emc-commit — CVS commit notification list.

[Emc-commit] rtapi/examples/semaphore master.c,1.6,1.7 slave.c,1.4,1.5

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/examples/semaphore
In directory sc8-pr-cvs1:/tmp/cvs-serv4147/examples/semaphore

Modified Files:
	master.c slave.c 
Log Message:
Checks on rtapi_task_start() start time made..

Index: master.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/semaphore/master.c,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** master.c	10 Aug 2003 22:44:11 -0000	1.6
--- master.c	10 Aug 2003 23:52:35 -0000	1.7
***************
*** 72,76 ****
                               0, master_prio,
                               MASTER_STACKSIZE,
!                              MASTER_PERIOD_NSEC, 0, RTAPI_NO_FP );
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print("sem master init: rtapi_task_start returned %d\n", retval );
--- 72,77 ----
                               0, master_prio,
                               MASTER_STACKSIZE,
!                              MASTER_PERIOD_NSEC, NOW,
! 			     RTAPI_NO_FP );
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print("sem master init: rtapi_task_start returned %d\n", retval );

Index: slave.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/semaphore/slave.c,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** slave.c	10 Aug 2003 22:44:11 -0000	1.4
--- slave.c	10 Aug 2003 23:52:35 -0000	1.5
***************
*** 51,55 ****
                               0, slave_prio,
                               SLAVE_STACKSIZE,
!                              0 /* not periodic */, 0, RTAPI_NO_FP );
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print("sem slave init: rtapi_task_start returned %d\n", retval );
--- 51,56 ----
                               0, slave_prio,
                               SLAVE_STACKSIZE,
!                              0 /* not periodic */, NOW,
! 			     RTAPI_NO_FP );
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print("sem slave init: rtapi_task_start returned %d\n", retval );

[Emc-commit] rtapi/examples/fifo fifotask.c,1.11,1.12

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/examples/fifo
In directory sc8-pr-cvs1:/tmp/cvs-serv4147/examples/fifo

Modified Files:
	fifotask.c 
Log Message:
Checks on rtapi_task_start() start time made..

Index: fifotask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/fifo/fifotask.c,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** fifotask.c	10 Aug 2003 22:42:55 -0000	1.11
--- fifotask.c	10 Aug 2003 23:52:35 -0000	1.12
***************
*** 88,92 ****
    retval = rtapi_task_start(fifo_task, fifo_code,
  			    0, fifo_prio,
! 			    FIFO_STACKSIZE, FIFO_PERIOD_NSEC, 0, RTAPI_NO_FP);
    if (retval != RTAPI_SUCCESS) {
      rtapi_print("fifotask init: rtapi_task_start failed with %d\n", retval);
--- 88,93 ----
    retval = rtapi_task_start(fifo_task, fifo_code,
  			    0, fifo_prio,
! 			    FIFO_STACKSIZE, FIFO_PERIOD_NSEC, NOW,
! 			    RTAPI_NO_FP);
    if (retval != RTAPI_SUCCESS) {
      rtapi_print("fifotask init: rtapi_task_start failed with %d\n", retval);

[Emc-commit] rtapi/examples/timertask timertask.c,1.6,1.7

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/examples/timertask
In directory sc8-pr-cvs1:/tmp/cvs-serv26308/examples/timertask

Modified Files:
	timertask.c 
Log Message:
Changed rtapi_print_dbg to rtapi_print_msg

Index: timertask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/timertask/timertask.c,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** timertask.c	4 Aug 2003 06:00:25 -0000	1.6
--- timertask.c	10 Aug 2003 22:44:11 -0000	1.7
***************
*** 69,73 ****
                               0, timer_prio,
                               TIMER_STACKSIZE,
!                              TASK_PERIOD_NSEC, RTAPI_NO_FP );
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print("timertask init: rtapi_task_start returned %d\n", retval );
--- 69,73 ----
                               0, timer_prio,
                               TIMER_STACKSIZE,
!                              TASK_PERIOD_NSEC, 0, RTAPI_NO_FP );
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print("timertask init: rtapi_task_start returned %d\n", retval );

[Emc-commit] rtapi/examples/shmem shmemtask.c,1.4,1.5

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/examples/shmem
In directory sc8-pr-cvs1:/tmp/cvs-serv26308/examples/shmem

Modified Files:
	shmemtask.c 
Log Message:
Changed rtapi_print_dbg to rtapi_print_msg

Index: shmemtask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/shmem/shmemtask.c,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** shmemtask.c	4 Aug 2003 06:00:25 -0000	1.4
--- shmemtask.c	10 Aug 2003 22:44:11 -0000	1.5
***************
*** 77,81 ****
                               0, shmem_prio,
                               SHMEM_STACKSIZE,
!                              SHMEM_PERIOD_NSEC, RTAPI_NO_FP );
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print("shmemtask init: rtapi_task_start returned %d\n", retval );
--- 77,81 ----
                               0, shmem_prio,
                               SHMEM_STACKSIZE,
!                              SHMEM_PERIOD_NSEC, 0, RTAPI_NO_FP );
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print("shmemtask init: rtapi_task_start returned %d\n", retval );

[Emc-commit] rtapi/src/rtapi rtai_rtapi.c,1.16,1.17 rtapi.h,1.14,1.15

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv26308/src/rtapi

Modified Files:
	rtai_rtapi.c rtapi.h 
Log Message:
Changed rtapi_print_dbg to rtapi_print_msg

Index: rtai_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_rtapi.c,v
retrieving revision 1.16
retrieving revision 1.17
diff -C2 -d -r1.16 -r1.17
*** rtai_rtapi.c	10 Aug 2003 21:13:04 -0000	1.16
--- rtai_rtapi.c	10 Aug 2003 22:44:11 -0000	1.17
***************
*** 118,124 ****
  static int timer_running = 0;
  
! int rtapi_msg_level;   /* global used for message printing */
  
! static int msg;   /* short name, for use in insmod command */
  MODULE_PARM(msg, "i");
  MODULE_PARM_DESC(msg, "Verbosity, higher value = more messages (default=7)");
--- 118,124 ----
  static int timer_running = 0;
  
! int rtapi_msg_level;		/* global used for message printing */
  
! static int msg = 0;		/* short name, for use in insmod command */
  MODULE_PARM(msg, "i");
  MODULE_PARM_DESC(msg, "Verbosity, higher value = more messages (default=7)");
***************
*** 142,145 ****
--- 142,146 ----
    PROC_PRINT("     Timer status = %i\n", timer_running);
    PROC_PRINT("\n");
+   PROC_PRINT("   Vebosity level = %i\n", msg);
    PROC_PRINT_DONE;
  }
***************
*** 151,155 ****
  especially if the RTOS does not use modules. */
  
! int rtapi_init (void)
  {
    rtapi_usage_count++;
--- 152,156 ----
  especially if the RTOS does not use modules. */
  
! int rtapi_init(void)
  {
    rtapi_usage_count++;
***************
*** 157,161 ****
  }
  
! int rtapi_exit (void)
  {
    rtapi_usage_count--;
--- 158,162 ----
  }
  
! int rtapi_exit(void)
  {
    rtapi_usage_count--;
***************
*** 179,183 ****
      );
  #endif
!   rtapi_print_dbg(VERBOSE, "RTAPI: Initing\n");
    task_usage_count = 0;
    shmem_usage_count = 0;
--- 180,184 ----
      );
  #endif
!   rtapi_print_msg(VERBOSE, "RTAPI: Initing\n");
    task_usage_count = 0;
    shmem_usage_count = 0;
***************
*** 191,195 ****
  
  
! void cleanup_module (void)
  {
    /* Remove proc dir entry */
--- 192,196 ----
  
  
! void cleanup_module(void)
  {
    /* Remove proc dir entry */
***************
*** 198,222 ****
  #endif
    if (task_usage_count != 0) {
!     rtapi_print_dbg(VERBOSE,
  		    "RTAPI: ERROR: %d task(s) allocated but not deleted\n",
  		    task_usage_count);
    }
    if (shmem_usage_count != 0) {
!     rtapi_print_dbg(VERBOSE,
  		    "RTAPI: ERROR: %d shared memory block(s) allocated but not deleted\n",
  		    shmem_usage_count);
    }
    if (sem_usage_count != 0) {
!     rtapi_print_dbg(VERBOSE,
  		    "RTAPI: ERROR: %d semaphores(s) allocated but not deleted\n",
  		    sem_usage_count);
    }
    if (fifo_usage_count != 0) {
!     rtapi_print_dbg(VERBOSE,
  		    "RTAPI: ERROR: %d fifo(s) allocated but not deleted\n",
  		    fifo_usage_count);
    }
    if (int_usage_count != 0) {
!     rtapi_print_dbg(VERBOSE,
  		    "RTAPI: ERROR: %d interrupt handler(s) installed but not removed\n",
  		    int_usage_count);
--- 199,223 ----
  #endif
    if (task_usage_count != 0) {
!     rtapi_print_msg(VERBOSE,
  		    "RTAPI: ERROR: %d task(s) allocated but not deleted\n",
  		    task_usage_count);
    }
    if (shmem_usage_count != 0) {
!     rtapi_print_msg(VERBOSE,
  		    "RTAPI: ERROR: %d shared memory block(s) allocated but not deleted\n",
  		    shmem_usage_count);
    }
    if (sem_usage_count != 0) {
!     rtapi_print_msg(VERBOSE,
  		    "RTAPI: ERROR: %d semaphores(s) allocated but not deleted\n",
  		    sem_usage_count);
    }
    if (fifo_usage_count != 0) {
!     rtapi_print_msg(VERBOSE,
  		    "RTAPI: ERROR: %d fifo(s) allocated but not deleted\n",
  		    fifo_usage_count);
    }
    if (int_usage_count != 0) {
!     rtapi_print_msg(VERBOSE,
  		    "RTAPI: ERROR: %d interrupt handler(s) installed but not removed\n",
  		    int_usage_count);
***************
*** 227,231 ****
    }
    rtapi_print("RTAPI: Shutting down\n");
!   return RTAPI_SUCCESS;
  }
  
--- 228,232 ----
    }
    rtapi_print("RTAPI: Shutting down\n");
!   return;
  }
  
***************
*** 295,299 ****
    timer_period = count2nano(start_rt_timer(nano2count((RTIME) nsecs)));
  
!   rtapi_print_dbg(VERBOSE,
  		  "RTAPI: clock_set_period ( %ld ) - Actual = %i nSec\n",
  		  nsecs, timer_period);
--- 296,300 ----
    timer_period = count2nano(start_rt_timer(nano2count((RTIME) nsecs)));
  
!   rtapi_print_msg(VERBOSE,
  		  "RTAPI: clock_set_period ( %ld ) - Actual = %i nSec\n",
  		  nsecs, timer_period);
***************
*** 330,334 ****
    task_usage_count++;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: new_task %p, count = %d\n", task,
  		  task_usage_count);
  
--- 331,335 ----
    task_usage_count++;
  
!   rtapi_print_msg(VERBOSE, "RTAPI: new_task %p, count = %d\n", task,
  		  task_usage_count);
  
***************
*** 353,357 ****
    task_usage_count--;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: delete_task %p, count = %d\n", task,
  		  task_usage_count);
  
--- 354,358 ----
    task_usage_count--;
  
!   rtapi_print_msg(VERBOSE, "RTAPI: delete_task %p, count = %d\n", task,
  		  task_usage_count);
  
***************
*** 364,368 ****
  		     int arg, int prio,
  		     unsigned long int stacksize,
! 		     unsigned long int period_nsec, unsigned char uses_fp)
  {
    int retval;
--- 365,370 ----
  		     int arg, int prio,
  		     unsigned long int stacksize,
! 		     unsigned long int period_nsec, unsigned long long when,
! 		     unsigned char uses_fp)
  {
    int retval;
***************
*** 410,414 ****
    }
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: start_task %p\n", task);
  
    return RTAPI_SUCCESS;
--- 412,416 ----
    }
  
!   rtapi_print_msg(VERBOSE, "RTAPI: start_task %p\n", task);
  
    return RTAPI_SUCCESS;
***************
*** 432,436 ****
      return RTAPI_FAIL;
    }
!   rtapi_print_dbg(VERBOSE, "RTAPI: stop_task %p\n", task);
  
    return RTAPI_SUCCESS;
--- 434,438 ----
      return RTAPI_FAIL;
    }
!   rtapi_print_msg(VERBOSE, "RTAPI: stop_task %p\n", task);
  
    return RTAPI_SUCCESS;
***************
*** 548,552 ****
    shmem_usage_count++;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: new_shmem %p, key = %d, count = %d\n",
  		  shmem, key, shmem_usage_count);
  
--- 550,554 ----
    shmem_usage_count++;
  
!   rtapi_print_msg(VERBOSE, "RTAPI: new_shmem %p, key = %d, count = %d\n",
  		  shmem, key, shmem_usage_count);
  
***************
*** 590,594 ****
    shmem_usage_count--;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: delete_shmem %p, count = %d\n", shmem,
  		  shmem_usage_count);
  
--- 592,596 ----
    shmem_usage_count--;
  
!   rtapi_print_msg(VERBOSE, "RTAPI: delete_shmem %p, count = %d\n", shmem,
  		  shmem_usage_count);
  
***************
*** 613,617 ****
  
  
! void rtapi_print_dbg(int dbg, const char *fmt, ...)
  {
    va_list args;
--- 615,619 ----
  
  
! void rtapi_print_msg(int dbg, const char *fmt, ...)
  {
    va_list args;
***************
*** 619,623 ****
    static char buffer[BUFFERLEN];
  
!   if (dbg < debug) {
      va_start(args, fmt);
      vsprintf(buffer, fmt, args);
--- 621,625 ----
    static char buffer[BUFFERLEN];
  
!   if (dbg < msg) {
      va_start(args, fmt);
      vsprintf(buffer, fmt, args);
***************
*** 651,655 ****
      }
    }
!   rtapi_print_dbg(VERBOSE,
  		  "\n\nRTAPI: assign_interrupt_handler for int %d, count = %d\n",
  		  irq, int_usage_count);
--- 653,657 ----
      }
    }
!   rtapi_print_msg(VERBOSE,
  		  "\n\nRTAPI: assign_interrupt_handler for int %d, count = %d\n",
  		  irq, int_usage_count);
***************
*** 658,662 ****
    int_usage_count++;
  
!   rtapi_print_dbg(VERBOSE,
  		  "RTAPI: assign_interrupt_handler for int %d, count = %d\n",
  		  irq, int_usage_count);
--- 660,664 ----
    int_usage_count++;
  
!   rtapi_print_msg(VERBOSE,
  		  "RTAPI: assign_interrupt_handler for int %d, count = %d\n",
  		  irq, int_usage_count);
***************
*** 679,683 ****
    int_usage_count--;
  
!   rtapi_print_dbg(VERBOSE,
  		  "RTAPI: free_interrupt_handler for int %d, count = %d\n",
  		  irq, int_usage_count);
--- 681,685 ----
    int_usage_count--;
  
!   rtapi_print_msg(VERBOSE,
  		  "RTAPI: free_interrupt_handler for int %d, count = %d\n",
  		  irq, int_usage_count);
***************
*** 740,744 ****
    sem_usage_count++;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: new_sem %p, count = %d\n", sem,
  		  sem_usage_count);
  
--- 742,746 ----
    sem_usage_count++;
  
!   rtapi_print_msg(VERBOSE, "RTAPI: new_sem %p, count = %d\n", sem,
  		  sem_usage_count);
  
***************
*** 766,770 ****
    sem_usage_count--;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: delete_sem %p, count = %d\n", sem,
  		  sem_usage_count);
  
--- 768,772 ----
    sem_usage_count--;
  
!   rtapi_print_msg(VERBOSE, "RTAPI: delete_sem %p, count = %d\n", sem,
  		  sem_usage_count);
  
***************
*** 863,867 ****
    fifo_usage_count++;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: new_fifo %p, count = %d\n", fifo,
  		  fifo_usage_count);
  
--- 865,869 ----
    fifo_usage_count++;
  
!   rtapi_print_msg(VERBOSE, "RTAPI: new_fifo %p, count = %d\n", fifo,
  		  fifo_usage_count);
  
***************
*** 889,893 ****
    fifo_usage_count--;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: delete_fifo %p, count = %d\n", fifo,
  		  fifo_usage_count);
  
--- 891,895 ----
    fifo_usage_count--;
  
!   rtapi_print_msg(VERBOSE, "RTAPI: delete_fifo %p, count = %d\n", fifo,
  		  fifo_usage_count);
  

Index: rtapi.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtapi.h,v
retrieving revision 1.14
retrieving revision 1.15
diff -C2 -d -r1.14 -r1.15
*** rtapi.h	10 Aug 2003 21:13:04 -0000	1.14
--- rtapi.h	10 Aug 2003 22:44:11 -0000	1.15
***************
*** 97,101 ****
  
  
! /** 'rtapi_print_dbg()' prints debug messages.  Works like rtapi_print *
  * but only prints if 'level' is less than 'rtapi_msg_level'.           *
  * 'rtapi_msg_level' is a global.  The default is 7, but it may be      *
--- 97,101 ----
  
  
! /** 'rtapi_print_msg()' prints debug messages.  Works like rtapi_print *
  * but only prints if 'level' is less than 'rtapi_msg_level'.           *
  * 'rtapi_msg_level' is a global.  The default is 7, but it may be      *
***************
*** 226,231 ****
  			    unsigned long int stacksize,
  			    unsigned long int period_nsec,
! 			    unsigned long long when,
! 			    unsigned char uses_fp);
  
  
--- 226,230 ----
  			    unsigned long int stacksize,
  			    unsigned long int period_nsec,
! 			    unsigned long long when, unsigned char uses_fp);
  
  
***************
*** 345,349 ****
  * becomes a fifo handle, which points to internal data for the fifo    *
  * and is used for subsequent calls dealing with it.  Returns a status  *
! * code.                                                                */
  
  extern int rtapi_fifo_new(int key, unsigned long int size,
--- 344,351 ----
  * becomes a fifo handle, which points to internal data for the fifo    *
  * and is used for subsequent calls dealing with it.  Returns a status  *
! * code.                                                                *
! *                                                                      *
! * NOTE - The fifo requires (stacksize - 256) to avoid oops messages on *
! * 	removal. (Does this apply to rtlinux as well ?)                */
  
  extern int rtapi_fifo_new(int key, unsigned long int size,

[Emc-commit] rtapi/examples/semaphore master.c,1.5,1.6 slave.c,1.3,1.4

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/examples/semaphore
In directory sc8-pr-cvs1:/tmp/cvs-serv26308/examples/semaphore

Modified Files:
	master.c slave.c 
Log Message:
Changed rtapi_print_dbg to rtapi_print_msg

Index: master.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/semaphore/master.c,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** master.c	5 Aug 2003 03:51:00 -0000	1.5
--- master.c	10 Aug 2003 22:44:11 -0000	1.6
***************
*** 72,76 ****
                               0, master_prio,
                               MASTER_STACKSIZE,
!                              MASTER_PERIOD_NSEC, RTAPI_NO_FP );
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print("sem master init: rtapi_task_start returned %d\n", retval );
--- 72,76 ----
                               0, master_prio,
                               MASTER_STACKSIZE,
!                              MASTER_PERIOD_NSEC, 0, RTAPI_NO_FP );
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print("sem master init: rtapi_task_start returned %d\n", retval );

Index: slave.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/semaphore/slave.c,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** slave.c	5 Aug 2003 03:51:00 -0000	1.3
--- slave.c	10 Aug 2003 22:44:11 -0000	1.4
***************
*** 51,55 ****
                               0, slave_prio,
                               SLAVE_STACKSIZE,
!                              0 /* not periodic */, RTAPI_NO_FP );
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print("sem slave init: rtapi_task_start returned %d\n", retval );
--- 51,55 ----
                               0, slave_prio,
                               SLAVE_STACKSIZE,
!                              0 /* not periodic */, 0, RTAPI_NO_FP );
    if ( retval != RTAPI_SUCCESS ) {
      rtapi_print("sem slave init: rtapi_task_start returned %d\n", retval );

[Emc-commit] rtapi/examples/fifo common.h,1.1.1.1,1.2 fifotask.c,1.10,1.11

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/examples/fifo
In directory sc8-pr-cvs1:/tmp/cvs-serv26115

Modified Files:
	common.h fifotask.c 
Log Message:
Force the scope of rtf_put() to char

Index: common.h
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/fifo/common.h,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -C2 -d -r1.1.1.1 -r1.2
*** common.h	8 Jul 2003 15:54:39 -0000	1.1.1.1
--- common.h	10 Aug 2003 22:42:55 -0000	1.2
***************
*** 3,7 ****
  
  enum { FIFO_KEY = 1 };
! enum { FIFO_SIZE = 100 };
  
  #endif /* COMMON_H */
--- 3,7 ----
  
  enum { FIFO_KEY = 1 };
! enum { FIFO_SIZE = 1024 };
  
