore queue, waiting to be awaken by calls to rt_sem_signal().

Note: RTAI counting semaphores assume that their counter will never exceed 0xFFFF, such a number being used to signal returns in error. Thus also the initial count value cannot be greater than 0xFFFF. This is an old legacy functioni, there is also rt_typed_sem_init(), allowing to choose among counting, binary and resource semaphores. Resource semaphores have priority inherithance.

References rt_typed_sem_init().

◆ rt_sem_signal()

RTAI_SYSCALL_MODE int rt_sem_signal ( SEM * sem )

Signaling a semaphore.

rt_sem_signal signals an event to a semaphore. It is typically called when the task leaves a critical region. The semaphore value is incremented and tested. If the value is not positive, the first task in semaphore's waiting queue is allowed to run. rt_sem_signal never blocks the caller task.

Parameters

sem	points to the structure used in the call to rt_sem_init().

Returns

0 is returned upon success. A negative value is returned on failure as described below:

0xFFFF: sem does not refer to a valid semaphore.

Note: In principle 0xFFFF could theoretically be a usable semaphores events count, so it could be returned also under normal circumstances. It is unlikely you are going to count up to such number of events, in any case avoid counting up to 0xFFFF. See rt_sem_wait() notes for some curiosities.

Referenced by rt_rwl_unlock().

◆ rt_sem_wait()

RTAI_SYSCALL_MODE int rt_sem_wait ( SEM * sem )

Take a semaphore.

rt_sem_wait waits for a event to be signaled to a semaphore. It is typically called when a task enters a critical region. The semaphore value is decremented and tested. If it is still non-negative rt_sem_wait returns immediately. Otherwise the caller task is blocked and queued up. Queuing may happen in priority order or on FIFO base. This is determined by the compile time option SEM_PRIORD. In this case rt_sem_wait returns if:

The caller task is in the first place of the waiting queue and another task issues a rt_sem_signal() call;
An error occurs (e.g. the semaphore is destroyed);

Parameters

sem	points to the structure used in the call to rt_sem_init().

Returns: the number of events already signaled upon success. A special value" as described below in case of a failure : - @b 0xFFFF: @e sem does not refer to a valid semaphore. @note In principle 0xFFFF could theoretically be a usable semaphores events count, so it could be returned also under normal circumstances. It is unlikely you are going to count up to such number of events, in any case avoid counting up to 0xFFFF.<br> Just for curiosity: the original Dijkstra notation for rt_sem_wait was a "P" operation, and rt_sem_signal was a "V" operation. The name for P comes from the Dutch "prolagen", a combination of "proberen" (to probe) and "verlagen" (to decrement). Also from the word "passeren" (to pass).<br> The name for V comes from the Dutch "verhogen" (to increase) or "vrygeven" (to release). (Source: Daniel Tabak - Multiprocessors, Prentice Hall, 1990).<br> It should be also remarked that real time programming practitioners were using semaphores a long time before Dijkstra formalized P and V. "In Italian semaforo" means a traffic light, so that semaphores have an intuitive appeal and their use and meaning is easily understood.

Referenced by rt_cond_wait(), rt_cond_wait_until(), rt_rwl_rdlock(), rt_rwl_wrlock(), and rt_sem_wait_barrier().

◆ rt_sem_wait_barrier()

RTAI_SYSCALL_MODE int rt_sem_wait_barrier ( SEM * sem )

Wait on a semaphore barrier.

rt_sem_wait_barrier is a gang waiting in that a task issuing such a request will be blocked till a number of tasks equal to the semaphore count set at rt_sem_init is reached.

Returns: -1 for tasks that waited on the barrier, 0 for the tasks that completed the barrier count.

References rt_sem_broadcast(), and rt_sem_wait().

◆ rt_sem_wait_if()

RTAI_SYSCALL_MODE int rt_sem_wait_if ( SEM * sem )

Take a semaphore, only if the calling task is not blocked.

rt_sem_wait_if is a version of the semaphore wait operation is similar to rt_sem_wait() but it is never blocks the caller. If the semaphore is not free, rt_sem_wait_if returns immediately and the semaphore value remains unchanged.

Parameters

sem	points to the structure used in the call to rt_sem_init().

Returns

the number of events already signaled upon success. A special value as described below in case of a failure:

0xFFFF: sem does not refer to a valid semaphore.

Note: In principle 0xFFFF could theoretically be a usable semaphores events count so it could be returned also under normal circumstances. It is unlikely you are going to count up to such number of events, in any case avoid counting up to 0xFFFF.

Referenced by rt_rwl_wrlock_if().

◆ rt_sem_wait_timed()

RTAI_SYSCALL_MODE int rt_sem_wait_timed	(	SEM *	sem,
		RTIME	delay
	)

Wait a semaphore with timeout.

rt_sem_wait_timed, like rt_sem_wait_until(), is a timed version of the standard semaphore wait call. The semaphore value is decremented and tested. If it is still non-negative these functions return immediately. Otherwise the caller task is blocked and queued up. Queuing may happen in priority order or on FIFO base. This is determined by the compile time option SEM_PRIORD. In this case the function returns if:

The caller task is in the first place of the waiting queue and an other task issues a rt_sem_signal() call;
a timeout occurs;
an error occurs (e.g. the semaphore is destroyed);

In case of a timeout, the semaphore value is incremented before return.

