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1 ------------------------------------------------------------------------------
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2 -- --
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3 -- GNAT RUN-TIME LIBRARY (GNARL) COMPONENTS --
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4 -- --
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5 -- S Y S T E M . O S _ I N T E R F A C E --
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6 -- --
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7 -- S p e c --
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8 -- --
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9 -- Copyright (C) 1991-2017, Florida State University --
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131
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10 -- Copyright (C) 1995-2018, Free Software Foundation, Inc. --
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111
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11 -- --
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12 -- GNARL is free software; you can redistribute it and/or modify it under --
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13 -- terms of the GNU General Public License as published by the Free Soft- --
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14 -- ware Foundation; either version 3, or (at your option) any later ver- --
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15 -- sion. GNARL is distributed in the hope that it will be useful, but WITH- --
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16 -- OUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY --
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17 -- or FITNESS FOR A PARTICULAR PURPOSE. --
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18 -- --
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19 -- As a special exception under Section 7 of GPL version 3, you are granted --
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20 -- additional permissions described in the GCC Runtime Library Exception, --
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21 -- version 3.1, as published by the Free Software Foundation. --
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22 -- --
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23 -- You should have received a copy of the GNU General Public License and --
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24 -- a copy of the GCC Runtime Library Exception along with this program; --
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25 -- see the files COPYING3 and COPYING.RUNTIME respectively. If not, see --
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26 -- <http://www.gnu.org/licenses/>. --
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27 -- --
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28 -- GNARL was developed by the GNARL team at Florida State University. --
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29 -- Extensive contributions were provided by Ada Core Technologies, Inc. --
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30 -- --
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31 ------------------------------------------------------------------------------
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32
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33 -- This is the VxWorks version of this package
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34
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35 -- This package encapsulates all direct interfaces to OS services that are
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36 -- needed by the tasking run-time (libgnarl).
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37
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38 -- PLEASE DO NOT add any with-clauses to this package or remove the pragma
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39 -- Preelaborate. This package is designed to be a bottom-level (leaf) package.
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40
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41 with Interfaces.C;
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42 with System.VxWorks;
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43 with System.VxWorks.Ext;
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44 with System.Multiprocessors;
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45
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46 package System.OS_Interface is
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47 pragma Preelaborate;
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48
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49 subtype int is Interfaces.C.int;
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50 subtype unsigned is Interfaces.C.unsigned;
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51 subtype short is Short_Integer;
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52 type unsigned_int is mod 2 ** int'Size;
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53 type long is new Long_Integer;
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54 type unsigned_long is mod 2 ** long'Size;
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55 type long_long is new Long_Long_Integer;
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56 type unsigned_long_long is mod 2 ** long_long'Size;
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57 type size_t is mod 2 ** Standard'Address_Size;
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58
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59 -----------
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60 -- Errno --
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61 -----------
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62
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63 function errno return int;
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64 pragma Import (C, errno, "errnoGet");
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65
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66 EINTR : constant := 4;
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67 EAGAIN : constant := 35;
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68 ENOMEM : constant := 12;
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69 EINVAL : constant := 22;
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70 ETIMEDOUT : constant := 60;
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71
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72 FUNC_ERR : constant := -1;
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73
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74 ----------------------------
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75 -- Signals and interrupts --
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76 ----------------------------
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77
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78 NSIG : constant := 64;
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79 -- Number of signals on the target OS
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80 type Signal is new int range 0 .. Interfaces.C."-" (NSIG, 1);
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81
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82 Max_HW_Interrupt : constant := System.VxWorks.Num_HW_Interrupts - 1;
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83 type HW_Interrupt is new int range 0 .. Max_HW_Interrupt;
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84
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85 Max_Interrupt : constant := Max_HW_Interrupt;
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86 subtype Interrupt_Range is Natural range 0 .. Max_HW_Interrupt;
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87 -- For s-interr
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88