  #endif /* COMMON_H */

Index: fifotask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/fifo/fifotask.c,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** fifotask.c	10 Aug 2003 21:13:03 -0000	1.10
--- fifotask.c	10 Aug 2003 22:42:55 -0000	1.11
***************
*** 13,21 ****
  enum { TIMER_PERIOD_NSEC = 10000000 };	/* timer period, in nanoseconds */
  enum { FIFO_PERIOD_NSEC = 1000000000 };	/* timer period, in nanoseconds */
! enum { FIFO_STACKSIZE = 1024 };	/* how big the stack is */
  
  static int count = 0;
  static int len = 0;
! static int total =0;
  
  /* task code, executed each timer interrupt */
--- 13,21 ----
  enum { TIMER_PERIOD_NSEC = 10000000 };	/* timer period, in nanoseconds */
  enum { FIFO_PERIOD_NSEC = 1000000000 };	/* timer period, in nanoseconds */
! enum { FIFO_STACKSIZE = 2048 };	/* how big the stack is */
  
  static int count = 0;
  static int len = 0;
! static int total = 0;
  
  /* task code, executed each timer interrupt */
***************
*** 28,46 ****
      /* write count to buffer as a 3 digit number */
      tmp = count;
!     for ( n = 0 ; n < 3 ; n++ ) {
! 	  buffer[2-n] = '0' + ( tmp % 10 );
! 	  tmp /= 10;
!       }
      buffer[3] = ':';
! 	/* write 'len' digits of 'len' */
      for (n = 0; n < len; n++) {
!       buffer[4+n] = '0' + len;
      }
!     rtapi_fifo_write(fifo, buffer, len+4);
! 	total += len+4;
!     buffer[4+n] = '\0';
!     rtapi_print("fifotask: total %d, wrote '%s',\n", total, buffer);
      count++;
! 	len++;
      if (len > 9)
        len = 0;
--- 28,46 ----
      /* write count to buffer as a 3 digit number */
      tmp = count;
!     for (n = 0; n < 3; n++) {
!       buffer[2 - n] = (char) ('0' + (tmp % 10));
!       tmp /= 10;
!     }
      buffer[3] = ':';
!     /* write 'len' digits of 'len' */
      for (n = 0; n < len; n++) {
!       buffer[4 + n] = (char) ('0' + len);
      }
!     rtapi_fifo_write(fifo, buffer, len + 4);
!     total += len + 4;
!     buffer[4 + n] = (char) '\0';
!     rtapi_print_msg(2, "fifotask: total %d, wrote '%s',\n", total, buffer);
      count++;
!     len++;
      if (len > 9)
        len = 0;
***************
*** 88,92 ****
    retval = rtapi_task_start(fifo_task, fifo_code,
  			    0, fifo_prio,
! 			    FIFO_STACKSIZE, FIFO_PERIOD_NSEC, RTAPI_NO_FP);
    if (retval != RTAPI_SUCCESS) {
      rtapi_print("fifotask init: rtapi_task_start failed with %d\n", retval);
--- 88,92 ----
    retval = rtapi_task_start(fifo_task, fifo_code,
  			    0, fifo_prio,
! 			    FIFO_STACKSIZE, FIFO_PERIOD_NSEC, 0, RTAPI_NO_FP);
    if (retval != RTAPI_SUCCESS) {
      rtapi_print("fifotask init: rtapi_task_start failed with %d\n", retval);

[Emc-commit] rtapi/src/rtapi rtai_rtapi.c,1.15,1.16 rtai_ulapi.c,1.4,1.5 rtapi.h,1.13,1.14 rtl_rtapi.c,1.4,1.5 rtl_ulapi.c,1.4,1.5 ulapi.h,1.6,1.7

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv11923/src/rtapi

Modified Files:
	rtai_rtapi.c rtai_ulapi.c rtapi.h rtl_rtapi.c rtl_ulapi.c 
	ulapi.h 
Log Message:
misc changes, work in progress

Index: rtai_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_rtapi.c,v
retrieving revision 1.15
retrieving revision 1.16
diff -C2 -d -r1.15 -r1.16
*** rtai_rtapi.c	9 Aug 2003 21:44:53 -0000	1.15
--- rtai_rtapi.c	10 Aug 2003 21:13:04 -0000	1.16
***************
*** 1,7 ****
! /*
!   rtai_rtapi.c
  
-   Implementations of RT API functions declared in rtapi.h, for RTAI
- */
  
  #include <stdarg.h>		/* va_* */
--- 1,42 ----
! /** RTAPI is a library providing a uniform API for several real time  *
! * operating systems.  As of ver 2.0, RTLinux and RTAI are supported.  */
! 
! /** This file, 'rtai_rtapi.c', implements the realtime portion of the *
! * API for the RTAI platform.  The realtime API is defined in rtapi.h, *
! * which includes documentation for the API functions.  The non-real-  *
! * time portion of the API is defined in ulapi.h and implemented in    *
! * rtai_ulapi.c (for the RTAI platform).                               */
! 
! /** Copyright (C) 2003 John Kasunich                                  *
! *                      <jmkasunich AT users DOT sourceforge DOT net>  *
! *   Copyright (C) 2003 Paul Corner                                    *
! *                      <paul_c AT users DOT sourceforge DOT net>      *
! * This library is based on version 1.0, which was released into       *
! * the public domain by its author, Fred Proctor.  Thanks Fred!        */
! 
! /* This library is free software; you can redistribute it and/or      *
! * modify it under the terms of version 2 of the GNU General Public    *
! * License as published by the Free Software Foundation.               *
! * This library is distributed in the hope that it will be useful, but *
! * WITHOUT ANY WARRANTY; without even the implied warranty of          *
! * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU   *
! * General Public License for more details.                            *
! *                                                                     *
! * You should have received a copy of the GNU General Public License   *
! * along with this library; if not, write to the Free Software         *
! * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111 USA */
! 
! /** THE AUTHORS OF THIS LIBRARY ACCEPT ABSOLUTELY NO LIABILITY FOR    *
! * ANY HARM OR LOSS RESULTING FROM ITS USE.  IT IS _EXTREMELY_ UNWISE  *
! * TO RELY ON SOFTWARE ALONE FOR SAFETY.  Any machinery capable of     *
! * harming persons must have provisions for completely removing power  *
! * from all motors, etc, before persons enter any danger area.  All    *
! * machinery must be designed to comply with local and national safety *
! * codes, and the authors of this software can not, and do not, take   *
! * any responsibility for such compliance.                             */
! 
! /** This code was written as part of the EMC HAL project.  For more   *
! * information, go to www.linuxcnc.org.                                */
  
  
  #include <stdarg.h>		/* va_* */
***************
*** 27,30 ****
--- 62,69 ----
  #endif
  
+ #ifdef MODULE_LICENSE
+ MODULE_LICENSE("GPL");
+ #endif
+ 
  /* declare vsprintf() explicitly instead of including all of <stdio.h>,
     since we don't need all of it and it may cause problems */
***************
*** 69,72 ****
--- 108,112 ----
  
  /* Usage counters to keep track of new/delete calls */
+ static int rtapi_usage_count = 0;
  static int task_usage_count = 0;
  static int shmem_usage_count = 0;
***************
*** 74,84 ****
  static int fifo_usage_count = 0;
  static int int_usage_count = 0;
! static unsigned int timer_period = 0;
  /* Flag used to keep track of timer state */
  static int timer_running = 0;
  
! int debug = 1;
! MODULE_PARM(debug, "i");
! MODULE_PARM_DESC(debug, "Sets the verbosity of the debug prints");
  
  /* Internal function for the proc_fs system. */
--- 114,127 ----
  static int fifo_usage_count = 0;
  static int int_usage_count = 0;
! static int timer_period = 0;
  /* Flag used to keep track of timer state */
  static int timer_running = 0;
  
! int rtapi_msg_level;   /* global used for message printing */
! 
! static int msg;   /* short name, for use in insmod command */
! MODULE_PARM(msg, "i");
! MODULE_PARM_DESC(msg, "Verbosity, higher value = more messages (default=7)");
! 
  
  /* Internal function for the proc_fs system. */
***************
*** 90,93 ****
--- 133,137 ----
    PROC_PRINT("******* RTAI rtapi usage *******\n");
    PROC_PRINT("         Version  = $Revision$\n");
+   PROC_PRINT("   Modules Loaded = %i\n", rtapi_usage_count);
    PROC_PRINT("    Tasks running = %i\n", task_usage_count);
    PROC_PRINT("    Shared memory = %i\n", shmem_usage_count);
***************
*** 95,99 ****
    PROC_PRINT("  Semaphores used = %i\n", sem_usage_count);
    PROC_PRINT("Active Interrupts = %i\n", int_usage_count);
!   PROC_PRINT("     Timer period = %inSec\n", timer_period);
    PROC_PRINT("     Timer status = %i\n", timer_running);
    PROC_PRINT("\n");
--- 139,143 ----
    PROC_PRINT("  Semaphores used = %i\n", sem_usage_count);
    PROC_PRINT("Active Interrupts = %i\n", int_usage_count);
!   PROC_PRINT("     Timer period = %i nSec\n", timer_period);
    PROC_PRINT("     Timer status = %i\n", timer_running);
    PROC_PRINT("\n");
***************
*** 102,151 ****
  #endif
  
! /* Priority functions.  RTAI uses 0 as the highest priority, as the
! number increases, the actual priority of the task decreases. */
! 
! int rtapi_prio_highest(void)
! {
!   return 0;
! }
! 
  
! int rtapi_prio_lowest(void)
  {
!   return RT_LOWEST_PRIORITY;
  }
  
! 
! int rtapi_prio_next_higher(int prio)
  {
!   /* return a valid priority for out of range arg */
!   if (prio <= rtapi_prio_highest()) {
!     return rtapi_prio_highest();
!   }
!   if (prio > rtapi_prio_lowest()) {
!     return rtapi_prio_lowest();
!   }
! 
!   /* return next higher priority for in-range arg */
!   return prio - 1;
  }
  
  
! int rtapi_prio_next_lower(int prio)
  {
!   /* return a valid priority for out of range arg */
!   if (prio >= rtapi_prio_lowest()) {
!     return rtapi_prio_lowest();
!   }
!   if (prio < rtapi_prio_highest()) {
!     return rtapi_prio_highest();
!   }
!   /* return next lower priority for in-range arg */
!   return prio + 1;
! }
! 
  
- static int rtapi_init(void)
- {
    /* register a proc entry */
  #ifdef CONFIG_PROC_FS
--- 146,173 ----
  #endif
  
! /* For RTAI, all init is done when the rtapi kernel module
! is insmoded.  The rtapi_init() and rtapi_exit() functions
! do nothing.  For other RTOSes, things might be different,
! especially if the RTOS does not use modules. */
  
! int rtapi_init (void)
  {
!   rtapi_usage_count++;
!   return RTAPI_SUCCESS;
  }
  
! int rtapi_exit (void)
  {
!   rtapi_usage_count--;
!   return RTAPI_SUCCESS;
  }
  
+ /* here is where the real init happens */
  
! int init_module(void)
  {
!   /* get the message level from insmod command line */
!   rtapi_msg_level = msg;
  
    /* register a proc entry */
  #ifdef CONFIG_PROC_FS
***************
*** 169,173 ****
  
  
! static int rtapi_exit(void)
  {
    /* Remove proc dir entry */
--- 191,195 ----
  
  
! void cleanup_module (void)
  {
    /* Remove proc dir entry */
***************
*** 209,220 ****
  
  
! int init_module(void)
  {
!   return (rtapi_init());
  }
  
! void cleanup_module(void)
  {
!   rtapi_exit();
  }
  
--- 231,280 ----
  
  
! 
! 
! 
! 
! 
! /* Priority functions.  RTAI uses 0 as the highest priority, as the
! number increases, the actual priority of the task decreases. */
! 
! int rtapi_prio_highest(void)
  {
!   return 0;
  }
  
! 
! int rtapi_prio_lowest(void)
  {
!   return RT_LOWEST_PRIORITY;
! }
! 
! 
! int rtapi_prio_next_higher(int prio)
! {
!   /* return a valid priority for out of range arg */
!   if (prio <= rtapi_prio_highest()) {
!     return rtapi_prio_highest();
!   }
!   if (prio > rtapi_prio_lowest()) {
!     return rtapi_prio_lowest();
!   }
! 
!   /* return next higher priority for in-range arg */
!   return prio - 1;
! }
! 
! 
! int rtapi_prio_next_lower(int prio)
! {
!   /* return a valid priority for out of range arg */
!   if (prio >= rtapi_prio_lowest()) {
!     return rtapi_prio_lowest();
!   }
!   if (prio < rtapi_prio_highest()) {
!     return rtapi_prio_highest();
!   }
!   /* return next lower priority for in-range arg */
!   return prio + 1;
  }
  
***************
*** 236,243 ****
  
    rtapi_print_dbg(VERBOSE,
! 		  "RTAPI: clock_set_period ( %ld ) - Actual = %inSec\n",
  		  nsecs, timer_period);
  
!   return RTAPI_SUCCESS;
  }
  
--- 296,303 ----
  
    rtapi_print_dbg(VERBOSE,
! 		  "RTAPI: clock_set_period ( %ld ) - Actual = %i nSec\n",
  		  nsecs, timer_period);
  
!   return timer_period;
  }
  
***************
*** 415,440 ****
       to suspend().  */
    retval = rt_task_resume(&(task->ostask));
-   if (retval != 0) {
-     return RTAPI_FAIL;
-   }
-   return RTAPI_SUCCESS;
- }
- 
- 
- int rtapi_task_set_period(rtapi_task_handle task,
- 			  unsigned long int period_nsec)
- {
-   int retval;
- 
-   /* validate task handle */
-   if (task == NULL) {
-     return RTAPI_BADH;
-   }
-   if (task->magic != TASK_MAGIC) {
-     return RTAPI_BADH;
-   }
- 
-   retval = rt_task_make_periodic(&(task->ostask), rt_get_time(),
- 				 nano2count((RTIME) period_nsec));
    if (retval != 0) {
      return RTAPI_FAIL;
--- 475,478 ----

Index: rtai_ulapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_ulapi.c,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** rtai_ulapi.c	10 Aug 2003 12:07:05 -0000	1.4
--- rtai_ulapi.c	10 Aug 2003 21:13:04 -0000	1.5
***************
*** 1,7 ****
! /*
!   rtai_ulapi.c
  
-   Implementation of user-level API to RTAI modules
- */
  #include <stdio.h>		/* sprintf() */
  #include <stddef.h>		/* NULL, needed for rtai_shm.h */
--- 1,43 ----
! /** RTAPI is a library providing a uniform API for several real time  *
! * operating systems.  As of ver 2.0, RTLinux and RTAI are supported.  */
! 
! /** This file, 'rtai_ulapi.c', implements the non-realtime portion of *
! * the API for the RTAI platform.  The non-realtime API is defined in  *
! * ulapi.h, which includes documentation for the API functions.  The   *
! * realtime portion of the API is defined in rtapi.h and implemented   *
! * in rtai_rtapi.c (for the RTAI platform).                            */
! 
! /** Copyright (C) 2003 John Kasunich                                  *
! *                      <jmkasunich AT users DOT sourceforge DOT net>  *
! *   Copyright (C) 2003 Paul Corner                                    *
! *                      <paul_c AT users DOT sourceforge DOT net>      *
! * This library is based on version 1.0, which was released into       *
! * the public domain by its author, Fred Proctor.  Thanks Fred!        */
! 
! /* This library is free software; you can redistribute it and/or      *
! * modify it under the terms of version 2.1 of the GNU Lesser General  *
! * Public License as published by the Free Software Foundation.        *
! * This library is distributed in the hope that it will be useful, but *
! * WITHOUT ANY WARRANTY; without even the implied warranty of          *
! * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU   *
! * Lesser General Public License for more details.                     *
! *                                                                     *
! * You should have received a copy of the GNU General Lesser Public    *
! * License along with this library; if not, write to the Free Software *
! * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111 USA */
! 
! /** THE AUTHORS OF THIS LIBRARY ACCEPT ABSOLUTELY NO LIABILITY FOR    *
! * ANY HARM OR LOSS RESULTING FROM ITS USE.  IT IS _EXTREMELY_ UNWISE  *
! * TO RELY ON SOFTWARE ALONE FOR SAFETY.  Any machinery capable of     *
! * harming persons must have provisions for completely removing power  *
! * from all motors, etc, before persons enter any danger area.  All    *
! * machinery must be designed to comply with local and national safety *
! * codes, and the authors of this software can not, and do not, take   *
! * any responsibility for such compliance.                             */
! 
! /** This code was written as part of the EMC HAL project.  For more   *
! * information, go to www.linuxcnc.org.                                */
! 
  
  #include <stdio.h>		/* sprintf() */
  #include <stddef.h>		/* NULL, needed for rtai_shm.h */
***************
*** 230,234 ****
    }
  
!   /* get whatever data is available */
    retval = write(fifo->fd, buf, size);
    if (retval < 0) {
--- 266,270 ----
    }
  
!   /* put whatever data will fit */
    retval = write(fifo->fd, buf, size);
    if (retval < 0) {

Index: rtapi.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtapi.h,v
retrieving revision 1.13
retrieving revision 1.14
diff -C2 -d -r1.13 -r1.14
*** rtapi.h	9 Aug 2003 19:43:09 -0000	1.13
--- rtapi.h	10 Aug 2003 21:13:04 -0000	1.14
***************
*** 2,5 ****
--- 2,45 ----
  #define RTAPI_H
  
+ /** RTAPI is a library providing a uniform API for several real time  *
+ * operating systems.  As of ver 2.0, RTLinux and RTAI are supported.  */
+ 
+ /** This file, 'rtapi.h', defines the API as seen by realtime tasks.  *
+ * The non-realtime version of the API is defined in 'ulapi.h'.  The   *
+ * realtime interface is implemented in files named 'xxx_rtapi.c',     *
+ * where xxx is the RTOS.  Likewise, the non-realtime interface is     *
+ * implemented in files named 'xxx_ulapi.c'                            */
+ 
+ /** Copyright (C) 2003 John Kasunich                                  *
+ *                      <jmkasunich AT users DOT sourceforge DOT net>  *
+ *   Copyright (C) 2003 Paul Corner                                    *
+ *                      <paul_c AT users DOT sourceforge DOT net>      *
+ * This library is based on version 1.0, which was released into       *
+ * the public domain by its author, Fred Proctor.  Thanks Fred!        */
+ 
+ /* This library is free software; you can redistribute it and/or      *
+ * modify it under the terms of version 2.1 of the GNU Lesser General  *
+ * Public License as published by the Free Software Foundation.        *
+ * This library is distributed in the hope that it will be useful, but *
+ * WITHOUT ANY WARRANTY; without even the implied warranty of          *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU   *
+ * Lesser General Public License for more details.                     *
+ *                                                                     *
+ * You should have received a copy of the GNU Lesser General Public    *
+ * License along with this library; if not, write to the Free Software *
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111 USA */
+ 
+ /** THE AUTHORS OF THIS LIBRARY ACCEPT ABSOLUTELY NO LIABILITY FOR    *
+ * ANY HARM OR LOSS RESULTING FROM ITS USE.  IT IS _EXTREMELY_ UNWISE  *
+ * TO RELY ON SOFTWARE ALONE FOR SAFETY.  Any machinery capable of     *
+ * harming persons must have provisions for completely removing power  *
+ * from all motors, etc, before persons enter any danger area.  All    *
+ * machinery must be designed to comply with local and national safety *
+ * codes, and the authors of this software can not, and do not, take   *
+ * any responsibility for such compliance.                             */
+ 
+ /** This code was written as part of the EMC HAL project.  For more   *
+ * information, go to www.linuxcnc.org.                                */
+ 
  /** These status codes are returned by many RTAPI functions. */
  
***************
*** 13,24 ****
  #define RTAPI_NOTFND     -7	/* object not found */
  #define RTAPI_FAIL       -8	/* operation failed */
  
! /* flags for the rtapi_task_start() call */
! #define RTAPI_NO_FP   0
! #define RTAPI_USES_FP 1
  
  /** Typedefs for object handles.  The structs to which these handles   *
  * refer are private, and may vary from one RTOS to another.            *
- 
  * In fact, don't even count on handles always being pointers.          */
  
--- 53,62 ----
  #define RTAPI_NOTFND     -7	/* object not found */
  #define RTAPI_FAIL       -8	/* operation failed */
+ #define RTAPI_LATE       -9	/* task could not start when requested */
  
! /* NOTE:  RTAPI assumes that ints are at least 32 bits long */
  
  /** Typedefs for object handles.  The structs to which these handles   *
  * refer are private, and may vary from one RTOS to another.            *
  * In fact, don't even count on handles always being pointers.          */
  
***************
*** 29,48 ****
  
  
! /** 'rtapi_init() sets up the RTAPI.  It must be called before calling *
! * any rtapi functions.  Returns a status code, as defined above.       */
  