Parameters

sem	points to the structure used in the call to rt_sem_init().
delay	is an absolute value to the current time.

Returns

the number of events already signaled upon success. A special value as described below in case of a failure:

0xFFFF: sem does not refer to a valid semaphore.

Note: In principle 0xFFFF could theoretically be a usable semaphores events count so it could be returned also under normal circumstances. It is unlikely you are going to count up to such number of events, in any case avoid counting up to 0xFFFF.

References rt_sem_wait_until().

◆ rt_sem_wait_until()

RTAI_SYSCALL_MODE int rt_sem_wait_until	(	SEM *	sem,
		RTIME	time
	)

Wait a semaphore with timeout.

rt_sem_wait_until, like rt_sem_wait_timed() is a timed version of the standard semaphore wait call. The semaphore value is decremented and tested. If it is still non-negative these functions return immediately. Otherwise the caller task is blocked and queued up. Queuing may happen in priority order or on FIFO base. This is determined by the compile time option SEM_PRIORD. In this case the function returns if:

The caller task is in the first place of the waiting queue and an other task issues a rt_sem_signal call();
a timeout occurs;
an error occurs (e.g. the semaphore is destroyed);

In case of a timeout, the semaphore value is incremented before return.

Parameters

sem	points to the structure used in the call to rt_sem_init().
time	is an absolute value to the current time.

Returns

the number of events already signaled upon success. Aa special value" as described below in case of a failure:

0xFFFF: sem does not refer to a valid semaphore.

Note: In principle 0xFFFF could theoretically be a usable semaphores events count so it could be returned also under normal circumstances. It is unlikely you are going to count up to such number of events, in any case avoid counting up to 0xFFFF.

Referenced by rt_rwl_rdlock_until(), rt_rwl_wrlock_until(), and rt_sem_wait_timed().

◆ rt_spl_delete()

RTAI_SYSCALL_MODE int rt_spl_delete ( SPL * spl )

Initialize a spinlock.

rt_spl_delete destroies a spinlock spl.

Parameters

spl	must point to an allocated SPL structure.

Returns: 0 if always.

Referenced by _rt_named_spl_init(), and rt_named_spl_delete().

◆ rt_spl_init()

RTAI_SYSCALL_MODE int rt_spl_init ( SPL * spl )

Initialize a spinlock.

rt_spl_init initializes a spinlock spl.

Parameters

spl	must point to an allocated SPL structure.

A spinlock is an active wait synchronization mechanism useful for multi processors very short synchronization, when it is more efficient to wait at a meeting point instead of being suspended and the reactivated, as by using semaphores, to acquire ownership of any object. Spinlocks can be recursed once acquired, a recurring owner must care of unlocking as many times as he took the spinlock.

Returns: 0 if always.

Referenced by _rt_named_spl_init().

◆ rt_spl_lock()

RTAI_SYSCALL_MODE int rt_spl_lock ( SPL * spl )

Acquire a spinlock.

rt_spl_lock acquires a spinlock spl.

Parameters

spl	must point to an allocated SPL structure.

rt_spl_lock spins on lock till it can be acquired. If a tasks asks for lock it owns already it will acquire it immediately but will have to care to unlock it as many times as it recursed the spinlock ownership.

Returns: 0 if always.

◆ rt_spl_lock_if()

RTAI_SYSCALL_MODE int rt_spl_lock_if ( SPL * spl )

Acquire a spinlock without waiting.

rt_spl_lock_if acquires a spinlock spl without waiting.

Parameters

spl	must point to an allocated SPL structure.

rt_spl_lock_if tries to acquire a spinlock but will not spin on it if it is owned already.

Returns: 0 if it succeeded, -1 if the lock was owned already.

◆ rt_spl_lock_timed()

RTAI_SYSCALL_MODE int rt_spl_lock_timed	(	SPL *	spl,
		unsigned long	ns
	)

Acquire a spinlock with timeout.

rt_spl_lock_timed acquires a spinlock spl, but waiting spinning only for an allowed time.

Parameters

spl	must point to an allocated SPL structure.
ns	timeout

rt_spl_lock spins on lock till it can be acquired, as for rt_spl_lock, but only for an allowed time. If the spinlock cannot be acquired in time the functions returns in error. This function can be usefull either in itself or as a diagnosis toll during code development.

Returns: 0 if the spinlock was acquired, -1 if a timeout occured.

◆ rt_spl_unlock()

RTAI_SYSCALL_MODE int rt_spl_unlock ( SPL * spl )

Release an owned spinlock.

rt_spl_lock releases an owned spinlock spl.

Parameters

spl	must point to an allocated SPL structure.

rt_spl_unlock releases an owned lock. The spinlock can remain locked and its ownership can remain with the task is the spinlock acquisition was recursed.