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89 -- Signals common to Vxworks 5.x and 6.x
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90
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91 SIGILL : constant := 4; -- illegal instruction (not reset when caught)
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92 SIGABRT : constant := 6; -- used by abort, replace SIGIOT in the future
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93 SIGFPE : constant := 8; -- floating point exception
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94 SIGBUS : constant := 10; -- bus error
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95 SIGSEGV : constant := 11; -- segmentation violation
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96
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97 -- Signals specific to VxWorks 6.x
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98
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99 SIGHUP : constant := 1; -- hangup
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100 SIGINT : constant := 2; -- interrupt
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101 SIGQUIT : constant := 3; -- quit
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102 SIGTRAP : constant := 5; -- trace trap (not reset when caught)
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103 SIGEMT : constant := 7; -- EMT instruction
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104 SIGKILL : constant := 9; -- kill
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105 SIGFMT : constant := 12; -- STACK FORMAT ERROR (not posix)
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106 SIGPIPE : constant := 13; -- write on a pipe with no one to read it
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107 SIGALRM : constant := 14; -- alarm clock
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108 SIGTERM : constant := 15; -- software termination signal from kill
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109 SIGCNCL : constant := 16; -- pthreads cancellation signal
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110 SIGSTOP : constant := 17; -- sendable stop signal not from tty
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111 SIGTSTP : constant := 18; -- stop signal from tty
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112 SIGCONT : constant := 19; -- continue a stopped process
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113 SIGCHLD : constant := 20; -- to parent on child stop or exit
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114 SIGTTIN : constant := 21; -- to readers pgrp upon background tty read
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115 SIGTTOU : constant := 22; -- like TTIN for output
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116
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117 SIGRES1 : constant := 23; -- reserved signal number (Not POSIX)
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118 SIGRES2 : constant := 24; -- reserved signal number (Not POSIX)
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119 SIGRES3 : constant := 25; -- reserved signal number (Not POSIX)
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120 SIGRES4 : constant := 26; -- reserved signal number (Not POSIX)
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121 SIGRES5 : constant := 27; -- reserved signal number (Not POSIX)
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122 SIGRES6 : constant := 28; -- reserved signal number (Not POSIX)
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123 SIGRES7 : constant := 29; -- reserved signal number (Not POSIX)
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124
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125 SIGUSR1 : constant := 30; -- user defined signal 1
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126 SIGUSR2 : constant := 31; -- user defined signal 2
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127
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128 SIGPOLL : constant := 32; -- pollable event
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129 SIGPROF : constant := 33; -- profiling timer expired
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130 SIGSYS : constant := 34; -- bad system call
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131 SIGURG : constant := 35; -- high bandwidth data is available at socket
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132 SIGVTALRM : constant := 36; -- virtual timer expired
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133 SIGXCPU : constant := 37; -- CPU time limit exceeded
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134 SIGXFSZ : constant := 38; -- file size time limit exceeded
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135
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136 SIGEVTS : constant := 39; -- signal event thread send
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137 SIGEVTD : constant := 40; -- signal event thread delete
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138
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139 SIGRTMIN : constant := 48; -- Realtime signal min
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140 SIGRTMAX : constant := 63; -- Realtime signal max
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141
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142 -----------------------------------
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143 -- Signal processing definitions --
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144 -----------------------------------
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145
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146 -- The how in sigprocmask()
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147
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148 SIG_BLOCK : constant := 1;
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149 SIG_UNBLOCK : constant := 2;
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150 SIG_SETMASK : constant := 3;
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151
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152 -- The sa_flags in struct sigaction
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153
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154 SA_SIGINFO : constant := 16#0002#;
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155 SA_ONSTACK : constant := 16#0004#;
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156
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157 SIG_DFL : constant := 0;
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158 SIG_IGN : constant := 1;
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159
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160 type sigset_t is private;
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161
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162 type struct_sigaction is record
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163 sa_handler : System.Address;
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164 sa_mask : sigset_t;
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165 sa_flags : int;
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166 end record;
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167 pragma Convention (C, struct_sigaction);
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168 type struct_sigaction_ptr is access all struct_sigaction;
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169
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170 function sigaddset (set : access sigset_t; sig : Signal) return int;
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171 pragma Import (C, sigaddset, "sigaddset");
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172
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173 function sigdelset (set : access sigset_t; sig : Signal) return int;
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174 pragma Import (C, sigdelset, "sigdelset");