! /* extern int rtapi_init( void ); */
  
  
- /** 'ulapi_exit()' shuts down and cleans up the user space interface   *
- * to the RTAPI.  It must be called before program exit.  Returns a     *
- * status code.                                                         */
  
! /* extern int rtapi_exit( void ); */
  
  
! /** The mapping of actual priority to priority number depends on the   *
! * RTOS.  The 'rtapi_prio_xxxx()' functions provide a portable way to   *
! * determine priority.  Priorities range from 'rtapi_prio_lowest()'     *
  * to 'rtapi_prio_highest()', inclusive. To use this API, use one of    *
  * two methods:                                                         *
--- 67,124 ----
  
  
! /***********************************************************************
! *                   GENERAL PURPOSE FUNCTIONS                          *
! ************************************************************************/
  
! /** 'rtapi_init() sets up the RTAPI.  It must be called by any module  *
! * that intends to use the API, before any other RTAPI calls. Returns a *
! * status code, as defined above.  Increments a usage count.            */
  
+ extern int rtapi_init(void);
  
  
! /** 'rtapi_exit()' shuts down and cleans up the RTAPI.  It must be     *
! * called prior to exit by any module that called rtapi_init.  Returns  *
! * a status code.  Decrements the usage count maintined by rtapi_init.  */
  
+ extern int rtapi_exit(void);
  
! 
! /** 'rtapi_print()' prints a printf style message.  Depending on the   *
! * RTOS, the message may be printed to stdout, or to the kernel message *
! * log, etc.  The calling syntax and format string is similar to printf *
! * except that floating point and longlongs may not be supported.  For  *
! * some RTOS's, a 256 byte buffer is used, so the format line and       *
! * arguments should not produce a line more than 255 bytes long.  Does  *
! * not block, but  can take a fairly long time, depending on the format *
! * string and OS.                                                       */
! 
! extern void rtapi_print(const char *fmt, ...);
! 
! 
! /** 'rtapi_print_dbg()' prints debug messages.  Works like rtapi_print *
! * but only prints if 'level' is less than 'rtapi_msg_level'.           *
! * 'rtapi_msg_level' is a global.  The default is 7, but it may be      *
! * changed.  The rtapi uses the same levels for its own messages.       *
! * The defines below are used for rtapi messages, and recommended for   *
! * user messages as well.                                               */
! 
! extern int rtapi_msg_level;
! 
! #define RTAPI_MSG_ERR  3
! #define RTAPI_MSG_WARN 4
! #define RTAPI_MSG_INFO 6
! #define RTAPI_MSG_DBG  7
! 
! extern void rtapi_print_msg(int level, const char *fmt, ...);
! 
! 
! /***********************************************************************
! *                     TASK RELATED FUNCTIONS                           *
! ************************************************************************/
! 
! /** The 'rtapi_prio_xxxx()' functions provide a portable way to set    *
! * task priority.  The mapping of actual priority to priority number    *
! * depends on the RTOS.  Priorities range from 'rtapi_prio_lowest()'    *
  * to 'rtapi_prio_highest()', inclusive. To use this API, use one of    *
  * two methods:                                                         *
***************
*** 65,83 ****
  * All task periods, whether specified when starting the task, or       *
  * changed later, will be rounded to an integer multiple of the         *
! * period set by 'rtapi_clock_set_period()'.  Note that there is only   *
! * one hardware clock in the PC, and this call stops and resets it.     *
! * So this function only needs to be called once, even if there are     *
! * multiple realtime tasks in multiple kernel modules.  Calling this    *
  * function after realtime tasks have been started may disrupt the      *
! * tasks.  Returns a status code. The upper limit for the timer period  *
! * may be as low as 0.01 seconds, so be sure to check for errors.       */
  
  extern int rtapi_clock_set_period(unsigned long int nsecs);
  
! /** rtapi_get_time returns the time in nano seconds since the timer    *
! * started. Returns an integer value as a 2^63 value.                   */
  
  extern long long int rtapi_get_time(void);
  
  /** 'rtapi_task_new()' is the first step in creating a task.  Allocs   *
  * and initializes internal rtapi and rtos data related to the task.    *
--- 141,168 ----
  * All task periods, whether specified when starting the task, or       *
  * changed later, will be rounded to an integer multiple of the         *
! * period set by 'rtapi_clock_set_period()'.  Note that there may be    *
! * only one hardware clock in the system, and this call may stop and    *
! * resets it.  So this function only needs to be called once, even if   *
! * there are multiple realtime tasks in multiple modules.  Calling this *
  * function after realtime tasks have been started may disrupt the      *
! * tasks.  If the call fails, it returns a negative status code.  On    *
! * success, it either returns 0, or (if the RTOS supports it), the      *
! * actual period, which may not be exactly what was requested. The      *
! * upper and lower limits for the timer period are RTOS dependent, so   *
! * be sure to check for errors.                                         */
  
  extern int rtapi_clock_set_period(unsigned long int nsecs);
  
! 
! /** rtapi_get_time returns the current time in nanoseconds.  Depending *
! * on the RTOS, this may be time since boot, or time since the clock    *
! * period was set, or some other time.  Its absolute value means        *
! * nothing, but it is monotonically increasing (at least for the first  *
! * 200 years or so), and can be used to schedule future events, or to   *
! * time the duration of some activity.  Returns a 2^63 value.           */
  
  extern long long int rtapi_get_time(void);
  
+ 
  /** 'rtapi_task_new()' is the first step in creating a task.  Allocs   *
  * and initializes internal rtapi and rtos data related to the task.    *
***************
*** 107,113 ****
  * priority functions above.                                            *
  * 'stacksize' is the amount of stack to be reserved for the task - be  *
! * generous, hardware interrupts may use the same stack.  'period_nsec' *
! * is the task period in nanoseconds, which will be rounded to the      *
! * nearest multiple of the global clock period.                         *
  * If non-zero, 'uses_fp' tells the OS that the task uses floating      *
  * point so it can save the FPU registers on a task switch.  Failing    *
--- 192,213 ----
  * priority functions above.                                            *
  * 'stacksize' is the amount of stack to be reserved for the task - be  *
! * generous, hardware interrupts may use the same stack.                *
! * 'period_nsec' is the task period in nanoseconds, which will be       *
! * rounded to the nearest multiple of the global clock period.  If      *
! * 'period_nsec' is zero, the task is non-periodic.  It will be started *
! * immediately (does not use 'when'), and run until it returns, pauses, *
! * or makes a blocking call.                                            *
! * 'when' is the desired start time for the task.  If zero, the task    *
! * will start immediately.  Otherwise, the task will be scheduled to    *
! * start at the appropriate time.  If the RTOS doesn't support starting *
! * tasks at a specific time, it will return RTAPI_UNSUP and the task    *
! * will not be started.  Otherwise, the task will be scheduled to start *
! * at the desired time.  If the desired time has already passed, the    *
! * function will return RTAPI_LATE, and the task start time is unknown. *
! * Be advised that some RTOSs may execute the task once as soon as it   *
! * is scheduled, even if it is not to start until some time in the      *
! * future.  Tasks should use flags or another mechanism to prevent them *
! * from doing anything prematurely.  'when' uses time as returned by    *
! * rtapi_get_time().                                                    *
  * If non-zero, 'uses_fp' tells the OS that the task uses floating      *
  * point so it can save the FPU registers on a task switch.  Failing    *
***************
*** 118,126 ****
  * (preferred) or within a realtime task.  May block.                   */
  
! /* FIXME - Fred, you have code in the implementations of this function
! that takes special action when 'period_nsec' is zero.  What did you have
! in mind with that?  Non-periodic tasks that simply run until they either
! return, pause, wait, or block?
! */
  
  extern int rtapi_task_start(rtapi_task_handle task,
--- 218,223 ----
  * (preferred) or within a realtime task.  May block.                   */
  
! #define RTAPI_NO_FP   0
! #define RTAPI_USES_FP 1
  
  extern int rtapi_task_start(rtapi_task_handle task,
***************
*** 129,132 ****
--- 226,230 ----
  			    unsigned long int stacksize,
  			    unsigned long int period_nsec,
+ 			    unsigned long long when,
  			    unsigned char uses_fp);
  
***************
*** 149,161 ****
  
  
- /** 'rtapi_task_set_period()' sets the period of a task.   The new     *
- * period is 'period_nsec', rounded to the nearest integer multiple of  *
- * the global period as set by 'rtapi_clock_set_period()'.  Returns a   *
- * status code.                                                         */
- 
- extern int rtapi_task_set_period(rtapi_task_handle task,
- 				 unsigned long int period_nsec);
- 
- 
  /** 'rtapi_wait()' suspends execution of the current task until the    *
  * next period.  At the beginning of the next period, execution will    *
--- 247,250 ----
***************
*** 173,176 ****
--- 262,269 ----
  
  
+ /***********************************************************************
+ *                  SHARED MEMORY RELATED FUNCTIONS                     *
+ ************************************************************************/
+ 
  /** 'rtapi_shmem_new()' allocates a block of shared memory.  'key'     *
  * identifies the memory block, all modules wishing to access the same  *
***************
*** 200,259 ****
  
  
! /** 'rtapi_print()' prints a printf style message.  Depending on the   *
! * RTOS, the message may be printed to stdout, or to the kernel message *
! * log, etc.  The calling syntax and format string is similar to printf *
! * except that floating point may not be supported.  For some RTOS's,   *
! * a 256 byte buffer is used, so the format line and arguments should   *
! * not produce a line more than 255 bytes long.  Does not block, but    *
! * can take a fairly long time, depending on the format string and OS.  */
! 
! extern void rtapi_print(const char *fmt, ...);
! 
! 
! /** 'rtapi_print_dbg()' prints a printf style message similar to       *
! * to rtapi_print. If debug is less than the value used when the rtapi  *
! * was loaded, then the message is printed.                             */
! 
! extern void rtapi_print_dbg(int debug, const char *fmt, ...);
! 
! 
! /** 'rtapi_outb() writes 'byte' to 'port'.                             *
! * Note: This function does nothing on the simulated RTOS.              */
! 
! extern void rtapi_outb(unsigned char byte, unsigned int port);
! 
! 
! /** 'rtapi_inb() gets a byte from 'port'.  Returns the byte.           *
! * Note: This function always returns zero on the simulated RTOS.       */
! 
! extern unsigned char rtapi_inb(unsigned int port);
! 
! 
! /** 'rtapi_assign_interrupt_handler()' is used to set up a handler for *
! * a hardware interrupt.  'irq' is the interrupt number, and 'handler'  *
! * is a pointer to a function taking no arguements and returning void.  *
! * 'handler will be called when the interrupt occurs.  Returns a status *
! * code.  Note:  The simulated RTOS does not support interrupts.        */
! 
! extern int rtapi_assign_interrupt_handler(unsigned int irq,
! 					  void (*handler) (void));
! 
! 
! /** 'rtapi_free_interrupt_handler()' removes an interrupt handler that *
! * was previously installed by rtapi_assign_interrupt_handler(). 'irq'  *
! * is the interrupt number.  Removing a realtime module without freeing *
! * any handlers it has installed will almost certainly crash the box.   *
! * Returns RTAPI_SUCCESS or RTAPI_INVAL.                                */
! 
! extern int rtapi_free_interrupt_handler(unsigned int irq);
! 
! 
! /** 'rtapi_enable_interrupt()' and 'rtapi_disable_interrupt()' are     *
! * are used to enable and disable interrupts, presumably ones that have *
! * handlers assigned to them.  Returns a status code.                   */
! 
! extern int rtapi_enable_interrupt(unsigned int irq);
! extern int rtapi_disable_interrupt(unsigned int irq);
! 
  
  /** 'rtapi_sem_new()' creates a realtime semaphore.  On success,       *
--- 293,299 ----
  
  
! /***********************************************************************
! *                    SEMAPHORE RELATED FUNCTIONS                       *
! ************************************************************************/
  
  /** 'rtapi_sem_new()' creates a realtime semaphore.  On success,       *
***************
*** 296,299 ****
--- 336,343 ----
  
  
+ /***********************************************************************
+ *                        FIFO RELATED FUNCTIONS                        *
+ ************************************************************************/
+ 
  /** 'rtapi_fifo_new()' creates a realtime fifo. 'key' identifies the   *
  * fifo, all modules wishing to access the same fifo must use the same  *
***************
*** 332,335 ****
--- 376,425 ----
  			    char *buf, unsigned long int size);
  
+ 
+ /***********************************************************************
+ *                    INTERRUPT RELATED FUNCTIONS                       *
+ ************************************************************************/
+ 
+ /** 'rtapi_assign_interrupt_handler()' is used to set up a handler for *
+ * a hardware interrupt.  'irq' is the interrupt number, and 'handler'  *
+ * is a pointer to a function taking no arguements and returning void.  *
+ * 'handler will be called when the interrupt occurs.  Returns a status *
+ * code.  Note:  The simulated RTOS does not support interrupts.        */
+ 
+ extern int rtapi_assign_interrupt_handler(unsigned int irq,
+ 					  void (*handler) (void));
+ 
+ 
+ /** 'rtapi_free_interrupt_handler()' removes an interrupt handler that *
+ * was previously installed by rtapi_assign_interrupt_handler(). 'irq'  *
+ * is the interrupt number.  Removing a realtime module without freeing *
+ * any handlers it has installed will almost certainly crash the box.   *
+ * Returns RTAPI_SUCCESS or RTAPI_INVAL.                                */
+ 
+ extern int rtapi_free_interrupt_handler(unsigned int irq);
+ 
+ 
+ /** 'rtapi_enable_interrupt()' and 'rtapi_disable_interrupt()' are     *
+ * are used to enable and disable interrupts, presumably ones that have *
+ * handlers assigned to them.  Returns a status code.                   */
+ 
+ extern int rtapi_enable_interrupt(unsigned int irq);
+ extern int rtapi_disable_interrupt(unsigned int irq);
+ 
+ 
+ /***********************************************************************
+ *                        I/O RELATED FUNCTIONS                         *
+ ************************************************************************/
+ 
+ /** 'rtapi_outb() writes 'byte' to 'port'.                             *
+ * Note: This function does nothing on the simulated RTOS.              */
+ 
+ extern void rtapi_outb(unsigned char byte, unsigned int port);
+ 
+ 
+ /** 'rtapi_inb() gets a byte from 'port'.  Returns the byte.           *
+ * Note: This function always returns zero on the simulated RTOS.       */
+ 
+ extern unsigned char rtapi_inb(unsigned int port);
  
  #endif /* RTAPI_H */

Index: rtl_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtl_rtapi.c,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** rtl_rtapi.c	9 Aug 2003 19:43:09 -0000	1.4
--- rtl_rtapi.c	10 Aug 2003 21:13:04 -0000	1.5
***************
*** 5,8 ****
--- 5,21 ----
  */
  
+ /* This code is hereby released into the public domain.         */
+ /* NO GUARANTEE OF ANY KIND IS PROVIDED.  THE CREATERS OF THIS  */
+ /* CODE ACCEPT ABSOLUTELY NO LIABILITY FOR ANY HARM OR LOSSES   */
+ /* RESULTING FROM ITS USE.  IT IS _EXTREMELY_ UNWISE TO RELY ON */
+ /* SOFTWARE ALONE FOR SAFETY.  Any machinery capable of harming */
+ /* persons should have provisions for positively removing power */
+ /* from all motors, etc, before persons enter any danger area.  */
+ 
+ /* This code was written as part of the EMC project.  For more  */
+ /* information, go to www.linuxcnc.org.                         */
+ 
+ /* Authors:  Fred Proctor, John Kasunich, Paul Corner   */
+ 
  #include <stdarg.h>		/* va_* */
  #include <linux/module.h>
***************
*** 33,36 ****
--- 46,54 ----
  #endif
  
+ #ifdef MODULE_LICENSE
+ MODULE_LICENSE("GPL and additional rights");
+ /* The additional rights are you can do anything you want. */
+ #endif
+ 
  /* declare vsprintf() explicitly instead of including all of <stdio.h>,
     since we don't need all of it and it may cause problems */
***************
*** 210,215 ****
       of a task are corrupted, such that you can ask for a 1 second
       task, and instead get one that runs every 0.01 sec, with no
!      error codes or other way of detecting it.  Stupid!  To avoid
!      this we only allow a timer period of 0.01 seconds or less.
       Note that you can still run tasks at slower rates, but the
       timer must run at least 100Hz. */
--- 228,233 ----
       of a task are corrupted, such that you can ask for a 1 second
       task, and instead get one that runs every 0.01 sec, with no
!      error codes or other way of detecting it.  To avoid this
!      we only allow a timer period of 0.01 seconds or less.
       Note that you can still run tasks at slower rates, but the
       timer must run at least 100Hz. */
***************
*** 472,497 ****
    }
    retval = pthread_wakeup_np(task->ostask);
-   if (retval != 0) {
-     return RTAPI_FAIL;
-   }
-   return RTAPI_SUCCESS;
- }
- 
- 
- int rtapi_task_set_period(rtapi_task_handle task,
- 			  unsigned long int period_nsec)
- {
-   int retval;
- 
-   /* validate task handle */
-   if (task == NULL) {
-     return RTAPI_BADH;
-   }
-   if (task->magic != TASK_MAGIC) {
-     return RTAPI_BADH;
-   }
- 
-   retval = pthread_make_periodic_np(*((pthread_t *) task),
- 				    gethrtime() + period_nsec, period_nsec);
    if (retval != 0) {
      return RTAPI_FAIL;
--- 490,493 ----

Index: rtl_ulapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtl_ulapi.c,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** rtl_ulapi.c	9 Aug 2003 19:43:09 -0000	1.4
--- rtl_ulapi.c	10 Aug 2003 21:13:04 -0000	1.5
***************
*** 4,7 ****
--- 4,22 ----
    Implementation of user-level API to RTL modules
  */
+ 
+ /* This code is hereby released into the public domain.         */
+ /* NO GUARANTEE OF ANY KIND IS PROVIDED.  THE CREATERS OF THIS  */
+ /* CODE ACCEPT ABSOLUTELY NO LIABILITY FOR ANY HARM OR LOSSES   */
+ /* RESULTING FROM ITS USE.  IT IS _EXTREMELY_ UNWISE TO RELY ON */
+ /* SOFTWARE ALONE FOR SAFETY.  Any machinery capable of harming */
+ /* persons should have provisions for positively removing power */
+ /* from all motors, etc, before persons enter any danger area.  */
+ 
+ /* This code was written as part of the EMC project.  For more  */
+ /* information, go to www.linuxcnc.org.                         */
+ 
+ /* Authors:  Fred Proctor, John Kasunich, Paul Corner   */
+ 
+ 
  #include <stdio.h>		/* sprintf() */
  #include <stddef.h>		/* size_t, needed by mbuff.h */
***************
*** 255,259 ****
    /* get whatever data is available */
    retval = read(fifo->fd, buf, size);
!   if (retval < 0) {
      return ULAPI_FAIL;
    }
--- 270,274 ----
    /* get whatever data is available */
    retval = read(fifo->fd, buf, size);
!   if (retval <= 0) {
      return ULAPI_FAIL;
    }
***************
*** 278,282 ****
    }
  
!   /* get whatever data is available */
    retval = write(fifo->fd, buf, size);
    if (retval < 0) {
--- 293,297 ----
    }
  
!   /* put whatever data will fit */
    retval = write(fifo->fd, buf, size);
    if (retval < 0) {

Index: ulapi.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/ulapi.h,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** ulapi.h	9 Aug 2003 19:43:09 -0000	1.6
--- ulapi.h	10 Aug 2003 21:13:04 -0000	1.7
***************
*** 2,5 ****
--- 2,45 ----
  #define ULAPI_H
  
+ /** RTAPI is a library providing a uniform API for several real time  *
+ * operating systems.  As of ver 2.0, RTLinux and RTAI are supported.  */
+ 
+ /** This file, 'ulapi.h', defines the API as seen by non-realtime     *
+ * programs running in user space.  The realtime version of the API is *
+ * defined in 'rtapi.h'.  The non-realtime interface is implemented in *
+ * files named 'xxx_ulapi.c', where xxx is the RTOS.  Likewise, the    *
+ * realtime interface is implemented in files named 'xxx_rtapi.c'      */
+ 
+ /** Copyright (C) 2003 John Kasunich                                  *
+ *                      <jmkasunich AT users DOT sourceforge DOT net>  *
+ *   Copyright (C) 2003 Paul Corner                                    *
+ *                      <paul_c AT users DOT sourceforge DOT net>      *
+ * This library is based on version 1.0, which was released into       *
+ * the public domain by its author, Fred Proctor.  Thanks Fred!        */
+ 
+ /* This library is free software; you can redistribute it and/or      *
+ * modify it under the terms of version 2.1 of the GNU Lesser General  *
+ * Public License as published by the Free Software Foundation.        *
+ * This library is distributed in the hope that it will be useful, but *
+ * WITHOUT ANY WARRANTY; without even the implied warranty of          *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU   *
+ * Lesser General Public License for more details.                     *
+ *                                                                     *
+ * You should have received a copy of the GNU Lesser General Public    *
+ * License along with this library; if not, write to the Free Software *
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111 USA */
+ 
+ /** THE AUTHORS OF THIS LIBRARY ACCEPT ABSOLUTELY NO LIABILITY FOR    *
+ * ANY HARM OR LOSS RESULTING FROM ITS USE.  IT IS _EXTREMELY_ UNWISE  *
+ * TO RELY ON SOFTWARE ALONE FOR SAFETY.  Any machinery capable of     *
+ * harming persons must have provisions for completely removing power  *
+ * from all motors, etc, before persons enter any danger area.  All    *
+ * machinery must be designed to comply with local and national safety *
+ * codes, and the authors of this software can not, and do not, take   *
+ * any responsibility for such compliance.                             */
+ 
+ /** This code was written as part of the EMC HAL project.  For more   *
+ * information, go to www.linuxcnc.org.                               */
+ 
  