Returns: 0 if the function was used legally, -1 if a tasks tries to unlock a spinlock it does not own.

◆ rt_typed_rwl_init()

RTAI_SYSCALL_MODE int rt_typed_rwl_init	(	RWL *	rwl,
		int	type
	)

Initialize a multi readers single writer lock.

rt_rwl_init initializes a multi readers single writer lock rwl.

Parameters

rwl	must point to an allocated RWL structure.

A multi readers single writer lock (RWL) is a synchronization mechanism that allows to have simultaneous read only access to an object, while only one task can have write access. A data set which is searched more frequently than it is changed can be usefully controlled by using an rwl. The lock acquisition policy is determined solely on the priority of tasks applying to own a lock.

Returns: 0 if always.

References rt_typed_sem_init().

◆ rt_typed_sem_init()

RTAI_SYSCALL_MODE void rt_typed_sem_init	(	SEM *	sem,
		int	value,
		int	type
	)

Initialize a specifically typed (counting, binary, resource) semaphore

rt_typed_sem_init initializes a semaphore sem of type type. A semaphore can be used for communication and synchronization among real time tasks. Negative value of a semaphore shows how many tasks are blocked on the semaphore queue, waiting to be awaken by calls to rt_sem_signal.

Parameters

sem	must point to an allocated SEM structure.
value	is the initial value of the semaphore, always set to 1 for a resource semaphore.
type	is the semaphore type and queuing policy. It can be an OR a semaphore kind: CNT_SEM for counting semaphores, BIN_SEM for binary semaphores, RES_SEM for resource semaphores; and queuing policy: FIFO_Q, PRIO_Q for a fifo and priority queueing respectively. Resource semaphores will enforce a PRIO_Q policy anyhow.

Counting semaphores can register up to 0xFFFE events. Binary semaphores do not count signalled events, their count will never exceed 1 whatever number of events is signaled to them. Resource semaphores are special binary semaphores suitable for managing resources. The task that acquires a resource semaphore becomes its owner, also called resource owner, since it is the only one capable of manipulating the resource the semaphore is protecting. The owner has its priority increased to that of any task blocking on a wait to the semaphore. Such a feature, called priority inheritance, ensures that a high priority task is never slaved to a lower priority one, thus allowing to avoid any deadlock due to priority inversion. Resource semaphores can be recursed, i.e. their task owner is not blocked by nested waits placed on an owned resource. The owner must insure that it will signal the semaphore, in reversed order, as many times as he waited on it. Note that that full priority inheritance is supported both for resource semaphores and inter task messages, for a singly owned resource. Instead it becomes an adaptive priority ceiling when a task owns multiple resources, including messages sent to him. In such a case in fact its priority is returned to its base one only when all such resources are released and no message is waiting for being received. This is a compromise design choice aimed at avoiding extensive searches for the new priority to be inherited across multiply owned resources and blocked tasks sending messages to him. Such a solution will be implemented only if it proves necessary. Note also that, to avoid deadlocks, a task owning a resource semaphore cannot be suspended. Any rt_task_suspend() posed on it is just registered. An owner task will go into suspend state only when it releases all the owned resources.

Note: if the legacy error return values scheme is used RTAI counting semaphores assume that their counter will never exceed 0xFFFF, such a number being used to signal returns in error. Thus also the initial count value cannot be greater 0xFFFF. The new error return scheme allows counts in the order of billions instead.

Referenced by _rt_typed_named_sem_init(), rt_sem_init(), and rt_typed_rwl_init().

Files

Functions

Detailed Description

Function Documentation

◆ _rt_named_rwl_init()

◆ _rt_named_spl_init()

◆ _rt_typed_named_sem_init()

◆ rt_cond_signal()

◆ rt_cond_wait()

◆ rt_cond_wait_timed()

◆ rt_cond_wait_until()

◆ rt_named_rwl_delete()

◆ rt_named_sem_delete()

◆ rt_named_spl_delete()

◆ rt_rwl_delete()

◆ rt_rwl_rdlock()

◆ rt_rwl_rdlock_if()

◆ rt_rwl_rdlock_timed()

◆ rt_rwl_rdlock_until()

◆ rt_rwl_unlock()

◆ rt_rwl_wrlock()

◆ rt_rwl_wrlock_if()

◆ rt_rwl_wrlock_timed()

◆ rt_rwl_wrlock_until()

◆ rt_sem_broadcast()

◆ rt_sem_delete()

◆ rt_sem_init()

◆ rt_sem_signal()

◆ rt_sem_wait()

◆ rt_sem_wait_barrier()

◆ rt_sem_wait_if()

◆ rt_sem_wait_timed()

◆ rt_sem_wait_until()

◆ rt_spl_delete()

◆ rt_spl_init()

◆ rt_spl_lock()

◆ rt_spl_lock_if()

◆ rt_spl_lock_timed()

◆ rt_spl_unlock()

◆ rt_typed_rwl_init()

◆ rt_typed_sem_init()