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175
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176 function sigfillset (set : access sigset_t) return int;
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177 pragma Import (C, sigfillset, "sigfillset");
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178
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179 function sigismember (set : access sigset_t; sig : Signal) return int;
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180 pragma Import (C, sigismember, "sigismember");
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181
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182 function sigemptyset (set : access sigset_t) return int;
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183 pragma Import (C, sigemptyset, "sigemptyset");
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184
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185 function sigaction
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186 (sig : Signal;
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187 act : struct_sigaction_ptr;
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188 oact : struct_sigaction_ptr) return int;
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189 pragma Import (C, sigaction, "sigaction");
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190
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191 type isr_address is access procedure (sig : int);
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192 pragma Convention (C, isr_address);
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193
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194 function c_signal (sig : Signal; handler : isr_address) return isr_address;
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195 pragma Import (C, c_signal, "signal");
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196
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197 function pthread_sigmask
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198 (how : int;
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199 set : access sigset_t;
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200 oset : access sigset_t) return int;
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201 pragma Import (C, pthread_sigmask, "sigprocmask");
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202
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203 subtype t_id is System.VxWorks.Ext.t_id;
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204 subtype Thread_Id is t_id;
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205 -- Thread_Id and t_id are VxWorks identifiers for tasks. This value,
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206 -- although represented as a Long_Integer, is in fact an address. With
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207 -- some BSPs, this address can have a value sufficiently high that the
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208 -- Thread_Id becomes negative: this should not be considered as an error.
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209
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210 function kill (pid : t_id; sig : Signal) return int;
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211 pragma Inline (kill);
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212
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213 function getpid return t_id renames System.VxWorks.Ext.getpid;
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214
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215 function Task_Stop (tid : t_id) return int
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216 renames System.VxWorks.Ext.Task_Stop;
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217 -- If we are in the kernel space, stop the task whose t_id is given in
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218 -- parameter in such a way that it can be examined by the debugger. This
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219 -- typically maps to taskSuspend on VxWorks 5 and to taskStop on VxWorks 6.
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220
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221 function Task_Cont (tid : t_id) return int
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222 renames System.VxWorks.Ext.Task_Cont;
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223 -- If we are in the kernel space, continue the task whose t_id is given
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224 -- in parameter if it has been stopped previously to be examined by the
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225 -- debugger (e.g. by taskStop). It typically maps to taskResume on VxWorks
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226 -- 5 and to taskCont on VxWorks 6.
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227
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228 function Int_Lock return int renames System.VxWorks.Ext.Int_Lock;
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229 -- If we are in the kernel space, lock interrupts. It typically maps to
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230 -- intLock.
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231
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232 function Int_Unlock (Old : int) return int
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233 renames System.VxWorks.Ext.Int_Unlock;
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234 -- If we are in the kernel space, unlock interrupts. It typically maps to
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235 -- intUnlock. The parameter Old is only used on PowerPC where it contains
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236 -- the returned value from Int_Lock (the old MPSR).
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237
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238 ----------
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239 -- Time --
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240 ----------
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241
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242 type time_t is new unsigned_long;
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243
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244 type timespec is record
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245 ts_sec : time_t;
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246 ts_nsec : long;
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247 end record;
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248 pragma Convention (C, timespec);
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249
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250 type clockid_t is new int;
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251
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252 function To_Duration (TS : timespec) return Duration;
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253 pragma Inline (To_Duration);
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254
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255 function To_Timespec (D : Duration) return timespec;
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256 pragma Inline (To_Timespec);
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257 -- Convert a Duration value to a timespec value. Note that in VxWorks,
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258 -- timespec is always non-negative (since time_t is defined above as
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259 -- unsigned long). This means that there is a potential problem if a
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260 -- negative argument is passed for D. However, in actual usage, the
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261 -- value of the input argument D is always non-negative, so no problem
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262 -- arises in practice.