  /** These status codes are returned by many ULAPI functions. */
***************
*** 17,21 ****
  
  /** Typedefs for object handles.  The structs to which these handles   *
! * refer are private, and may vary from one RTOS to another.            */
  
  typedef struct ulapi_shmem *ulapi_shmem_handle;
--- 57,62 ----
  
  /** Typedefs for object handles.  The structs to which these handles   *
! * refer are private, and may vary from one RTOS to another.            *
! * In fact, don't even count on handles always being pointers.          */
  
  typedef struct ulapi_shmem *ulapi_shmem_handle;
***************
*** 23,26 ****
--- 64,71 ----
  
  
+ /***********************************************************************
+ *                   GENERAL PURPOSE FUNCTIONS                          *
+ ************************************************************************/
+ 
  /** 'ulapi_init() sets up the user space interface to the RTAPI.  It   *
  * must be called before calling any ulapi functions.  Returns a statis *
***************
*** 37,40 ****
--- 82,89 ----
  
  
+ /***********************************************************************
+ *                  SHARED MEMORY RELATED FUNCTIONS                     *
+ ************************************************************************/
+ 
  /** 'ulapi_shmem_new()' allocates a block of shared memory.  'key'     *
  * identifies the memory block, all modules wishing to access the same  *
***************
*** 61,64 ****
--- 110,117 ----
  extern int ulapi_shmem_delete(ulapi_shmem_handle shmem);
  
+ 
+ /***********************************************************************
+ *                        FIFO RELATED FUNCTIONS                        *
+ ************************************************************************/
  
  /** 'ulapi_fifo_new()' opens a fifo for communication with realtime    *

[Emc-commit] rtapi/examples/shmem Makefile,1.3,1.4

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/examples/shmem
In directory sc8-pr-cvs1:/tmp/cvs-serv11923/examples/shmem

Modified Files:
	Makefile 
Log Message:
misc changes, work in progress

Index: Makefile
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/shmem/Makefile,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Makefile	5 Aug 2003 03:51:00 -0000	1.3
--- Makefile	10 Aug 2003 21:13:04 -0000	1.4
***************
*** 50,62 ****
  # DO NOT DELETE
  
- /home/John/emcdev/rtapi/lib/shmemtask.o: /home/John/emcdev/rtapi/include/rtapi.h
- /home/John/emcdev/rtapi/lib/shmemtask.o: /home/John/emcdev/rtapi/include/rtapi_app.h
  /home/John/emcdev/rtapi/lib/shmemtask.o: common.h
- /home/John/emcdev/rtapi/lib/shmemusr.o: /home/John/emcdev/rtapi/include/ulapi.h
  /home/John/emcdev/rtapi/lib/shmemusr.o: common.h
  
- /home/John/emcdev/rtapi/rtlib/shmemtask.o: /home/John/emcdev/rtapi/include/rtapi.h
- /home/John/emcdev/rtapi/rtlib/shmemtask.o: /home/John/emcdev/rtapi/include/rtapi_app.h
  /home/John/emcdev/rtapi/rtlib/shmemtask.o: common.h
- /home/John/emcdev/rtapi/rtlib/shmemusr.o: /home/John/emcdev/rtapi/include/ulapi.h
  /home/John/emcdev/rtapi/rtlib/shmemusr.o: common.h
--- 50,56 ----

[Emc-commit] rtapi/examples/timertask Makefile,1.3,1.4

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/examples/timertask
In directory sc8-pr-cvs1:/tmp/cvs-serv11923/examples/timertask

Modified Files:
	Makefile 
Log Message:
misc changes, work in progress

Index: Makefile
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/timertask/Makefile,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Makefile	5 Aug 2003 03:51:00 -0000	1.3
--- Makefile	10 Aug 2003 21:13:04 -0000	1.4
***************
*** 32,36 ****
  
  # DO NOT DELETE
- 
- /home/John/emcdev/rtapi/rtlib/timertask.o: /home/John/emcdev/rtapi/include/rtapi.h
- /home/John/emcdev/rtapi/rtlib/timertask.o: /home/John/emcdev/rtapi/include/rtapi_app.h
--- 32,33 ----

[Emc-commit] rtapi/examples/fifo Makefile,1.3,1.4 fifotask.c,1.9,1.10

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/examples/fifo
In directory sc8-pr-cvs1:/tmp/cvs-serv11923/examples/fifo

Modified Files:
	Makefile fifotask.c 
Log Message:
misc changes, work in progress

Index: Makefile
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/fifo/Makefile,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Makefile	5 Aug 2003 03:51:00 -0000	1.3
--- Makefile	10 Aug 2003 21:13:03 -0000	1.4
***************
*** 50,62 ****
  # DO NOT DELETE
  
- /home/John/emcdev/rtapi/lib/fifotask.o: /home/John/emcdev/rtapi/include/rtapi.h
- /home/John/emcdev/rtapi/lib/fifotask.o: /home/John/emcdev/rtapi/include/rtapi_app.h
  /home/John/emcdev/rtapi/lib/fifotask.o: common.h
- /home/John/emcdev/rtapi/lib/fifousr.o: /home/John/emcdev/rtapi/include/ulapi.h
  /home/John/emcdev/rtapi/lib/fifousr.o: common.h
  
- /home/John/emcdev/rtapi/rtlib/fifotask.o: /home/John/emcdev/rtapi/include/rtapi.h
- /home/John/emcdev/rtapi/rtlib/fifotask.o: /home/John/emcdev/rtapi/include/rtapi_app.h
  /home/John/emcdev/rtapi/rtlib/fifotask.o: common.h
- /home/John/emcdev/rtapi/rtlib/fifousr.o: /home/John/emcdev/rtapi/include/ulapi.h
  /home/John/emcdev/rtapi/rtlib/fifousr.o: common.h
--- 50,56 ----

Index: fifotask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/fifo/fifotask.c,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** fifotask.c	9 Aug 2003 19:35:28 -0000	1.9
--- fifotask.c	10 Aug 2003 21:13:03 -0000	1.10
***************
*** 15,36 ****
  enum { FIFO_STACKSIZE = 1024 };	/* how big the stack is */
  
! static int count = 1;
  
  /* task code, executed each timer interrupt */
  void fifo_code(int arg)
  {
!   int n;
    char buffer[FIFO_SIZE + 1] = { '\n' };
  
    while (1) {
!     for (n = 0; n < count; n++) {
!       buffer[n] = '0' + count;
      }
!     rtapi_fifo_write(fifo, buffer, count);
!     buffer[n] = '\0';
!     rtapi_print_dbg(4, "fifotask: wrote '%s'\n", buffer);
      count++;
!     if (count > 9)
!       count = 1;
      rtapi_wait();
    }
--- 15,48 ----
  enum { FIFO_STACKSIZE = 1024 };	/* how big the stack is */
  
! static int count = 0;
! static int len = 0;
! static int total =0;
  
  /* task code, executed each timer interrupt */
  void fifo_code(int arg)
  {
!   int n, tmp;
    char buffer[FIFO_SIZE + 1] = { '\n' };
  
    while (1) {
!     /* write count to buffer as a 3 digit number */
!     tmp = count;
!     for ( n = 0 ; n < 3 ; n++ ) {
! 	  buffer[2-n] = '0' + ( tmp % 10 );
! 	  tmp /= 10;
!       }
!     buffer[3] = ':';
! 	/* write 'len' digits of 'len' */
!     for (n = 0; n < len; n++) {
!       buffer[4+n] = '0' + len;
      }
!     rtapi_fifo_write(fifo, buffer, len+4);
! 	total += len+4;
!     buffer[4+n] = '\0';
!     rtapi_print("fifotask: total %d, wrote '%s',\n", total, buffer);
      count++;
! 	len++;
!     if (len > 9)
!       len = 0;
      rtapi_wait();
    }
***************
*** 53,59 ****
    }
  
    /* set the base timer period */
    retval = rtapi_clock_set_period(TIMER_PERIOD_NSEC);
!   if (retval != RTAPI_SUCCESS) {
      rtapi_print("fifotask init: rtapi_clock_set_period failed with %d\n",
  		retval);
--- 65,73 ----
    }
  
+   rtapi_print("fifotask: created fifo\n");
+ 
    /* set the base timer period */
    retval = rtapi_clock_set_period(TIMER_PERIOD_NSEC);
!   if (retval < 0) {
      rtapi_print("fifotask init: rtapi_clock_set_period failed with %d\n",
  		retval);

[Emc-commit] rtapi/examples/semaphore Makefile,1.3,1.4

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/examples/semaphore
In directory sc8-pr-cvs1:/tmp/cvs-serv11923/examples/semaphore

Modified Files:
	Makefile 
Log Message:
misc changes, work in progress

Index: Makefile
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/semaphore/Makefile,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Makefile	5 Aug 2003 03:51:00 -0000	1.3
--- Makefile	10 Aug 2003 21:13:04 -0000	1.4
***************
*** 43,50 ****
  # DO NOT DELETE
  
- /home/John/emcdev/rtapi/rtlib/master.o: /home/John/emcdev/rtapi/include/rtapi.h
- /home/John/emcdev/rtapi/rtlib/master.o: /home/John/emcdev/rtapi/include/rtapi_app.h
  /home/John/emcdev/rtapi/rtlib/master.o: common.h
- /home/John/emcdev/rtapi/rtlib/slave.o: /home/John/emcdev/rtapi/include/rtapi.h
- /home/John/emcdev/rtapi/rtlib/slave.o: /home/John/emcdev/rtapi/include/rtapi_app.h
  /home/John/emcdev/rtapi/rtlib/slave.o: common.h
--- 43,46 ----

[Emc-commit] rtapi/examples/extint Makefile,1.3,1.4

[<jmk...@us...>]

Update of /cvsroot/emc/rtapi/examples/extint
In directory sc8-pr-cvs1:/tmp/cvs-serv11923/examples/extint

Modified Files:
	Makefile 
Log Message:
misc changes, work in progress

Index: Makefile
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/extint/Makefile,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Makefile	5 Aug 2003 03:51:00 -0000	1.3
--- Makefile	10 Aug 2003 21:13:03 -0000	1.4
***************
*** 32,36 ****
  
  # DO NOT DELETE
- 
- /home/John/emcdev/rtapi/rtlib/extint.o: /home/John/emcdev/rtapi/include/rtapi.h
- /home/John/emcdev/rtapi/rtlib/extint.o: /home/John/emcdev/rtapi/include/rtapi_app.h
--- 32,33 ----

[Emc-commit] rcslib Makefile.am,1.7.2.4,1.7.2.5 Makefile.in,1.7.2.4,1.7.2.5

[<wsh...@us...>]

Update of /cvsroot/emc/rcslib
In directory sc8-pr-cvs1:/tmp/cvs-serv31626

Modified Files:
      Tag: wps_multiplat_dev_branch
	Makefile.am Makefile.in 
Log Message:
No more java/ste stuff.

Index: Makefile.am
===================================================================
RCS file: /cvsroot/emc/rcslib/Makefile.am,v
retrieving revision 1.7.2.4
retrieving revision 1.7.2.5
diff -C2 -d -r1.7.2.4 -r1.7.2.5
*** Makefile.am	10 Aug 2003 12:46:19 -0000	1.7.2.4
--- Makefile.am	10 Aug 2003 12:49:47 -0000	1.7.2.5
***************
*** 534,542 ****
  	src/java/rcsdesign/rcsdesignModuleInfo.java\
  	src/java/rcsdesign/resizingtrash.java\
- 	src/java/ste/StateDialog.java\
- 	src/java/ste/StateInfo.java\
- 	src/java/ste/StateTableEditor.java\
- 	src/java/ste/TransitionDialog.java\
- 	src/java/ste/TransitionInfo.java\
  	src/java/rcs/update_ver\
  	src/java/rcs/RCS_VERSION.java.perm\
--- 534,537 ----
***************
*** 559,563 ****
  	src/java/rcsdesign/MakeFileRunner.java\
  	src/java/rcsdesign/Makefile\
- 	src/java/ste/Makefile\
  	src/node/Makefile\
  	src/node/Makefile.lib\
--- 554,557 ----

Index: Makefile.in
===================================================================
RCS file: /cvsroot/emc/rcslib/Makefile.in,v
retrieving revision 1.7.2.4
retrieving revision 1.7.2.5
diff -C2 -d -r1.7.2.4 -r1.7.2.5
*** Makefile.in	10 Aug 2003 12:46:19 -0000	1.7.2.4
--- Makefile.in	10 Aug 2003 12:49:47 -0000	1.7.2.5
***************
*** 626,634 ****
  	src/java/rcsdesign/rcsdesignModuleInfo.java\
  	src/java/rcsdesign/resizingtrash.java\
- 	src/java/ste/StateDialog.java\
- 	src/java/ste/StateInfo.java\
- 	src/java/ste/StateTableEditor.java\
- 	src/java/ste/TransitionDialog.java\
- 	src/java/ste/TransitionInfo.java\
  	src/java/rcs/update_ver\
  	src/java/rcs/RCS_VERSION.java.perm\
--- 626,629 ----
***************
*** 651,655 ****
  	src/java/rcsdesign/MakeFileRunner.java\
  	src/java/rcsdesign/Makefile\
- 	src/java/ste/Makefile\
  	src/node/Makefile\
  	src/node/Makefile.lib\
--- 646,649 ----
***************
*** 5751,5755 ****
  	$(am__remove_distdir)
  	mkdir $(distdir)
! 	$(mkinstalldirs) $(distdir)/etc $(distdir)/src $(distdir)/src/ce_miss $(distdir)/src/cms $(distdir)/src/java $(distdir)/src/java/diagapplet $(distdir)/src/java/diagapplet/CodeGen $(distdir)/src/java/diagapplet/plotter $(distdir)/src/java/diagapplet/utils $(distdir)/src/java/rcs $(distdir)/src/java/rcs/nml $(distdir)/src/java/rcs/posemath $(distdir)/src/java/rcs/utils $(distdir)/src/java/rcsdesign $(distdir)/src/java/ste $(distdir)/src/node $(distdir)/src/nt_xdr $(distdir)/src/os_intf $(distdir)/src/posemath $(distdir)/src/print $(distdir)/src/stg_clss $(distdir)/src/test
  	@list='$(DISTFILES)'; for file in $$list; do \
  	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
--- 5745,5749 ----
  	$(am__remove_distdir)
  	mkdir $(distdir)
! 	$(mkinstalldirs) $(distdir)/etc $(distdir)/src $(distdir)/src/ce_miss $(distdir)/src/cms $(distdir)/src/java $(distdir)/src/java/diagapplet $(distdir)/src/java/diagapplet/CodeGen $(distdir)/src/java/diagapplet/plotter $(distdir)/src/java/diagapplet/utils $(distdir)/src/java/rcs $(distdir)/src/java/rcs/nml $(distdir)/src/java/rcs/posemath $(distdir)/src/java/rcs/utils $(distdir)/src/java/rcsdesign $(distdir)/src/node $(distdir)/src/nt_xdr $(distdir)/src/os_intf $(distdir)/src/posemath $(distdir)/src/print $(distdir)/src/stg_clss $(distdir)/src/test
  	@list='$(DISTFILES)'; for file in $$list; do \
  	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \

[Emc-commit] rcslib/src/java/ste 1332122.gif,4.30,NONE Makefile,4.32,NONE StateDialog.java,4.31,NONE StateInfo.java,4.30,NONE StateTableEditor.java,4.31,NONE TransitionDialog.java,4.31,NONE TransitionInfo.java,4.31,NONE meg144.thm.gif,4.30,NONE

[<wsh...@us...>]

Update of /cvsroot/emc/rcslib/src/java/ste
In directory sc8-pr-cvs1:/tmp/cvs-serv31437

Removed Files:
      Tag: wps_multiplat_dev_branch
	1332122.gif Makefile StateDialog.java StateInfo.java 
	StateTableEditor.java TransitionDialog.java 
	TransitionInfo.java meg144.thm.gif 
Log Message:
No mor STE stuff.

--- 1332122.gif DELETED ---

--- Makefile DELETED ---

--- StateDialog.java DELETED ---

--- StateInfo.java DELETED ---

--- StateTableEditor.java DELETED ---

--- TransitionDialog.java DELETED ---

--- TransitionInfo.java DELETED ---

--- meg144.thm.gif DELETED ---

[Emc-commit] rcslib Makefile.am,1.7.2.3,1.7.2.4 Makefile.in,1.7.2.3,1.7.2.4

[<wsh...@us...>]

Update of /cvsroot/emc/rcslib
In directory sc8-pr-cvs1:/tmp/cvs-serv31146

Modified Files:
      Tag: wps_multiplat_dev_branch
	Makefile.am Makefile.in 
Log Message:
get rid of pcio and pmac stuff


Index: Makefile.am
===================================================================
RCS file: /cvsroot/emc/rcslib/Makefile.am,v
retrieving revision 1.7.2.3
retrieving revision 1.7.2.4
diff -C2 -d -r1.7.2.3 -r1.7.2.4
*** Makefile.am	8 Aug 2003 17:31:01 -0000	1.7.2.3
--- Makefile.am	10 Aug 2003 12:46:19 -0000	1.7.2.4
***************
*** 566,571 ****
  	src/os_intf/Makefile\
  	src/os_intf/Makefile.lib\
- 	src/pcio/Makefile\
- 	src/pmac/Makefile\
  	src/posemath/Makefile\
  	src/posemath/Makefile.lib\
--- 566,569 ----
***************
*** 662,669 ****
  	src/os_intf/fileops.h\
  	src/os_intf/inifile.h\
- 	src/pcio/iodev.h\
- 	src/pcio/pcio.h\
- 	src/pcio/pcioDrv.h\
- 	src/pmac/pmac.h\
  	src/posemath/mathprnt.h\
  	src/posemath/posemath.h\
--- 660,663 ----

Index: Makefile.in
===================================================================
RCS file: /cvsroot/emc/rcslib/Makefile.in,v
retrieving revision 1.7.2.3
retrieving revision 1.7.2.4
diff -C2 -d -r1.7.2.3 -r1.7.2.4
*** Makefile.in	8 Aug 2003 17:31:01 -0000	1.7.2.3
--- Makefile.in	10 Aug 2003 12:46:19 -0000	1.7.2.4
***************
*** 658,663 ****
  	src/os_intf/Makefile\
  	src/os_intf/Makefile.lib\
- 	src/pcio/Makefile\
- 	src/pmac/Makefile\
  	src/posemath/Makefile\
  	src/posemath/Makefile.lib\
--- 658,661 ----
***************
*** 755,762 ****
  	src/os_intf/fileops.h\
  	src/os_intf/inifile.h\
- 	src/pcio/iodev.h\
- 	src/pcio/pcio.h\
- 	src/pcio/pcioDrv.h\
- 	src/pmac/pmac.h\
  	src/posemath/mathprnt.h\
  	src/posemath/posemath.h\
--- 753,756 ----
***************
*** 5757,5761 ****
  	$(am__remove_distdir)
  	mkdir $(distdir)
! 	$(mkinstalldirs) $(distdir)/etc $(distdir)/src $(distdir)/src/ce_miss $(distdir)/src/cms $(distdir)/src/java $(distdir)/src/java/diagapplet $(distdir)/src/java/diagapplet/CodeGen $(distdir)/src/java/diagapplet/plotter $(distdir)/src/java/diagapplet/utils $(distdir)/src/java/rcs $(distdir)/src/java/rcs/nml $(distdir)/src/java/rcs/posemath $(distdir)/src/java/rcs/utils $(distdir)/src/java/rcsdesign $(distdir)/src/java/ste $(distdir)/src/node $(distdir)/src/nt_xdr $(distdir)/src/os_intf $(distdir)/src/pcio $(distdir)/src/pmac $(distdir)/src/posemath $(distdir)/src/print $(distdir)/src/stg_clss $(distdir)/src/test
  	@list='$(DISTFILES)'; for file in $$list; do \
  	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
--- 5751,5755 ----
  	$(am__remove_distdir)
  	mkdir $(distdir)
! 	$(mkinstalldirs) $(distdir)/etc $(distdir)/src $(distdir)/src/ce_miss $(distdir)/src/cms $(distdir)/src/java $(distdir)/src/java/diagapplet $(distdir)/src/java/diagapplet/CodeGen $(distdir)/src/java/diagapplet/plotter $(distdir)/src/java/diagapplet/utils $(distdir)/src/java/rcs $(distdir)/src/java/rcs/nml $(distdir)/src/java/rcs/posemath $(distdir)/src/java/rcs/utils $(distdir)/src/java/rcsdesign $(distdir)/src/java/ste $(distdir)/src/node $(distdir)/src/nt_xdr $(distdir)/src/os_intf $(distdir)/src/posemath $(distdir)/src/print $(distdir)/src/stg_clss $(distdir)/src/test
  	@list='$(DISTFILES)'; for file in $$list; do \
  	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \

[Emc-commit] rcslib/src/pmac Makefile,4.31,NONE demobox.pmc,4.31,NONE dinit.c,4.30,NONE dpeek.c,4.30,NONE dpoke.c,4.30,NONE kt800.pmc,4.31,NONE mill.pmc,4.31,NONE peek.c,4.31,NONE pmac.cc,4.31,NONE pmac.h,4.31,NONE pmacexec.c,4.31,NONE pmacstat.c,4.31,NONE poke.c,4.31,NONE testprobe.cc,4.31,NONE

[<wsh...@us...>]

Update of /cvsroot/emc/rcslib/src/pmac
In directory sc8-pr-cvs1:/tmp/cvs-serv30893

Removed Files:
      Tag: wps_multiplat_dev_branch
	Makefile demobox.pmc dinit.c dpeek.c dpoke.c kt800.pmc 
	mill.pmc peek.c pmac.cc pmac.h pmacexec.c pmacstat.c poke.c 
	testprobe.cc 
Log Message:
No more PMAC stuff in rcslib

--- Makefile DELETED ---

--- demobox.pmc DELETED ---

--- dinit.c DELETED ---

--- dpeek.c DELETED ---

--- dpoke.c DELETED ---

--- kt800.pmc DELETED ---

--- mill.pmc DELETED ---

--- peek.c DELETED ---

--- pmac.cc DELETED ---

--- pmac.h DELETED ---

--- pmacexec.c DELETED ---

--- pmacstat.c DELETED ---

--- poke.c DELETED ---

--- testprobe.cc DELETED ---

[Emc-commit] rcslib/src/pcio Makefile,4.32,NONE Notes,4.31,NONE iodev.c,4.31,NONE iodev.h,4.30,NONE ioscan.c,4.31,NONE main.c,4.31,NONE pcio.cfg,4.31,NONE pcio.h,4.31,NONE pcio.s,4.31,NONE pcioDrv.c,4.31,NONE pcioDrv.h,4.31,NONE pcioSim.cc,4.31,NONE pciotest.c,4.31,NONE

[<wsh...@us...>]

Update of /cvsroot/emc/rcslib/src/pcio
In directory sc8-pr-cvs1:/tmp/cvs-serv30690

Removed Files:
      Tag: wps_multiplat_dev_branch
	Makefile Notes iodev.c iodev.h ioscan.c main.c pcio.cfg pcio.h 
	pcio.s pcioDrv.c pcioDrv.h pcioSim.cc pciotest.c 
Log Message:
pcio has not been used for a long time.


--- Makefile DELETED ---

--- Notes DELETED ---

--- iodev.c DELETED ---

--- iodev.h DELETED ---

--- ioscan.c DELETED ---

--- main.c DELETED ---

--- pcio.cfg DELETED ---

--- pcio.h DELETED ---

--- pcio.s DELETED ---

--- pcioDrv.c DELETED ---

--- pcioDrv.h DELETED ---

--- pcioSim.cc DELETED ---

--- pciotest.c DELETED ---

[Emc-commit] rtapi/src/rtapi rtai_ulapi.c,1.3,1.4

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv26483

Modified Files:
	rtai_ulapi.c 
Log Message:
rtf reads do not return zero

Index: rtai_ulapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_ulapi.c,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** rtai_ulapi.c	25 Jul 2003 22:04:20 -0000	1.3
--- rtai_ulapi.c	10 Aug 2003 12:07:05 -0000	1.4
***************
*** 207,211 ****
    /* get whatever data is available */
    retval = read(fifo->fd, buf, size);
!   if (retval < 0) {
      return ULAPI_FAIL;
    }
--- 207,211 ----
    /* get whatever data is available */
    retval = read(fifo->fd, buf, size);
!   if (retval <= 0) {
      return ULAPI_FAIL;
    }

[Emc-commit] rtapi/examples/fifo fifousr.c,1.4,1.5

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/examples/fifo
In directory sc8-pr-cvs1:/tmp/cvs-serv26392

Modified Files:
	fifousr.c 
Log Message:
Oh how silly - retval will allways be 0

Index: fifousr.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/fifo/fifousr.c,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** fifousr.c	27 Jul 2003 16:33:42 -0000	1.4
--- fifousr.c	10 Aug 2003 12:06:05 -0000	1.5
***************
*** 45,49 ****
    while (1) {
      nchars = ulapi_fifo_read(fifo, buffer, FIFO_SIZE);
!     if (retval < 0) {
        printf("fifousr main: ulapi_fifo_read returned %d\n", nchars);
      } else {
--- 45,49 ----
    while (1) {
      nchars = ulapi_fifo_read(fifo, buffer, FIFO_SIZE);
!     if (nchars <= 0) {
        printf("fifousr main: ulapi_fifo_read returned %d\n", nchars);
      } else {

[Emc-commit] rtapi/src/rtapi rtai_rtapi.c,1.14,1.15

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv19963

Modified Files:
	rtai_rtapi.c 
Log Message:
missing count to nano conversion

Index: rtai_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_rtapi.c,v
retrieving revision 1.14
retrieving revision 1.15
diff -C2 -d -r1.14 -r1.15
*** rtai_rtapi.c	9 Aug 2003 19:43:09 -0000	1.14
--- rtai_rtapi.c	9 Aug 2003 21:44:53 -0000	1.15
***************
*** 233,237 ****
    timer_running = 1;
    rt_set_periodic_mode();
!   timer_period = start_rt_timer(nano2count((RTIME) nsecs));
  
    rtapi_print_dbg(VERBOSE,
--- 233,237 ----
    timer_running = 1;
    rt_set_periodic_mode();
!   timer_period = count2nano(start_rt_timer(nano2count((RTIME) nsecs)));
  
    rtapi_print_dbg(VERBOSE,

[Emc-commit] rtapi/src/rtapi rtai_rtapi.c,1.13,1.14 rtapi.h,1.12,1.13 rtl_rtapi.c,1.3,1.4 rtl_ulapi.c,1.3,1.4 sim_rtapi.c,1.5,1.6 sim_ulapi.c,1.2,1.3 ulapi.h,1.5,1.6

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/src/rtapi
In directory sc8-pr-cvs1:/tmp/cvs-serv31130

Modified Files:
	rtai_rtapi.c rtapi.h rtl_rtapi.c rtl_ulapi.c sim_rtapi.c 
	sim_ulapi.c ulapi.h 
Log Message:
/proc entry added

Index: rtai_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtai_rtapi.c,v
retrieving revision 1.13
retrieving revision 1.14
diff -C2 -d -r1.13 -r1.14
*** rtai_rtapi.c	5 Aug 2003 03:51:00 -0000	1.13
--- rtai_rtapi.c	9 Aug 2003 19:43:09 -0000	1.14
***************
*** 8,16 ****
  #include <linux/module.h>
  #include <linux/kernel.h>
! #include <linux/slab.h>  /* replaces malloc.h in recent kernels */
  #include <rtai.h>
  #include <rtai_sched.h>
  #include <rtai_shm.h>
  #include <rtai_fifos.h>
  
  #ifndef KERNEL_VERSION
--- 8,18 ----
  #include <linux/module.h>
  #include <linux/kernel.h>
! #include <linux/proc_fs.h>	/* So we can use the /proc file system */
! #include <linux/slab.h>		/* replaces malloc.h in recent kernels */
  #include <rtai.h>
  #include <rtai_sched.h>
  #include <rtai_shm.h>
  #include <rtai_fifos.h>
+ #include <rtai_proc_fs.h>	/* handy proc_fs print macros */
  
  #ifndef KERNEL_VERSION
***************
*** 72,79 ****
  static int fifo_usage_count = 0;
  static int int_usage_count = 0;
! 
  /* Flag used to keep track of timer state */
  static int timer_running = 0;
  
  /* Priority functions.  RTAI uses 0 as the highest priority, as the
  number increases, the actual priority of the task decreases. */
--- 74,105 ----
  static int fifo_usage_count = 0;
  static int int_usage_count = 0;
! static unsigned int timer_period = 0;
  /* Flag used to keep track of timer state */
  static int timer_running = 0;
  
+ int debug = 1;
+ MODULE_PARM(debug, "i");
+ MODULE_PARM_DESC(debug, "Sets the verbosity of the debug prints");
+ 
+ /* Internal function for the proc_fs system. */
+ #ifdef CONFIG_PROC_FS
+ static int proc_read(char *page, char **start, off_t off,
+ 		     int count, int *eof, void *data)
+ {
+   PROC_PRINT_VARS;
+   PROC_PRINT("******* RTAI rtapi usage *******\n");
+   PROC_PRINT("         Version  = $Revision$\n");
+   PROC_PRINT("    Tasks running = %i\n", task_usage_count);
+   PROC_PRINT("    Shared memory = %i\n", shmem_usage_count);
+   PROC_PRINT("       FIFO count = %i\n", fifo_usage_count);
+   PROC_PRINT("  Semaphores used = %i\n", sem_usage_count);
+   PROC_PRINT("Active Interrupts = %i\n", int_usage_count);
+   PROC_PRINT("     Timer period = %inSec\n", timer_period);
+   PROC_PRINT("     Timer status = %i\n", timer_running);
+   PROC_PRINT("\n");
+   PROC_PRINT_DONE;
+ }
+ #endif
+ 
  /* Priority functions.  RTAI uses 0 as the highest priority, as the
  number increases, the actual priority of the task decreases. */
***************
*** 120,127 ****
  
  
- 
  static int rtapi_init(void)
  {
!   rtapi_print("RTAPI: Initing\n");
    task_usage_count = 0;
    shmem_usage_count = 0;
--- 146,161 ----
  
  
  static int rtapi_init(void)
  {
!   /* register a proc entry */
! #ifdef CONFIG_PROC_FS
!   create_proc_read_entry("rtai/rtapi",	/* name             */
! 			 0,	/* default mode     */
! 			 NULL,	/* parent dir       */
! 			 proc_read,	/* function         */
! 			 NULL	/* client data      */
!     );
! #endif
!   rtapi_print_dbg(VERBOSE, "RTAPI: Initing\n");
    task_usage_count = 0;
    shmem_usage_count = 0;
***************
*** 137,157 ****
  static int rtapi_exit(void)
  {
!   if (task_usage_count != 0 ) {
!     rtapi_print("RTAPI: ERROR: %d task(s) allocated but not deleted", task_usage_count);
    }
!   if (shmem_usage_count != 0 ) {
!     rtapi_print("RTAPI: ERROR: %d shared memory block(s) allocated but not deleted", shmem_usage_count);
    }
!   if (sem_usage_count != 0 ) {
!     rtapi_print("RTAPI: ERROR: %d semaphores(s) allocated but not deleted", sem_usage_count);
    }
!   if (fifo_usage_count != 0 ) {
!     rtapi_print("RTAPI: ERROR: %d fifo(s) allocated but not deleted", fifo_usage_count);
    }
!   if (int_usage_count != 0 ) {
!     rtapi_print("RTAPI: ERROR: %d interrupt handler(s) installed but not removed", int_usage_count);
    }
!   if (timer_running != 0 ) {
      stop_rt_timer();
    }
    rtapi_print("RTAPI: Shutting down\n");
--- 171,206 ----
  static int rtapi_exit(void)
  {
!   /* Remove proc dir entry */
! #ifdef CONFIG_PROC_FS
!   remove_proc_entry("rtai/rtapi", NULL);
! #endif
!   if (task_usage_count != 0) {
!     rtapi_print_dbg(VERBOSE,
! 		    "RTAPI: ERROR: %d task(s) allocated but not deleted\n",
! 		    task_usage_count);
    }
!   if (shmem_usage_count != 0) {
!     rtapi_print_dbg(VERBOSE,
! 		    "RTAPI: ERROR: %d shared memory block(s) allocated but not deleted\n",
! 		    shmem_usage_count);
    }
!   if (sem_usage_count != 0) {
!     rtapi_print_dbg(VERBOSE,
! 		    "RTAPI: ERROR: %d semaphores(s) allocated but not deleted\n",
! 		    sem_usage_count);
    }
!   if (fifo_usage_count != 0) {
!     rtapi_print_dbg(VERBOSE,
! 		    "RTAPI: ERROR: %d fifo(s) allocated but not deleted\n",
! 		    fifo_usage_count);
    }
!   if (int_usage_count != 0) {
!     rtapi_print_dbg(VERBOSE,
! 		    "RTAPI: ERROR: %d interrupt handler(s) installed but not removed\n",
! 		    int_usage_count);
    }
!   if (timer_running != 0) {
      stop_rt_timer();
+     rt_free_timer();
    }
    rtapi_print("RTAPI: Shutting down\n");
***************
*** 175,191 ****
  
    /* limit to a maximum of 1 second (note that RTLinux only
!   allows 0.01 second, so for portability, callers should
!   always ask for 0.01 second or less */
  
!   if ( nsecs > 1000000000L ) {
      return RTAPI_INVAL;
    }
  
-   if ( VERBOSE ) {
-     rtapi_print ( "RTAPI: clock_set_period ( %ld )\n", nsecs );
-   }
    timer_running = 1;
    rt_set_periodic_mode();
!   start_rt_timer(nano2count((RTIME) nsecs));
    return RTAPI_SUCCESS;
  }
--- 224,242 ----
  
    /* limit to a maximum of 1 second (note that RTLinux only
!      allows 0.01 second, so for portability, callers should
!      always ask for 0.01 second or less */
  
!   if (nsecs > 1000000000L) {
      return RTAPI_INVAL;
    }
  
    timer_running = 1;
    rt_set_periodic_mode();
!   timer_period = start_rt_timer(nano2count((RTIME) nsecs));
! 
!   rtapi_print_dbg(VERBOSE,
! 		  "RTAPI: clock_set_period ( %ld ) - Actual = %inSec\n",
! 		  nsecs, timer_period);
! 
    return RTAPI_SUCCESS;
  }
***************
*** 219,225 ****
    task_usage_count++;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: new_task %p, count = %d\n", task, task_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 270,275 ----
    task_usage_count++;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: new_task %p, count = %d\n", task,
! 		  task_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 243,249 ****
    task_usage_count--;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: delete_task %p, count = %d\n", task, task_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 293,298 ----
    task_usage_count--;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: delete_task %p, count = %d\n", task,
! 		  task_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 301,307 ****
    }
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: start_task %p\n", task );
!   }
  
    return RTAPI_SUCCESS;
--- 350,354 ----
    }
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: start_task %p\n", task);
  
    return RTAPI_SUCCESS;
***************
*** 325,331 ****
      return RTAPI_FAIL;
    }
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: stop_task %p\n", task );
!   }
  
    return RTAPI_SUCCESS;
--- 372,376 ----
      return RTAPI_FAIL;
    }
!   rtapi_print_dbg(VERBOSE, "RTAPI: stop_task %p\n", task);
  
    return RTAPI_SUCCESS;
***************
*** 465,471 ****
    shmem_usage_count++;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: new_shmem %p, key = %d, count = %d\n", shmem, key, shmem_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 510,515 ----
    shmem_usage_count++;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: new_shmem %p, key = %d, count = %d\n",
! 		  shmem, key, shmem_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 508,514 ****
    shmem_usage_count--;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: delete_shmem %p, count = %d\n", shmem, shmem_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 552,557 ----
    shmem_usage_count--;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: delete_shmem %p, count = %d\n", shmem,
! 		  shmem_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 532,535 ****
--- 575,592 ----
  
  
+ void rtapi_print_dbg(int dbg, const char *fmt, ...)
+ {
+   va_list args;
+   enum { BUFFERLEN = 256 };
+   static char buffer[BUFFERLEN];
+ 
+   if (dbg < debug) {
+     va_start(args, fmt);
+     vsprintf(buffer, fmt, args);
+     rt_printk(buffer);
+     va_end(args);
+   }
+ }
+ 
  void rtapi_outb(unsigned char byte, unsigned int port)
  {
***************
*** 556,566 ****
      }
    }
  
    /* increment the usage counter */
    int_usage_count++;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: assign_interrupt_handler for int %d, count = %d\n", irq, int_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 613,626 ----
      }
    }
+   rtapi_print_dbg(VERBOSE,
+ 		  "\n\nRTAPI: assign_interrupt_handler for int %d, count = %d\n",
+ 		  irq, int_usage_count);
  
    /* increment the usage counter */
    int_usage_count++;
  
!   rtapi_print_dbg(VERBOSE,
! 		  "RTAPI: assign_interrupt_handler for int %d, count = %d\n",
! 		  irq, int_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 581,587 ****
    int_usage_count--;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: free_interrupt_handler for int %d, count = %d\n", irq, int_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 641,647 ----
    int_usage_count--;
  
!   rtapi_print_dbg(VERBOSE,
! 		  "RTAPI: free_interrupt_handler for int %d, count = %d\n",
! 		  irq, int_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 642,648 ****
    sem_usage_count++;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: new_sem %p, count = %d\n", sem, sem_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 702,707 ----
    sem_usage_count++;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: new_sem %p, count = %d\n", sem,
! 		  sem_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 669,675 ****
    sem_usage_count--;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: delete_sem %p, count = %d\n", sem, sem_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 728,733 ----
    sem_usage_count--;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: delete_sem %p, count = %d\n", sem,
! 		  sem_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 767,773 ****
    fifo_usage_count++;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: new_fifo %p, count = %d\n", fifo, fifo_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 825,830 ----
    fifo_usage_count++;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: new_fifo %p, count = %d\n", fifo,
! 		  fifo_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 794,800 ****
    fifo_usage_count--;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: delete_fifo %p, count = %d\n", fifo, fifo_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 851,856 ----
    fifo_usage_count--;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: delete_fifo %p, count = %d\n", fifo,
! 		  fifo_usage_count);
  
    return RTAPI_SUCCESS;

Index: rtapi.h
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtapi.h,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** rtapi.h	5 Aug 2003 03:51:00 -0000	1.12
--- rtapi.h	9 Aug 2003 19:43:09 -0000	1.13
***************
*** 4,16 ****
  /** These status codes are returned by many RTAPI functions. */
  
! #define RTAPI_SUCCESS     0    /* call successfull */
! #define RTAPI_UNSUP      -1    /* function not supported */
! #define RTAPI_BADH       -2    /* bad task, shmem, sem, or fifo handle */
! #define RTAPI_INVAL      -3    /* invalid argument*/
! #define RTAPI_NOMEM      -4    /* not enough memory */
! #define RTAPI_PERM       -5    /* permission denied */
! #define RTAPI_BUSY       -6    /* resource is busy or locked */
! #define RTAPI_NOTFND     -7    /* object not found */
! #define RTAPI_FAIL       -8    /* operation failed */
  
  /* flags for the rtapi_task_start() call */
--- 4,16 ----
  /** These status codes are returned by many RTAPI functions. */
  
! #define RTAPI_SUCCESS     0	/* call successfull */
! #define RTAPI_UNSUP      -1	/* function not supported */
! #define RTAPI_BADH       -2	/* bad task, shmem, sem, or fifo handle */
! #define RTAPI_INVAL      -3	/* invalid argument */
! #define RTAPI_NOMEM      -4	/* not enough memory */
! #define RTAPI_PERM       -5	/* permission denied */
! #define RTAPI_BUSY       -6	/* resource is busy or locked */
! #define RTAPI_NOTFND     -7	/* object not found */
! #define RTAPI_FAIL       -8	/* operation failed */
  
  /* flags for the rtapi_task_start() call */
***************
*** 23,30 ****
  * In fact, don't even count on handles always being pointers.          */
  
! typedef struct rtapi_task   *rtapi_task_handle;
! typedef struct rtapi_shmem  *rtapi_shmem_handle;
! typedef struct rtapi_sem    *rtapi_sem_handle;
! typedef struct rtapi_fifo   *rtapi_fifo_handle;
  
  
--- 23,30 ----
  * In fact, don't even count on handles always being pointers.          */
  
! typedef struct rtapi_task *rtapi_task_handle;
! typedef struct rtapi_shmem *rtapi_shmem_handle;
! typedef struct rtapi_sem *rtapi_sem_handle;
! typedef struct rtapi_fifo *rtapi_fifo_handle;
  