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263
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264 function To_Clock_Ticks (D : Duration) return int;
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265 -- Convert a duration value (in seconds) into clock ticks
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266
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267 function clock_gettime
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268 (clock_id : clockid_t; tp : access timespec) return int;
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269 pragma Import (C, clock_gettime, "clock_gettime");
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270
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271 ----------------------
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272 -- Utility Routines --
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273 ----------------------
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274
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275 function To_VxWorks_Priority (Priority : int) return int;
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276 pragma Inline (To_VxWorks_Priority);
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277 -- Convenience routine to convert between VxWorks priority and Ada priority
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278
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279 --------------------------
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280 -- VxWorks specific API --
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281 --------------------------
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282
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283 subtype STATUS is int;
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284 -- Equivalent of the C type STATUS
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285
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286 OK : constant STATUS := 0;
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287 ERROR : constant STATUS := Interfaces.C.int (-1);
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288
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289 function taskIdVerify (tid : t_id) return STATUS;
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290 pragma Import (C, taskIdVerify, "taskIdVerify");
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291
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292 function taskIdSelf return t_id;
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293 pragma Import (C, taskIdSelf, "taskIdSelf");
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294
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295 function taskOptionsGet (tid : t_id; pOptions : access int) return int;
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296 pragma Import (C, taskOptionsGet, "taskOptionsGet");
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297
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298 function taskSuspend (tid : t_id) return int;
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299 pragma Import (C, taskSuspend, "taskSuspend");
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300
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301 function taskResume (tid : t_id) return int;
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302 pragma Import (C, taskResume, "taskResume");
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303
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304 function taskIsSuspended (tid : t_id) return int;
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305 pragma Import (C, taskIsSuspended, "taskIsSuspended");
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306
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307 function taskDelay (ticks : int) return int;
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308 pragma Import (C, taskDelay, "taskDelay");
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309
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310 function sysClkRateGet return int;
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311 pragma Import (C, sysClkRateGet, "sysClkRateGet");
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312
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313 -- VxWorks 5.x specific functions
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314 -- Must not be called from run-time for versions that do not support
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315 -- taskVarLib: eg VxWorks 6 RTPs
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316
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317 function taskVarAdd
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318 (tid : t_id; pVar : access System.Address) return int;
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319 pragma Import (C, taskVarAdd, "taskVarAdd");
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320
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321 function taskVarDelete
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322 (tid : t_id; pVar : access System.Address) return int;
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323 pragma Import (C, taskVarDelete, "taskVarDelete");
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324
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325 function taskVarSet
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326 (tid : t_id;
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327 pVar : access System.Address;
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328 value : System.Address) return int;
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329 pragma Import (C, taskVarSet, "taskVarSet");
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330
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331 function taskVarGet
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332 (tid : t_id;
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333 pVar : access System.Address) return int;
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334 pragma Import (C, taskVarGet, "taskVarGet");
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335
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336 -- VxWorks 6.x specific functions
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337
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338 -- Can only be called from the VxWorks 6 run-time libary that supports
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339 -- tlsLib, and not by the VxWorks 6.6 SMP library
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340
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341 function tlsKeyCreate return int;
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342 pragma Import (C, tlsKeyCreate, "tlsKeyCreate");
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343
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344 function tlsValueGet (key : int) return System.Address;
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345 pragma Import (C, tlsValueGet, "tlsValueGet");