  
***************
*** 56,63 ****
  * 'rtapi_prio_next_lower(previous)'.                                   */
  
! extern int rtapi_prio_highest( void );
! extern int rtapi_prio_lowest( void );
! extern int rtapi_prio_next_higher( int prio );
! extern int rtapi_prio_next_lower( int prio );
  
  
--- 56,63 ----
  * 'rtapi_prio_next_lower(previous)'.                                   */
  
! extern int rtapi_prio_highest(void);
! extern int rtapi_prio_lowest(void);
! extern int rtapi_prio_next_higher(int prio);
! extern int rtapi_prio_next_lower(int prio);
  
  
***************
*** 86,90 ****
  * subsequent calls that need to act on the task.                       */
  
! extern int rtapi_task_new( rtapi_task_handle *taskptr );
  
  
--- 86,90 ----
  * subsequent calls that need to act on the task.                       */
  
! extern int rtapi_task_new(rtapi_task_handle * taskptr);
  
  
***************
*** 96,100 ****
  * should not attempt to delete itself!                                 */
  
! extern int rtapi_task_delete( rtapi_task_handle task );
  
  
--- 96,100 ----
  * should not attempt to delete itself!                                 */
  
! extern int rtapi_task_delete(rtapi_task_handle task);
  
  
***************
*** 124,133 ****
  */
  
! extern int rtapi_task_start( rtapi_task_handle task,
!                              void (*taskcode)( int ),
!                              int arg, int prio,
!                              unsigned long int stacksize,
!                              unsigned long int period_nsec,
!                              unsigned char uses_fp );
  
  
--- 124,133 ----
  */
  
! extern int rtapi_task_start(rtapi_task_handle task,
! 			    void (*taskcode) (int),
! 			    int arg, int prio,
! 			    unsigned long int stacksize,
! 			    unsigned long int period_nsec,
! 			    unsigned char uses_fp);
  
  
***************
*** 137,141 ****
  * task - a task should not attempt to stop itself!                     */
  
! extern int rtapi_task_stop( rtapi_task_handle task );
  
  
--- 137,141 ----
  * task - a task should not attempt to stop itself!                     */
  
! extern int rtapi_task_stop(rtapi_task_handle task);
  
  
***************
*** 145,150 ****
  * itself.  Returns a status code.                                      */
  
! extern int rtapi_task_pause( rtapi_task_handle task );
! extern int rtapi_task_resume( rtapi_task_handle task );
  
  
--- 145,150 ----
  * itself.  Returns a status code.                                      */
  
! extern int rtapi_task_pause(rtapi_task_handle task);
! extern int rtapi_task_resume(rtapi_task_handle task);
  
  
***************
*** 154,159 ****
  * status code.                                                         */
  
! extern int rtapi_task_set_period( rtapi_task_handle task,
!                                   unsigned long int period_nsec );
  
  
--- 154,159 ----
  * status code.                                                         */
  
! extern int rtapi_task_set_period(rtapi_task_handle task,
! 				 unsigned long int period_nsec);
  
  
***************
*** 164,168 ****
  * Returns a status code.                                               */
  
! extern int rtapi_wait( void );
  
  
--- 164,168 ----
  * Returns a status code.                                               */
  
! extern int rtapi_wait(void);
  
  
***************
*** 170,174 ****
  /* the current task.  Call only from a task.  Returns a status code.   */
  
! extern int rtapi_task_get_handle( rtapi_task_handle *taskptr );
  
  
--- 170,174 ----
  /* the current task.  Call only from a task.  Returns a status code.   */
  
! extern int rtapi_task_get_handle(rtapi_task_handle * taskptr);
  
  
***************
*** 184,189 ****
  * Returns a status code.                                               */
  
! extern int rtapi_shmem_new( int key, unsigned int size,
!                             rtapi_shmem_handle *shmemptr );
  
  
--- 184,189 ----
  * Returns a status code.                                               */
  
! extern int rtapi_shmem_new(int key, unsigned int size,
! 			   rtapi_shmem_handle * shmemptr);
  
  
***************
*** 191,195 ****
  * shared memory block 'mbuf'.  Returns a status code.                  */
  
! extern int rtapi_shmem_getptr ( rtapi_shmem_handle shmem, void **ptr );
  
  
--- 191,195 ----
  * shared memory block 'mbuf'.  Returns a status code.                  */
  
! extern int rtapi_shmem_getptr(rtapi_shmem_handle shmem, void **ptr);
  
  
***************
*** 197,201 ****
  * Returns a status code.                                               */
  
! extern int rtapi_shmem_delete( rtapi_shmem_handle shmem );
  
  
--- 197,201 ----
  * Returns a status code.                                               */
  
! extern int rtapi_shmem_delete(rtapi_shmem_handle shmem);
  
  
***************
*** 208,212 ****
  * can take a fairly long time, depending on the format string and OS.  */
  
! extern void rtapi_print( const char *fmt, ... );
  
  
--- 208,219 ----
  * can take a fairly long time, depending on the format string and OS.  */
  
! extern void rtapi_print(const char *fmt, ...);
! 
! 
! /** 'rtapi_print_dbg()' prints a printf style message similar to       *
! * to rtapi_print. If debug is less than the value used when the rtapi  *
! * was loaded, then the message is printed.                             */
! 
! extern void rtapi_print_dbg(int debug, const char *fmt, ...);
  
  
***************
*** 214,218 ****
  * Note: This function does nothing on the simulated RTOS.              */
  
! extern void rtapi_outb( unsigned char byte, unsigned int port );
  
  
--- 221,225 ----
  * Note: This function does nothing on the simulated RTOS.              */
  
! extern void rtapi_outb(unsigned char byte, unsigned int port);
  
  
***************
*** 220,224 ****
  * Note: This function always returns zero on the simulated RTOS.       */
  
! extern unsigned char rtapi_inb( unsigned int port );
  
  
--- 227,231 ----
  * Note: This function always returns zero on the simulated RTOS.       */
  
! extern unsigned char rtapi_inb(unsigned int port);
  
  
***************
*** 229,234 ****
  * code.  Note:  The simulated RTOS does not support interrupts.        */
  
! extern int rtapi_assign_interrupt_handler( unsigned int irq,
!                                            void (*handler) (void) );
  
  
--- 236,241 ----
  * code.  Note:  The simulated RTOS does not support interrupts.        */
  
! extern int rtapi_assign_interrupt_handler(unsigned int irq,
! 					  void (*handler) (void));
  
  
***************
*** 239,243 ****
  * Returns RTAPI_SUCCESS or RTAPI_INVAL.                                */
  
! extern int rtapi_free_interrupt_handler( unsigned int irq );
  
  
--- 246,250 ----
  * Returns RTAPI_SUCCESS or RTAPI_INVAL.                                */
  
! extern int rtapi_free_interrupt_handler(unsigned int irq);
  
  
***************
*** 246,251 ****
  * handlers assigned to them.  Returns a status code.                   */
  
! extern int rtapi_enable_interrupt( unsigned int irq );
! extern int rtapi_disable_interrupt( unsigned int irq );
  
  
--- 253,258 ----
  * handlers assigned to them.  Returns a status code.                   */
  
! extern int rtapi_enable_interrupt(unsigned int irq);
! extern int rtapi_disable_interrupt(unsigned int irq);
  
  
***************
*** 255,259 ****
  * Returns a status code.                                               */
  
! extern int rtapi_sem_new( rtapi_sem_handle *semptr );
  
  
--- 262,266 ----
  * Returns a status code.                                               */
  
! extern int rtapi_sem_new(rtapi_sem_handle * semptr);
  
  
***************
*** 262,266 ****
  * resume execution.  Returns a status code.                            */
  
! extern int rtapi_sem_delete( rtapi_sem_handle sem );
  
  
--- 269,273 ----
  * resume execution.  Returns a status code.                            */
  
! extern int rtapi_sem_delete(rtapi_sem_handle sem);
  
  
***************
*** 269,273 ****
  * higher priority task will begin to run.  Returns a status code.      */
  
! extern int rtapi_sem_give( rtapi_sem_handle sem );
  
  
--- 276,280 ----
  * higher priority task will begin to run.  Returns a status code.      */
  
! extern int rtapi_sem_give(rtapi_sem_handle sem);
  
  
***************
*** 277,281 ****
  * until the semaphore is unlocked, then it returns RTAPI_SUCCESS.      */
  
! extern int rtapi_sem_take( rtapi_sem_handle sem );
  
  
--- 284,288 ----
  * until the semaphore is unlocked, then it returns RTAPI_SUCCESS.      */
  
! extern int rtapi_sem_take(rtapi_sem_handle sem);
  
  
***************
*** 286,290 ****
  * decide how to deal with the situation.                               */
  
! extern int rtapi_sem_try( rtapi_sem_handle sem );
  
  
--- 293,297 ----
  * decide how to deal with the situation.                               */
  
! extern int rtapi_sem_try(rtapi_sem_handle sem);
  
  
***************
*** 296,301 ****
  * code.                                                                */
  
! extern int rtapi_fifo_new( int key, unsigned long int size,
!                            rtapi_fifo_handle *fifoptr );
  
  
--- 303,308 ----
  * code.                                                                */
  
! extern int rtapi_fifo_new(int key, unsigned long int size,
! 			  rtapi_fifo_handle * fifoptr);
  
  
***************
*** 303,307 ****
  * It destroys the fifo 'fifo'.  Returns a status code.                 */
  
! extern int rtapi_fifo_delete( rtapi_fifo_handle fifo );
  
  
--- 310,314 ----
  * It destroys the fifo 'fifo'.  Returns a status code.                 */
  
! extern int rtapi_fifo_delete(rtapi_fifo_handle fifo);
  
  
***************
*** 312,317 ****
  * available, and return that count (which could be zero).              */
  
! extern int rtapi_fifo_read( rtapi_fifo_handle fifo,
!                             char *buf, unsigned long int size);
  
  
--- 319,324 ----
  * available, and return that count (which could be zero).              */
  
! extern int rtapi_fifo_read(rtapi_fifo_handle fifo,
! 			   char *buf, unsigned long int size);
  
  
***************
*** 322,327 ****
  * bytes as it can and return that count (which may be zero).           */
  
! extern int rtapi_fifo_write( rtapi_fifo_handle fifo,
!                              char *buf, unsigned long int size);
  
  
--- 329,334 ----
  * bytes as it can and return that count (which may be zero).           */
  
! extern int rtapi_fifo_write(rtapi_fifo_handle fifo,
! 			    char *buf, unsigned long int size);
  
  

Index: rtl_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtl_rtapi.c,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** rtl_rtapi.c	5 Aug 2003 03:51:00 -0000	1.3
--- rtl_rtapi.c	9 Aug 2003 19:43:09 -0000	1.4
***************
*** 8,12 ****
  #include <linux/module.h>
  #include <linux/kernel.h>
! #include <linux/slab.h>  /* replaces malloc.h in recent kernels */
  #include <rtl.h>		/* top level config */
  #include <rtl_sched.h>		/* rtl_getschedclock(),
--- 8,12 ----
  #include <linux/module.h>
  #include <linux/kernel.h>
! #include <linux/slab.h>		/* replaces malloc.h in recent kernels */
  #include <rtl.h>		/* top level config */
  #include <rtl_sched.h>		/* rtl_getschedclock(),
***************
*** 48,53 ****
    int magic;			/* to check for valid handle */
    pthread_t ostask;		/* OS specific task data */
!   int arg;				/* argument for task function */
!   void (*taskcode)( int );	/* pointer to task function */
  };
  
--- 48,53 ----
    int magic;			/* to check for valid handle */
    pthread_t ostask;		/* OS specific task data */
!   int arg;			/* argument for task function */
!   void (*taskcode) (int);	/* pointer to task function */
  };
  
***************
*** 86,89 ****
--- 86,93 ----
  static int timer_running = 0;
  
+ int debug = 1;
+ MODULE_PARM(debug, "i");
+ MODULE_PARM_DESC(debug, "Sets the verbosity of the debug prints");
+ 
  /* maximum number of tasks */
  #define RTAPI_MAX_TASKS 64
***************
*** 150,154 ****
    int_usage_count = 0;
    timer_running = 0;
!   for ( n = 0 ; n < RTAPI_MAX_TASKS ; n++ ) {
      task_array[n] = NULL;
    }
--- 154,158 ----
    int_usage_count = 0;
    timer_running = 0;
!   for (n = 0; n < RTAPI_MAX_TASKS; n++) {
      task_array[n] = NULL;
    }
***************
*** 159,181 ****
  static int rtapi_exit(void)
  {
!   if (task_usage_count != 0 ) {
      rtapi_print("RTAPI: ERROR: %d task(s) allocated but not deleted",
!                      task_usage_count);
    }
!   if (shmem_usage_count != 0 ) {
      rtapi_print("RTAPI: ERROR: %d shmem block(s) allocated but not deleted",
!                      shmem_usage_count);
    }
!   if (sem_usage_count != 0 ) {
      rtapi_print("RTAPI: ERROR: %d semaphores(s) allocated but not deleted",
!                      sem_usage_count);
    }
!   if (fifo_usage_count != 0 ) {
      rtapi_print("RTAPI: ERROR: %d fifo(s) allocated but not deleted",
!                      fifo_usage_count);
    }
!   if (int_usage_count != 0 ) {
      rtapi_print("RTAPI: ERROR: %d IRQ handler(s) installed but not removed",
!                      int_usage_count);
    }
    rtapi_print("RTAPI: Shutting down\n");
--- 163,185 ----
  static int rtapi_exit(void)
  {
!   if (task_usage_count != 0) {
      rtapi_print("RTAPI: ERROR: %d task(s) allocated but not deleted",
! 		task_usage_count);
    }
!   if (shmem_usage_count != 0) {
      rtapi_print("RTAPI: ERROR: %d shmem block(s) allocated but not deleted",
! 		shmem_usage_count);
    }
!   if (sem_usage_count != 0) {
      rtapi_print("RTAPI: ERROR: %d semaphores(s) allocated but not deleted",
! 		sem_usage_count);
    }
!   if (fifo_usage_count != 0) {
      rtapi_print("RTAPI: ERROR: %d fifo(s) allocated but not deleted",
! 		fifo_usage_count);
    }
!   if (int_usage_count != 0) {
      rtapi_print("RTAPI: ERROR: %d IRQ handler(s) installed but not removed",
! 		int_usage_count);
    }
    rtapi_print("RTAPI: Shutting down\n");
***************
*** 197,226 ****
  int rtapi_clock_set_period(unsigned long int nsecs)
  {
! int retval;
  
    /* The RTL implementation of setclockmode is lame.  If you
!   specify a period that is too high, (like 1 second) it prints
!   a message to the system log file, but instead of returning
!   an error code, it sets the timer to 100Hz and returns success!
!   If that's not bad enough, subsequent calls to set the period
!   of a task are corrupted, such that you can ask for a 1 second
!   task, and instead get one that runs every 0.01 sec, with no
!   error codes or other way of detecting it.  Stupid!  To avoid
!   this we only allow a timer period of 0.01 seconds or less.
!   Note that you can still run tasks at slower rates, but the
!   timer must run at least 100Hz. */
  
!   if ( nsecs > 10000000L ) {
      return RTAPI_INVAL;
    }
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: clock_set_period ( %ld )\n", nsecs );
!   }
    timer_running = 1;
  
    retval = rtl_setclockmode(rtl_getschedclock(),
!                             RTL_CLOCK_MODE_PERIODIC, nsecs);
!   if ( retval != 0 ) {
      return RTAPI_INVAL;
    }
--- 201,229 ----
  int rtapi_clock_set_period(unsigned long int nsecs)
  {
!   int retval;
  
    /* The RTL implementation of setclockmode is lame.  If you
!      specify a period that is too high, (like 1 second) it prints
!      a message to the system log file, but instead of returning
!      an error code, it sets the timer to 100Hz and returns success!
!      If that's not bad enough, subsequent calls to set the period
!      of a task are corrupted, such that you can ask for a 1 second
!      task, and instead get one that runs every 0.01 sec, with no
!      error codes or other way of detecting it.  Stupid!  To avoid
!      this we only allow a timer period of 0.01 seconds or less.
!      Note that you can still run tasks at slower rates, but the
!      timer must run at least 100Hz. */
  
!   if (nsecs > 10000000L) {
      return RTAPI_INVAL;
    }
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: clock_set_period ( %ld )\n", nsecs);
! 
    timer_running = 1;
  
    retval = rtl_setclockmode(rtl_getschedclock(),
! 			    RTL_CLOCK_MODE_PERIODIC, nsecs);
!   if (retval != 0) {
      return RTAPI_INVAL;
    }
***************
*** 246,253 ****
    /* find empty spot in task array */
    n = 0;
!   while ( ( n < RTAPI_MAX_TASKS ) && ( task_array[n] != NULL ) ) {
      n++;
    }
!   if ( n == RTAPI_MAX_TASKS ) {
      return RTAPI_NOMEM;
    }
--- 249,256 ----
    /* find empty spot in task array */
    n = 0;
!   while ((n < RTAPI_MAX_TASKS) && (task_array[n] != NULL)) {
      n++;
    }
!   if (n == RTAPI_MAX_TASKS) {
      return RTAPI_NOMEM;
    }
***************
*** 271,278 ****
    task_usage_count++;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: new_task %p, count = %d\n",
!                          task, task_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 274,279 ----
    task_usage_count++;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: new_task %p, count = %d\n", task,
! 		  task_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 294,306 ****
    /* find entry in task array */
    n = 0;
!   while ( ( n < RTAPI_MAX_TASKS ) && ( task_array[n] != task ) ) {
      n++;
    }
!   if ( n == RTAPI_MAX_TASKS ) {
      return RTAPI_INVAL;
    }
  
    /* this is from Fred's original code - it appears to stop the
!   task, but the task should already be stopped... is it needed? */
    pthread_cancel(task->ostask);
    pthread_join(task->ostask, NULL);
--- 295,307 ----
    /* find entry in task array */
    n = 0;
!   while ((n < RTAPI_MAX_TASKS) && (task_array[n] != task)) {
      n++;
    }
!   if (n == RTAPI_MAX_TASKS) {
      return RTAPI_INVAL;
    }
  
    /* this is from Fred's original code - it appears to stop the
!      task, but the task should already be stopped... is it needed? */
    pthread_cancel(task->ostask);
    pthread_join(task->ostask, NULL);
***************
*** 316,323 ****
    task_usage_count--;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: delete_task %p, count = %d\n",
!                         task, task_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 317,322 ----
    task_usage_count--;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: delete_task %p, count = %d\n",
! 		  task, task_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 329,340 ****
  /* we solve this with a wrapper function that meets pthread's needs */
  
! static void *wrapper ( void *arg )
  {
! rtapi_task_handle task;
  
    /* use the argument to point to the task data */
    task = arg;
    /* call the task function with the task argument */
!   (task->taskcode)( task->arg );
    /* done */
    return NULL;
--- 328,339 ----
  /* we solve this with a wrapper function that meets pthread's needs */
  
! static void *wrapper(void *arg)
  {
!   rtapi_task_handle task;
  
    /* use the argument to point to the task data */
    task = arg;
    /* call the task function with the task argument */
!   (task->taskcode) (task->arg);
    /* done */
    return NULL;
***************
*** 366,370 ****
    /* set up task attributes */
    retval = pthread_attr_init(&attr);
!   if ( retval != 0 ) {
      return RTAPI_NOMEM;
    }
--- 365,369 ----
    /* set up task attributes */
    retval = pthread_attr_init(&attr);
!   if (retval != 0) {
      return RTAPI_NOMEM;
    }
***************
*** 372,389 ****
    sched_param.sched_priority = prio;
    retval = pthread_attr_setschedparam(&attr, &sched_param);
!   if ( retval != 0 ) {
      return RTAPI_INVAL;
    }
    /* set up the task itself */
    /* create the thread - use the wrapper function, pass it a pointer
!   to the task structure so it can call the actual task function */
    task->taskcode = taskcode;
    task->arg = arg;
!   retval = pthread_create(&(task->ostask), &attr, wrapper, (void *)task );
!   if ( retval != 0 ) {
!     if ( retval == EAGAIN ) {
        return RTAPI_NOMEM;
      }
!     if ( retval == EPERM ) {
        return RTAPI_PERM;
      }
--- 371,388 ----
    sched_param.sched_priority = prio;
    retval = pthread_attr_setschedparam(&attr, &sched_param);
!   if (retval != 0) {
      return RTAPI_INVAL;
    }
    /* set up the task itself */
    /* create the thread - use the wrapper function, pass it a pointer
!      to the task structure so it can call the actual task function */
    task->taskcode = taskcode;
    task->arg = arg;
!   retval = pthread_create(&(task->ostask), &attr, wrapper, (void *) task);
!   if (retval != 0) {
!     if (retval == EAGAIN) {
        return RTAPI_NOMEM;
      }
!     if (retval == EPERM) {
        return RTAPI_PERM;
      }
***************
*** 392,396 ****
    pthread_setfp_np(task->ostask, (int) uses_fp);
    retval = pthread_setschedparam(task->ostask, SCHED_FIFO, &sched_param);
!   if ( retval != 0 ) {
      return RTAPI_FAIL;
    }
--- 391,395 ----
    pthread_setfp_np(task->ostask, (int) uses_fp);
    retval = pthread_setschedparam(task->ostask, SCHED_FIFO, &sched_param);
!   if (retval != 0) {
      return RTAPI_FAIL;
    }
***************
*** 400,404 ****
      /* start the task in periodic mode */
      retval = pthread_make_periodic_np(task->ostask,
!                                gethrtime()+period_nsec, (hrtime_t)period_nsec);
      if (retval != 0) {
        return RTAPI_FAIL;
--- 399,404 ----
      /* start the task in periodic mode */
      retval = pthread_make_periodic_np(task->ostask,
! 				      gethrtime() + period_nsec,
! 				      (hrtime_t) period_nsec);
      if (retval != 0) {
        return RTAPI_FAIL;
***************
*** 412,418 ****
    }
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: start_task %p\n", task );
!   }
  
    return RTAPI_SUCCESS;
--- 412,416 ----
    }
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: start_task %p\n", task);
  
    return RTAPI_SUCCESS;
***************
*** 437,443 ****
    }
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: stop_task %p\n", task );
!   }
  
    return RTAPI_SUCCESS;
--- 435,439 ----
    }
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: stop_task %p\n", task);
  
    return RTAPI_SUCCESS;
***************
*** 497,501 ****
  
    retval = pthread_make_periodic_np(*((pthread_t *) task),
!                                  gethrtime() + period_nsec, period_nsec);
    if (retval != 0) {
      return RTAPI_FAIL;
--- 493,497 ----
  
    retval = pthread_make_periodic_np(*((pthread_t *) task),
! 				    gethrtime() + period_nsec, period_nsec);
    if (retval != 0) {
      return RTAPI_FAIL;
***************
*** 512,516 ****
  
  
! int rtapi_task_get_handle(rtapi_task_handle *taskptr)
  {
    int n;
--- 508,512 ----
  
  
! int rtapi_task_get_handle(rtapi_task_handle * taskptr)
  {
    int n;
***************
*** 526,533 ****
    /* find entry in task array */
    n = 0;
!   while ( ( n < RTAPI_MAX_TASKS ) && ( task_array[n]->ostask != task_id ) ) {
      n++;
    }
!   if ( n == RTAPI_MAX_TASKS ) {
      return RTAPI_INVAL;
    }
--- 522,529 ----
    /* find entry in task array */
    n = 0;
!   while ((n < RTAPI_MAX_TASKS) && (task_array[n]->ostask != task_id)) {
      n++;
    }
!   if (n == RTAPI_MAX_TASKS) {
      return RTAPI_INVAL;
    }
***************
*** 551,555 ****
  */
  
! #define KEYSTR_LEN 16    /* larger than number of digits in MAX_INT */
  
  static void genstr(unsigned int i, char *str)
--- 547,551 ----
  */
  
! #define KEYSTR_LEN 16		/* larger than number of digits in MAX_INT */
  
  static void genstr(unsigned int i, char *str)
***************
*** 612,619 ****
    shmem_usage_count++;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: new_shmem %p, key = %d, count = %d\n",
!                           shmem, key, shmem_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 608,613 ----
    shmem_usage_count++;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: new_shmem %p, key = %d, count = %d\n",
! 		  shmem, key, shmem_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 661,668 ****
    shmem_usage_count--;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: delete_shmem %p, count = %d\n",
!                            shmem, shmem_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 655,660 ----
    shmem_usage_count--;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: delete_shmem %p, count = %d\n",
! 		  shmem, shmem_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 686,689 ****
--- 678,696 ----
  
  
+ void rtapi_print_dbg(int dbg, const char *fmt, ...)
+ {
+   va_list args;
+   enum { BUFFERLEN = 256 };
+   static char buffer[BUFFERLEN];
+ 
+   if (dbg < debug) {
+     va_start(args, fmt);
+     vsprintf(buffer, fmt, args);
+     rtl_printf(buffer);
+     va_end(args);
+   }
+ }
+ 
+ 
  void rtapi_outb(unsigned char byte, unsigned int port)
  {
***************
*** 702,706 ****
  
  
! int rtapi_assign_interrupt_handler(unsigned int irq, void (*handler)(void) )
  {
    int retval;
--- 709,713 ----
  
  
! int rtapi_assign_interrupt_handler(unsigned int irq, void (*handler) (void))
  {
    int retval;
***************
*** 724,731 ****
    int_usage_count++;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: assign_intr_handler for int %d, count = %d\n",
!                            irq, int_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 731,737 ----
    int_usage_count++;
  
!   rtapi_print_dbg(VERBOSE,
! 		  "RTAPI: assign_intr_handler for int %d, count = %d\n", irq,
! 		  int_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 751,758 ****
    int_usage_count--;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: free_intr_handler for int %d, count = %d\n",
!                             irq, int_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 757,763 ----
    int_usage_count--;
  
!   rtapi_print_dbg(VERBOSE,
! 		  "RTAPI: free_intr_handler for int %d, count = %d\n", irq,
! 		  int_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 805,809 ****
    /* ask the OS to initialize the semaphore */
    retval = sem_init(&(sem->ossem), 0, 0);
!   if ( retval != 0 ) {
      kfree(sem);
      return RTAPI_FAIL;
--- 810,814 ----
    /* ask the OS to initialize the semaphore */
    retval = sem_init(&(sem->ossem), 0, 0);
!   if (retval != 0) {
      kfree(sem);
      return RTAPI_FAIL;
***************
*** 819,826 ****
    sem_usage_count++;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: new_sem %p, count = %d\n",
!                            sem, sem_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 824,829 ----
    sem_usage_count++;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: new_sem %p, count = %d\n", sem,
! 		  sem_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 847,854 ****
    sem_usage_count--;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: delete_sem %p, count = %d\n",
!                         sem, sem_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 850,855 ----
    sem_usage_count--;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: delete_sem %p, count = %d\n", sem,
! 		  sem_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 946,953 ****
    fifo_usage_count++;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: new_fifo %p, count = %d\n",
!                         fifo, fifo_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 947,952 ----
    fifo_usage_count++;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: new_fifo %p, count = %d\n", fifo,
! 		  fifo_usage_count);
  
    return RTAPI_SUCCESS;
***************
*** 974,981 ****
    fifo_usage_count--;
  
!   if ( VERBOSE ) {
!     rtapi_print ( "RTAPI: delete_fifo %p, count = %d\n",
!                             fifo, fifo_usage_count );
!   }
  
    return RTAPI_SUCCESS;
--- 973,978 ----
    fifo_usage_count--;
  
!   rtapi_print_dbg(VERBOSE, "RTAPI: delete_fifo %p, count = %d\n",
! 		  fifo, fifo_usage_count);
  
    return RTAPI_SUCCESS;

Index: rtl_ulapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/rtl_ulapi.c,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** rtl_ulapi.c	5 Aug 2003 03:51:00 -0000	1.3
--- rtl_ulapi.c	9 Aug 2003 19:43:09 -0000	1.4
***************
*** 90,99 ****
    char keystr[KEYSTR_LEN];
  
! printf ( "ulapi_shmem_new: entry\n" );
    /* validate shmemptr */
    if (shmemptr == NULL) {
      return ULAPI_INVAL;
    }
! printf ( "ulapi_shmem_new: pointer OK\n" );
    /* alloc space for shmem structure */
    shmem = malloc(sizeof(struct ulapi_shmem));
--- 90,99 ----
    char keystr[KEYSTR_LEN];
  
!   printf("ulapi_shmem_new: entry\n");
    /* validate shmemptr */
    if (shmemptr == NULL) {
      return ULAPI_INVAL;
    }
!   printf("ulapi_shmem_new: pointer OK\n");
    /* alloc space for shmem structure */
    shmem = malloc(sizeof(struct ulapi_shmem));
***************
*** 101,110 ****
      return ULAPI_NOMEM;
    }
! printf ( "ulapi_shmem_new: allocated struct\n" );
  
    /* convert key to a string */
    genstr((unsigned int) key, keystr);
    /* now get shared memory block from OS */
! printf ( "ulapi_shmem_new: converted key\n" );
    shmem->mem = mbuff_alloc(keystr, size);
    if (shmem->mem == NULL) {
--- 101,110 ----
      return ULAPI_NOMEM;
    }
!   printf("ulapi_shmem_new: allocated struct\n");
  
    /* convert key to a string */
    genstr((unsigned int) key, keystr);
    /* now get shared memory block from OS */
!   printf("ulapi_shmem_new: converted key\n");
    shmem->mem = mbuff_alloc(keystr, size);
    if (shmem->mem == NULL) {
***************
*** 112,116 ****
      return ULAPI_NOMEM;
    }
! printf ( "ulapi_shmem_new: opened shmbuf\n" );
  
    /* label as a valid shmem structure */
--- 112,116 ----
      return ULAPI_NOMEM;
    }
!   printf("ulapi_shmem_new: opened shmbuf\n");
  
    /* label as a valid shmem structure */

Index: sim_rtapi.c
===================================================================
RCS file: /cvsroot/emc/rtapi/src/rtapi/sim_rtapi.c,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** sim_rtapi.c	4 Aug 2003 06:00:25 -0000	1.5
--- sim_rtapi.c	9 Aug 2003 19:43:09 -0000	1.6
***************
*** 20,38 ****
  
  struct rtapi_task {
! 	int         magic;                 /* to check for valid handle */
! 	pthread_t   id;                    /* OS specific task identifier */
! 	int         arg;                   /* argument for task function */
! 	void      (*taskcode)( int );      /* pointer to task function */
! 	};
  
  struct rtapi_shmem {
! 	int         magic;                 /* to check for valid handle */
! 	int         key;                   /* key to shared memory area */
! 	int         id;                    /* OS identifier for shmem */
! 	unsigned long int size;            /* size of shared memory area */
! 	void       *mem;                   /* pointer to the memory */
! 	};
  
! #define TASK_MAGIC    21979   /* random numbers used as signatures */
  #define SHMEM_MAGIC   25453
  
--- 20,38 ----
  
  struct rtapi_task {
!   int magic;			/* to check for valid handle */
!   pthread_t id;			/* OS specific task identifier */
!   int arg;			/* argument for task function */
!   void (*taskcode) (int);	/* pointer to task function */
! };
  
  struct rtapi_shmem {
!   int magic;			/* to check for valid handle */
!   int key;			/* key to shared memory area */
!   int id;			/* OS identifier for shmem */
!   unsigned long int size;	/* size of shared memory area */
!   void *mem;			/* pointer to the memory */
! };
  
! #define TASK_MAGIC    21979	/* random numbers used as signatures */
  #define SHMEM_MAGIC   25453
  
***************
*** 82,89 ****
  int rtapi_init(void)
  {
! int n;
    /* clear the task array - if magic doesn't contain the magic
       number, that means that array entry is empty */
!   for ( n = 0 ; n < MAX_TASKS ; n++ )
      task_array[n].magic = 0;
  
--- 82,89 ----
  int rtapi_init(void)
  {
!   int n;
    /* clear the task array - if magic doesn't contain the magic
       number, that means that array entry is empty */
!   for (n = 0; n < MAX_TASKS; n++)
      task_array[n].magic = 0;
  
***************
*** 104,114 ****
  
  
! int rtapi_task_new( rtapi_task_handle *taskptr )
  {
! int n;
! rtapi_task_handle task;
  
    /* validate taskptr */
!   if ( taskptr == NULL )
      return RTAPI_INVAL;
  
--- 104,114 ----
  
  
! int rtapi_task_new(rtapi_task_handle * taskptr)
  {
!   int n;
!   rtapi_task_handle task;
  
    /* validate taskptr */
!   if (taskptr == NULL)
      return RTAPI_INVAL;
  
***************
*** 120,127 ****
       atomic test and set for the magic number.  Not tonight! */
    n = 0;
!   while ( ( n < MAX_TASKS ) &&
!           ( task_array[n].magic == TASK_MAGIC ) )
      n++;
!   if ( n == MAX_TASKS )
      return RTAPI_NOMEM;
    task = &(task_array[n]);
--- 120,126 ----
       atomic test and set for the magic number.  Not tonight! */
    n = 0;
!   while ((n < MAX_TASKS) && (task_array[n].magic == TASK_MAGIC))
      n++;
!   if (n == MAX_TASKS)
      return RTAPI_NOMEM;
    task = &(task_array[n]);
***************
*** 138,147 ****
  
  
! int rtapi_task_delete( rtapi_task_handle task )
  {
    /* validate task handle */
!   if ( task == NULL )
      return RTAPI_BADH;
!   if ( task->magic != TASK_MAGIC )
      return RTAPI_BADH;
  
--- 137,146 ----
  
  
! int rtapi_task_delete(rtapi_task_handle task)
  {
    /* validate task handle */
!   if (task == NULL)
      return RTAPI_BADH;
!   if (task->magic != TASK_MAGIC)
      return RTAPI_BADH;
  
***************
*** 156,167 ****
  /* we solve this with a wrapper function that meets pthread's needs */
  
! static void *wrapper ( void *arg )
  {
! rtapi_task_handle task;
  
    /* use the argument to point to the task data */
    task = arg;
    /* call the task function with the task argument */
!   (task->taskcode)( task->arg );
    /* done */
    return NULL;
--- 155,166 ----
  /* we solve this with a wrapper function that meets pthread's needs */
  
! static void *wrapper(void *arg)
  {
!   rtapi_task_handle task;
  
    /* use the argument to point to the task data */
    task = arg;
    /* call the task function with the task argument */
!   (task->taskcode) (task->arg);
    /* done */
    return NULL;
***************
*** 169,178 ****
  
  
! int rtapi_task_start( rtapi_task_handle task,
!                       void (*taskcode)( int ),
!                       int arg, int prio,
!                       unsigned long int stacksize,
!                       unsigned long int period_nsec,
!                       unsigned char uses_fp )
  {
    int retval;
--- 168,176 ----
  
  
! int rtapi_task_start(rtapi_task_handle task,
! 		     void (*taskcode) (int),
! 		     int arg, int prio,
! 		     unsigned long int stacksize,
! 		     unsigned long int period_nsec, unsigned char uses_fp)
  {
    int retval;
***************
*** 181,210 ****
  
    /* validate task handle */
!   if ( task == NULL )
      return RTAPI_BADH;
!   if ( task->magic != TASK_MAGIC )
      return RTAPI_BADH;
  
    /* check requested priority */
!   if ( ( prio < rtapi_prio_highest() ) ||
!        ( prio > rtapi_prio_lowest() ) )
      return RTAPI_INVAL;
  
    /* get default thread attributes */
!   pthread_attr_init( &attr );
  
    /* set priority */
    sched_param.sched_priority = prio;
!   pthread_attr_setschedparam( &attr, &sched_param );
  
    /* create the thread - use the wrapper function, pass it a pointer
!   to the task structure so it can call the actual task function */
    task->taskcode = taskcode;
    task->arg = arg;
!   retval = pthread_create( &(task->id), &attr, wrapper, (void *)task );
!   if ( retval != 0 )
      return RTAPI_NOMEM;
!   retval = pthread_setschedparam( task->id, SCHED_FIFO, &sched_param);
!   if ( retval != 0 )
      /* need to be root to set SCHED_FIFO */
      return RTAPI_PERM;
--- 179,207 ----
  
    /* validate task handle */
!   if (task == NULL)
      return RTAPI_BADH;
!   if (task->magic != TASK_MAGIC)
      return RTAPI_BADH;
  
    /* check requested priority */
!   if ((prio < rtapi_prio_highest()) || (prio > rtapi_prio_lowest()))
      return RTAPI_INVAL;
  
    /* get default thread attributes */
!   pthread_attr_init(&attr);
  
    /* set priority */
    sched_param.sched_priority = prio;
!   pthread_attr_setschedparam(&attr, &sched_param);
  
    /* create the thread - use the wrapper function, pass it a pointer
!      to the task structure so it can call the actual task function */
    task->taskcode = taskcode;
    task->arg = arg;
!   retval = pthread_create(&(task->id), &attr, wrapper, (void *) task);
!   if (retval != 0)
      return RTAPI_NOMEM;
!   retval = pthread_setschedparam(task->id, SCHED_FIFO, &sched_param);
!   if (retval != 0)
      /* need to be root to set SCHED_FIFO */
      return RTAPI_PERM;
***************
*** 213,272 ****
  
  
! int rtapi_task_stop( rtapi_task_handle task )
  {
! int retval;
  
    /* validate task handle */
!   if ( task == NULL )
      return RTAPI_BADH;
!   if ( task->magic != TASK_MAGIC )
      return RTAPI_BADH;
  
!   retval = pthread_cancel( task->id );
!   if ( retval != 0 )
      return RTAPI_FAIL;
    return RTAPI_SUCCESS;
  }
  
! int rtapi_task_pause( rtapi_task_handle task )
  {
  
    /* validate task handle */
!   if ( task == NULL )
      return RTAPI_BADH;
!   if ( task->magic != TASK_MAGIC )
      return RTAPI_BADH;
  
    /* FIXME - Fred originally had this function return success.
!   I changed it to return Not Supported.  Is that right? */
    return RTAPI_UNSUP;
  }
  
! int rtapi_task_resume( rtapi_task_handle task )
  {
  
    /* validate task handle */
!   if ( task == NULL )
      return RTAPI_BADH;
!   if ( task->magic != TASK_MAGIC )
      return RTAPI_BADH;
  
    /* FIXME - Fred originally had this function return success.
!   I changed it to return Not Supported.  Is that right? */
    return RTAPI_UNSUP;
  }
  
  
! int rtapi_task_set_period( rtapi_task_handle task,
!                            unsigned long int period_nsec )
  {
    /* validate task handle */
!   if ( task == NULL )
      return RTAPI_BADH;
!   if ( task->magic != TASK_MAGIC )
      return RTAPI_BADH;
  
    /* FIXME - Fred originally had this function return success.
!   I changed it to return Not Supported.  Is that right? */
    return RTAPI_UNSUP;
  }
--- 210,269 ----
  
  
! int rtapi_task_stop(rtapi_task_handle task)
  {
!   int retval;
  
    /* validate task handle */
!   if (task == NULL)
      return RTAPI_BADH;
!   if (task->magic != TASK_MAGIC)
      return RTAPI_BADH;
  
!   retval = pthread_cancel(task->id);
!   if (retval != 0)
      return RTAPI_FAIL;
    return RTAPI_SUCCESS;
  }
  
! int rtapi_task_pause(rtapi_task_handle task)
  {
  
    /* validate task handle */
!   if (task == NULL)
      return RTAPI_BADH;
!   if (task->magic != TASK_MAGIC)
      return RTAPI_BADH;
  
    /* FIXME - Fred originally had this function return success.
!      I changed it to return Not Supported.  Is that right? */
    return RTAPI_UNSUP;
  }
  
! int rtapi_task_resume(rtapi_task_handle task)
  {
  
    /* validate task handle */
!   if (task == NULL)
      return RTAPI_BADH;
!   if (task->magic != TASK_MAGIC)
      return RTAPI_BADH;
  
    /* FIXME - Fred originally had this function return success.
!      I changed it to return Not Supported.  Is that right? */
    return RTAPI_UNSUP;
  }
  
  
! int rtapi_task_set_period(rtapi_task_handle task,
! 			  unsigned long int period_nsec)
  {
    /* validate task handle */
!   if (task == NULL)
      return RTAPI_BADH;
!   if (task->magic != TASK_MAGIC)
      return RTAPI_BADH;
  
    /* FIXME - Fred originally had this function return success.
!      I changed it to return Not Supported.  Is that right? */
    return RTAPI_UNSUP;
  }
***************
*** 282,292 ****
  
  
! int rtapi_task_get_handle( rtapi_task_handle *taskptr )
  {
! int n;
! pthread_t task_id;
  
    /* validate taskptr */
!   if ( taskptr == NULL )
      return RTAPI_INVAL;
  
--- 279,289 ----
  
  
! int rtapi_task_get_handle(rtapi_task_handle * taskptr)
  {
!   int n;
!   pthread_t task_id;
  
    /* validate taskptr */
!   if (taskptr == NULL)
      return RTAPI_INVAL;
  
***************
*** 296,302 ****
    /* search task array for a matching entry */
    n = 0;
!   while ( n < MAX_TASKS ) {
!     if ( ( task_array[n].magic == TASK_MAGIC ) &&
!          ( task_array[n].id == task_id ) ) {
        /* found it */
        *taskptr = &(task_array[n]);
--- 293,298 ----
    /* search task array for a matching entry */
    n = 0;
!   while (n < MAX_TASKS) {
!     if ((task_array[n].magic == TASK_MAGIC) && (task_array[n].id == task_id)) {
        /* found it */
        *taskptr = &(task_array[n]);
***************
*** 309,336 ****
  