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346
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347 function tlsValueSet (key : int; value : System.Address) return STATUS;
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348 pragma Import (C, tlsValueSet, "tlsValueSet");
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349
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350 -- Option flags for taskSpawn
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351
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352 VX_UNBREAKABLE : constant := 16#0002#;
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353 VX_FP_PRIVATE_ENV : constant := 16#0080#;
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354 VX_NO_STACK_FILL : constant := 16#0100#;
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355
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356 function taskSpawn
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357 (name : System.Address; -- Pointer to task name
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358 priority : int;
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359 options : int;
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360 stacksize : size_t;
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361 start_routine : System.Address;
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362 arg1 : System.Address;
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363 arg2 : int := 0;
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364 arg3 : int := 0;
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365 arg4 : int := 0;
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366 arg5 : int := 0;
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367 arg6 : int := 0;
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368 arg7 : int := 0;
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369 arg8 : int := 0;
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370 arg9 : int := 0;
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371 arg10 : int := 0) return t_id;
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372 pragma Import (C, taskSpawn, "taskSpawn");
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373
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374 procedure taskDelete (tid : t_id);
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375 pragma Import (C, taskDelete, "taskDelete");
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376
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377 function Set_Time_Slice (ticks : int) return int
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378 renames System.VxWorks.Ext.Set_Time_Slice;
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379 -- Calls kernelTimeSlice under VxWorks 5.x, VxWorks 653, or in VxWorks 6
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380 -- kernel apps. Returns ERROR for RTPs, VxWorks 5 /CERT
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381
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382 function taskPriorityGet (tid : t_id; pPriority : access int) return int;
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383 pragma Import (C, taskPriorityGet, "taskPriorityGet");
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384
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385 function taskPrioritySet (tid : t_id; newPriority : int) return int;
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386 pragma Import (C, taskPrioritySet, "taskPrioritySet");
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387
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388 -- Semaphore creation flags
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389
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390 SEM_Q_FIFO : constant := 0;
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391 SEM_Q_PRIORITY : constant := 1;
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392 SEM_DELETE_SAFE : constant := 4; -- only valid for binary semaphore
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393 SEM_INVERSION_SAFE : constant := 8; -- only valid for binary semaphore
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394
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395 -- Semaphore initial state flags
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396
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397 SEM_EMPTY : constant := 0;
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398 SEM_FULL : constant := 1;
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399
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400 -- Semaphore take (semTake) time constants
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401
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402 WAIT_FOREVER : constant := -1;
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403 NO_WAIT : constant := 0;
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404
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405 -- Error codes (errno). The lower level 16 bits are the error code, with
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406 -- the upper 16 bits representing the module number in which the error
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407 -- occurred. By convention, the module number is 0 for UNIX errors. VxWorks
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408 -- reserves module numbers 1-500, with the remaining module numbers being
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409 -- available for user applications.
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410
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411 M_objLib : constant := 61 * 2**16;
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412 -- semTake() failure with ticks = NO_WAIT
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413 S_objLib_OBJ_UNAVAILABLE : constant := M_objLib + 2;
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414 -- semTake() timeout with ticks > NO_WAIT
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415 S_objLib_OBJ_TIMEOUT : constant := M_objLib + 4;
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416
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417 subtype SEM_ID is System.VxWorks.Ext.SEM_ID;
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418 -- typedef struct semaphore *SEM_ID;
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419
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420 -- We use two different kinds of VxWorks semaphores: mutex and binary
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421 -- semaphores. A null ID is returned when a semaphore cannot be created.
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422
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423 function semBCreate (options : int; initial_state : int) return SEM_ID;
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424 pragma Import (C, semBCreate, "semBCreate");
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425 -- Create a binary semaphore. Return ID, or 0 if memory could not
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426 -- be allocated.
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427
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428 function semMCreate (options : int) return SEM_ID;
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429 pragma Import (C, semMCreate, "semMCreate");
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430
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431 function semDelete (Sem : SEM_ID) return int
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432 renames System.VxWorks.Ext.semDelete;
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433 -- Delete a semaphore
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434
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435 function semGive (Sem : SEM_ID) return int;
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436 pragma Import (C, semGive, "semGive");
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437
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438 function semTake (Sem : SEM_ID; timeout : int) return int;
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439 pragma Import (C, semTake, "semTake");
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440 -- Attempt to take binary semaphore. Error is returned if operation
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441 -- times out
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442
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443 function semFlush (SemID : SEM_ID) return STATUS;
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444 pragma Import (C, semFlush, "semFlush");
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445 -- Release all threads blocked on the semaphore
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446
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447 ------------------------------------------------------------
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448 -- Binary Semaphore Wrapper to Support interrupt Tasks --
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449 ------------------------------------------------------------
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450
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451 type Binary_Semaphore_Id is new Long_Integer;
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452
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453 function Binary_Semaphore_Create return Binary_Semaphore_Id;
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454 pragma Inline (Binary_Semaphore_Create);
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455
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456 function Binary_Semaphore_Delete (ID : Binary_Semaphore_Id) return int;
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457 pragma Inline (Binary_Semaphore_Delete);
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458
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459 function Binary_Semaphore_Obtain (ID : Binary_Semaphore_Id) return int;
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460 pragma Inline (Binary_Semaphore_Obtain);
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461
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462 function Binary_Semaphore_Release (ID : Binary_Semaphore_Id) return int;
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463 pragma Inline (Binary_Semaphore_Release);
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464
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465 function Binary_Semaphore_Flush (ID : Binary_Semaphore_Id) return int;
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466 pragma Inline (Binary_Semaphore_Flush);
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467
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468 ------------------------------------------------------------
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469 -- Hardware Interrupt Wrappers to Support Interrupt Tasks --
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470 ------------------------------------------------------------
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471
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472 type Interrupt_Handler is access procedure (parameter : System.Address);
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473 pragma Convention (C, Interrupt_Handler);
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474
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475 type Interrupt_Vector is new System.Address;
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476
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477 function Interrupt_Connect
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478 (Vector : Interrupt_Vector;
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479 Handler : Interrupt_Handler;
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480 Parameter : System.Address := System.Null_Address) return int;
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481 pragma Inline (Interrupt_Connect);
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482 -- Use this to set up an user handler. The routine installs a user handler
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483 -- which is invoked after the OS has saved enough context for a high-level
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484 -- language routine to be safely invoked.
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485
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486 function Interrupt_Context return int;
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487 pragma Inline (Interrupt_Context);
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488 -- Return 1 if executing in an interrupt context; return 0 if executing in
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489 -- a task context.
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490
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491 function Interrupt_Number_To_Vector (intNum : int) return Interrupt_Vector;
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492 pragma Inline (Interrupt_Number_To_Vector);
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493 -- Convert a logical interrupt number to the hardware interrupt vector
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494 -- number used to connect the interrupt.
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495
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496 --------------------------------
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497 -- Processor Affinity for SMP --
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498 --------------------------------
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499
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500 function taskCpuAffinitySet (tid : t_id; CPU : int) return int
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501 renames System.VxWorks.Ext.taskCpuAffinitySet;
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502 -- For SMP run-times the affinity to CPU.
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503 -- For uniprocessor systems return ERROR status.
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504
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505 function taskMaskAffinitySet (tid : t_id; CPU_Set : unsigned) return int
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506 renames System.VxWorks.Ext.taskMaskAffinitySet;
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507 -- For SMP run-times the affinity to CPU_Set.
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508 -- For uniprocessor systems return ERROR status.
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509
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510 ---------------------
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511 -- Multiprocessors --
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512 ---------------------
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513
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514 function Current_CPU return Multiprocessors.CPU;
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515 -- Return the id of the current CPU
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516
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517 private
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518 type pid_t is new int;
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519
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520 ERROR_PID : constant pid_t := -1;
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521
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522 type sigset_t is new System.VxWorks.Ext.sigset_t;
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523 end System.OS_Interface;
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