  
! int rtapi_shmem_new( int key, unsigned int size,
!                      rtapi_shmem_handle *shmemptr )
  {
! rtapi_shmem_handle shmem;
  
    /* validate shmemptr */
!   if ( shmemptr == NULL )
      return RTAPI_INVAL;
  
    /* alloc space for shmem structure */
!   shmem = malloc( sizeof(struct rtapi_shmem) );
!   if ( shmem == NULL )
      return RTAPI_NOMEM;
  
    /* now get shared memory block from OS */
!   shmem->id = shmget( (key_t) key, (int) size, IPC_CREAT | 0666 );
!   if ( shmem->id == -1 ) {
!     free ( shmem );
      return RTAPI_NOMEM;
    }
    /* and map it into process space */
!   shmem->mem = shmat( shmem->id, 0, 0);
!   if ( (int)(shmem->mem) == -1 ) {
!     free ( shmem );
      return RTAPI_NOMEM;
    }
--- 305,331 ----
  
  
! int rtapi_shmem_new(int key, unsigned int size, rtapi_shmem_handle * shmemptr)
  {
!   rtapi_shmem_handle shmem;
  
    /* validate shmemptr */
!   if (shmemptr == NULL)
      return RTAPI_INVAL;
  
    /* alloc space for shmem structure */
!   shmem = malloc(sizeof(struct rtapi_shmem));
!   if (shmem == NULL)
      return RTAPI_NOMEM;
  
    /* now get shared memory block from OS */
!   shmem->id = shmget((key_t) key, (int) size, IPC_CREAT | 0666);
!   if (shmem->id == -1) {
!     free(shmem);
      return RTAPI_NOMEM;
    }
    /* and map it into process space */
!   shmem->mem = shmat(shmem->id, 0, 0);
!   if ((int) (shmem->mem) == -1) {
!     free(shmem);
      return RTAPI_NOMEM;
    }
***************
*** 348,357 ****
  
  
! int rtapi_shmem_getptr ( rtapi_shmem_handle shmem, void **ptr )
  {
    /* validate shmem handle */
!   if ( shmem == NULL )
      return RTAPI_BADH;
!   if ( shmem->magic != SHMEM_MAGIC )
      return RTAPI_BADH;
  
--- 343,352 ----
  
  
! int rtapi_shmem_getptr(rtapi_shmem_handle shmem, void **ptr)
  {
    /* validate shmem handle */
!   if (shmem == NULL)
      return RTAPI_BADH;
!   if (shmem->magic != SHMEM_MAGIC)
      return RTAPI_BADH;
  
***************
*** 362,381 ****
  
  
! int rtapi_shmem_delete( rtapi_shmem_handle shmem )
  {
! struct shmid_ds d;
! int r1, r2;
  
    /* validate shmem handle */
!   if ( shmem == NULL )
      return RTAPI_BADH;
!   if ( shmem->magic != SHMEM_MAGIC )
      return RTAPI_BADH;
  
    /* unmap the shared memory */
!   r1 = shmdt( shmem->mem );
  
    /* destroy the shared memory */
!   r2 = shmctl( shmem->id, IPC_RMID, &d );
    /* FIXME - Fred had the first two arguments reversed.  I changed
       them to match the shmctl man page on my machine.  Since his way
--- 357,376 ----
  
  
! int rtapi_shmem_delete(rtapi_shmem_handle shmem)
  {
!   struct shmid_ds d;
!   int r1, r2;
  
    /* validate shmem handle */
!   if (shmem == NULL)
      return RTAPI_BADH;
!   if (shmem->magic != SHMEM_MAGIC)
      return RTAPI_BADH;
  
    /* unmap the shared memory */
!   r1 = shmdt(shmem->mem);
  
    /* destroy the shared memory */
!   r2 = shmctl(shmem->id, IPC_RMID, &d);
    /* FIXME - Fred had the first two arguments reversed.  I changed
       them to match the shmctl man page on my machine.  Since his way
***************
*** 385,391 ****
    /* free the shmem structure */
    shmem->magic = 0;
!   free ( shmem );
  
!   if ( ( r1 != 0 ) || ( r2 != 0 ) )
      return RTAPI_FAIL;
    return RTAPI_SUCCESS;
--- 380,386 ----
    /* free the shmem structure */
    shmem->magic = 0;
!   free(shmem);
  
!   if ((r1 != 0) || (r2 != 0))
      return RTAPI_FAIL;
    return RTAPI_SUCCESS;
***************
*** 402,405 ****
--- 397,411 ----
  }
  
+ 
+ void rtapi_print_dbg(int dbg, const char *fmt, ...)
+ {
+   va_list args;
+ 
+   va_start(args, fmt);
+   vprintf(fmt, args);
+   va_end(args);
+ }
+ 
+ 
  void rtapi_outb(unsigned char byte, unsigned int port)
  {
***************
*** 426,435 ****
  }
  
! int rtapi_enable_interrupt( unsigned int irq )
  {
    return RTAPI_UNSUP;
  }
  
! int rtapi_disable_interrupt( unsigned int irq )
  {
    return RTAPI_UNSUP;
--- 432,441 ----
  }
  
! int rtapi_enable_interrupt(unsigned int irq)
  {
    return RTAPI_UNSUP;
  }
  
! int rtapi_disable_interrupt(unsigned int irq)
  {
    return RTAPI_UNSUP;
***************
*** 439,463 ****
  /* FIXME - no support for semaphores */
  
! int rtapi_sem_new( rtapi_sem_handle *semptr )
  {
    return RTAPI_UNSUP;
  }
  
! int rtapi_sem_delete( rtapi_sem_handle sem )
  {
    return RTAPI_UNSUP;
  }
  
! int rtapi_sem_give( rtapi_sem_handle sem )
  {
    return RTAPI_UNSUP;
  }
  
! int rtapi_sem_take( rtapi_sem_handle sem )
  {
    return RTAPI_UNSUP;
  }
  
! int rtapi_sem_try( rtapi_sem_handle sem )
  {
    return RTAPI_UNSUP;
--- 445,469 ----
  /* FIXME - no support for semaphores */
  
! int rtapi_sem_new(rtapi_sem_handle * semptr)
  {
    return RTAPI_UNSUP;
  }
  
! int rtapi_sem_delete(rtapi_sem_handle sem)
  {
    return RTAPI_UNSUP;
  }
  
! int rtapi_sem_give(rtapi_sem_handle sem)
  {
    return RTAPI_UNSUP;
  }
  
! int rtapi_sem_take(rtapi_sem_handle sem)
  {
    return RTAPI_UNSUP;
  }
  
! int rtapi_sem_try(rtapi_sem_handle sem)
  {
    return RTAPI_UNSUP;
***************
*** 467,493 ****
  /* FIXME - no support for fifos */
  
! int rtapi_fifo_new( int key, unsigned long int size,
!                     rtapi_fifo_handle *fifoptr )
  {
    return RTAPI_UNSUP;
  }
  
! int rtapi_fifo_delete( rtapi_fifo_handle fifo )
  {
    return RTAPI_UNSUP;
  }
  
! int rtapi_fifo_read( rtapi_fifo_handle fifo,
!                      char *buf, unsigned long int size)
  {
    return RTAPI_UNSUP;
  }
  
! int rtapi_fifo_write( rtapi_fifo_handle fifo,
!                       char *buf, unsigned long int size)
  {
    return RTAPI_UNSUP;
  }
- 
- 
- 
--- 473,495 ----
  /* FIXME - no support for fifos */
  
! int rtapi_fifo_new(int key, unsigned long int size,
! 		   rtapi_fifo_handle * fifoptr)
  {
    return RTAPI_UNSUP;
  }
  
! int rtapi_fifo_delete(rtapi_fifo_handle fifo)
  {
    return RTAPI_UNSUP;
  }
  
! int rtapi_fifo_read(rtapi_fifo_handle fifo, char *buf, unsigned long int size)
  {
    return RTAPI_UNSUP;
  }
  
! int rtapi_fifo_write(rtapi_fifo_handle fifo,
! 		     char *buf, unsigned long int size)
  {
    return RTAPI_UNS...
 
[truncated message content]

[Emc-commit] rtapi/examples/fifo fifotask.c,1.8,1.9

[<pa...@us...>]

Update of /cvsroot/emc/rtapi/examples/fifo
In directory sc8-pr-cvs1:/tmp/cvs-serv30095

Modified Files:
	fifotask.c 
Log Message:
Started using rtapi_print_dbg

Index: fifotask.c
===================================================================
RCS file: /cvsroot/emc/rtapi/examples/fifo/fifotask.c,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** fifotask.c	5 Aug 2003 03:51:00 -0000	1.8
--- fifotask.c	9 Aug 2003 19:35:28 -0000	1.9
***************
*** 11,15 ****
  static rtapi_task_handle fifo_task = 0;	/* the task structure */
  static rtapi_fifo_handle fifo;
! enum { TIMER_PERIOD_NSEC =  10000000 };	/* timer period, in nanoseconds */
  enum { FIFO_PERIOD_NSEC = 1000000000 };	/* timer period, in nanoseconds */
  enum { FIFO_STACKSIZE = 1024 };	/* how big the stack is */
--- 11,15 ----
  static rtapi_task_handle fifo_task = 0;	/* the task structure */
  static rtapi_fifo_handle fifo;
! enum { TIMER_PERIOD_NSEC = 10000000 };	/* timer period, in nanoseconds */
  enum { FIFO_PERIOD_NSEC = 1000000000 };	/* timer period, in nanoseconds */
  enum { FIFO_STACKSIZE = 1024 };	/* how big the stack is */
***************
*** 29,33 ****
      rtapi_fifo_write(fifo, buffer, count);
      buffer[n] = '\0';
!     rtapi_print("fifotask: wrote '%s'\n", buffer);
      count++;
      if (count > 9)
--- 29,33 ----
      rtapi_fifo_write(fifo, buffer, count);
      buffer[n] = '\0';
!     rtapi_print_dbg(4, "fifotask: wrote '%s'\n", buffer);
      count++;
      if (count > 9)
***************
*** 39,42 ****
--- 39,43 ----
  }
  
+ 
  /* part of the Linux kernel module that kicks off the fifo task */
  int rtapi_app_main(void)
***************
*** 48,53 ****
    retval = rtapi_fifo_new(FIFO_KEY, FIFO_SIZE, &fifo);
    if (retval != RTAPI_SUCCESS) {
!     rtapi_print("fifotask init: rtapi_fifo_new returned %d\n", retval);
!     return -1;
    }
  
--- 49,54 ----
    retval = rtapi_fifo_new(FIFO_KEY, FIFO_SIZE, &fifo);
    if (retval != RTAPI_SUCCESS) {
!     rtapi_print("fifotask init: rtapi_fifo_new failed with %d\n", retval);
!     goto no_fifo;
    }
  
***************
*** 55,60 ****
    retval = rtapi_clock_set_period(TIMER_PERIOD_NSEC);
    if (retval != RTAPI_SUCCESS) {
!     rtapi_print("fifotask init: rtapi_clock_set_period returned %d\n", retval);
!     return -1;
    }
  
--- 56,62 ----
    retval = rtapi_clock_set_period(TIMER_PERIOD_NSEC);
    if (retval != RTAPI_SUCCESS) {
!     rtapi_print("fifotask init: rtapi_clock_set_period failed with %d\n",
! 		retval);
!     goto no_task;
    }
  
***************
*** 65,70 ****
    retval = rtapi_task_new(&fifo_task);
    if (retval != RTAPI_SUCCESS) {
!     rtapi_print("fifotask init: rtapi_task_new returned %d\n", retval);
!     return -1;
    }
  
--- 67,72 ----
    retval = rtapi_task_new(&fifo_task);
    if (retval != RTAPI_SUCCESS) {
!     rtapi_print("fifotask init: rtapi_task_new failed with %d\n", retval);
!     goto no_task;
    }
  
***************
*** 74,79 ****
  			    FIFO_STACKSIZE, FIFO_PERIOD_NSEC, RTAPI_NO_FP);
    if (retval != RTAPI_SUCCESS) {
!     rtapi_print("fifotask init: rtapi_task_start returned %d\n", retval);
!     return -1;
    }
  
--- 76,81 ----
  			    FIFO_STACKSIZE, FIFO_PERIOD_NSEC, RTAPI_NO_FP);
    if (retval != RTAPI_SUCCESS) {
!     rtapi_print("fifotask init: rtapi_task_start failed with %d\n", retval);
!     goto no_start;
    }
  
***************
*** 81,84 ****
--- 83,94 ----
  
    return 0;
+ 
+ /* clean up after failures so that the rtapi can be removed cleanly */
+ no_start:
+   rtapi_task_delete(fifo_task);
+ no_task:
+   rtapi_fifo_delete(fifo);
+ no_fifo:
+   return retval;
  }
  
***************
*** 90,106 ****
    retval = rtapi_task_stop(fifo_task);
    if (retval != RTAPI_SUCCESS) {
!     rtapi_print("fifotask exit: rtapi_task_stop returned %d\n", retval);
!     return;
    }
    retval = rtapi_task_delete(fifo_task);
    if (retval != RTAPI_SUCCESS) {
!     rtapi_print("fifotask exit: rtapi_task_delete returned %d\n", retval);
!     return;
    }
  
    retval = rtapi_fifo_delete(fifo);
    if (retval != RTAPI_SUCCESS) {
!     rtapi_print("fifotask exit: rtapi_fifo_delete returned %d\n", retval);
!     return;
    }
  
--- 100,114 ----
    retval = rtapi_task_stop(fifo_task);
    if (retval != RTAPI_SUCCESS) {
!     rtapi_print("fifotask exit: rtapi_task_stop failed with %d\n", retval);
    }
+ 
    retval = rtapi_task_delete(fifo_task);
    if (retval != RTAPI_SUCCESS) {
!     rtapi_print("fifotask exit: rtapi_task_delete failed with %d\n", retval);
    }
  
    retval = rtapi_fifo_delete(fifo);
    if (retval != RTAPI_SUCCESS) {
!     rtapi_print("fifotask exit: rtapi_fifo_delete failed with %d\n", retval);
    }
  

[Emc-commit] rcslib Makefile.am,1.7.2.2,1.7.2.3 Makefile.in,1.7.2.2,1.7.2.3

[<wsh...@us...>]

Update of /cvsroot/emc/rcslib
In directory sc8-pr-cvs1:/tmp/cvs-serv32172

Modified Files:
      Tag: wps_multiplat_dev_branch
	Makefile.am Makefile.in 
Log Message:
Remove omac.hh

Index: Makefile.am
===================================================================
RCS file: /cvsroot/emc/rcslib/Makefile.am,v
retrieving revision 1.7.2.2
retrieving revision 1.7.2.3
diff -C2 -d -r1.7.2.2 -r1.7.2.3
*** Makefile.am	8 Aug 2003 16:38:58 -0000	1.7.2.2
--- Makefile.am	8 Aug 2003 17:31:01 -0000	1.7.2.3
***************
*** 722,726 ****
  	src/cms/udpmem.hh\
  	src/cms/xdr_msg.hh\
- 	src/cms/omac.hh\
  	src/cms/httpnml.hh\
  	src/node/cmd_msg.hh\
--- 722,725 ----

Index: Makefile.in
===================================================================
RCS file: /cvsroot/emc/rcslib/Makefile.in,v
retrieving revision 1.7.2.2
retrieving revision 1.7.2.3
diff -C2 -d -r1.7.2.2 -r1.7.2.3
*** Makefile.in	8 Aug 2003 16:38:58 -0000	1.7.2.2
--- Makefile.in	8 Aug 2003 17:31:01 -0000	1.7.2.3
***************
*** 815,819 ****
  	src/cms/udpmem.hh\
  	src/cms/xdr_msg.hh\
- 	src/cms/omac.hh\
  	src/cms/httpnml.hh\
  	src/node/cmd_msg.hh\
--- 815,818 ----

[Emc-commit] rcslib Makefile.am,1.7.2.1,1.7.2.2 Makefile.in,1.7.2.1,1.7.2.2 configure,1.3.2.1,1.3.2.2 rcs_config.h.in,1.1.2.1,1.1.2.2

[<wsh...@us...>]

Update of /cvsroot/emc/rcslib
In directory sc8-pr-cvs1:/tmp/cvs-serv23060

Modified Files:
      Tag: wps_multiplat_dev_branch
	Makefile.am Makefile.in configure rcs_config.h.in 
Log Message:
Remove w3c stuff

Index: Makefile.am
===================================================================
RCS file: /cvsroot/emc/rcslib/Makefile.am,v
retrieving revision 1.7.2.1
retrieving revision 1.7.2.2
diff -C2 -d -r1.7.2.1 -r1.7.2.2
*** Makefile.am	8 Aug 2003 14:21:04 -0000	1.7.2.1
--- Makefile.am	8 Aug 2003 16:38:58 -0000	1.7.2.2
***************
*** 575,580 ****
  	src/stg_clss/Makefile.lib\
  	src/test/Makefile\
- 	src/w3c/Makefile\
- 	src/w3c/Makefile.lib\
  	src/java/test.nml\
  	src/test/cgtest.nml\
--- 575,578 ----
***************
*** 671,804 ****
  	src/posemath/posemath.h\
  	src/posemath/sincos.h\
- 	src/w3c/HTAABrow.h\
- 	src/w3c/HTAAUtil.h\
- 	src/w3c/HTANSI.h\
- 	src/w3c/HTAccess.h\
- 	src/w3c/HTAlert.h\
- 	src/w3c/HTAncMan.h\
- 	src/w3c/HTAnchor.h\
- 	src/w3c/HTArray.h\
- 	src/w3c/HTAssoc.h\
- 	src/w3c/HTAtom.h\
- 	src/w3c/HTBInit.h\
- 	src/w3c/HTBTree.h\
- 	src/w3c/HTBind.h\
- 	src/w3c/HTBound.h\
- 	src/w3c/HTBufWrt.h\
- 	src/w3c/HTCache.h\
- 	src/w3c/HTChannl.h\
- 	src/w3c/HTChunk.h\
- 	src/w3c/HTConLen.h\
- 	src/w3c/HTDNS.h\
- 	src/w3c/HTDescpt.h\
- 	src/w3c/HTDialog.h\
- 	src/w3c/HTDir.h\
- 	src/w3c/HTEPtoCl.h\
- 	src/w3c/HTError.h\
- 	src/w3c/HTEscape.h\
- 	src/w3c/HTEvent.h\
- 	src/w3c/HTEvntrg.h\
- 	src/w3c/HTFTP.h\
- 	src/w3c/HTFTPDir.h\
- 	src/w3c/HTFWrite.h\
- 	src/w3c/HTFile.h\
- 	src/w3c/HTFilter.h\
- 	src/w3c/HTFormat.h\
- 	src/w3c/HTGopher.h\
- 	src/w3c/HTGuess.h\
- 	src/w3c/HTHInit.h\
- 	src/w3c/HTHeader.h\
- 	src/w3c/HTHist.h\
- 	src/w3c/HTHome.h\
- 	src/w3c/HTHost.h\
- 	src/w3c/HTIOStream.h\
- 	src/w3c/HTIcons.h\
- 	src/w3c/HTInet.h\
- 	src/w3c/HTInit.h\
- 	src/w3c/HTLib.h\
- 	src/w3c/HTLink.h\
- 	src/w3c/HTList.h\
- 	src/w3c/HTLocal.h\
- 	src/w3c/HTLog.h\
- 	src/w3c/HTMIME.h\
- 	src/w3c/HTMIMERq.h\
- 	src/w3c/HTMIMImp.h\
- 	src/w3c/HTMIMPrs.h\
- 	src/w3c/HTML.h\
- 	src/w3c/HTMLGen.h\
- 	src/w3c/HTMLPDTD.h\
- 	src/w3c/HTMemory.h\
- 	src/w3c/HTMerge.h\
- 	src/w3c/HTMethod.h\
- 	src/w3c/HTMulpar.h\
- 	src/w3c/HTMulti.h\
- 	src/w3c/HTMux.h\
- 	src/w3c/HTNDir.h\
- 	src/w3c/HTNet.h\
- 	src/w3c/HTNetMan.h\
- 	src/w3c/HTNetTxt.h\
- 	src/w3c/HTNews.h\
- 	src/w3c/HTNewsLs.h\
- 	src/w3c/HTNewsRq.h\
- 	src/w3c/HTPEP.h\
- 	src/w3c/HTParse.h\
- 	src/w3c/HTPlain.h\
- 	src/w3c/HTProfil.h\
- 	src/w3c/HTProt.h\
- 	src/w3c/HTProxy.h\
- 	src/w3c/HTReader.h\
- 	src/w3c/HTReq.h\
- 	src/w3c/HTReqMan.h\
- 	src/w3c/HTResMan.h\
- 	src/w3c/HTResponse.h\
- 	src/w3c/HTRules.h\
- 	src/w3c/HTSChunk.h\
- 	src/w3c/HTSocket.h\
- 	src/w3c/HTStream.h\
- 	src/w3c/HTString.h\
- 	src/w3c/HTStruct.h\
- 	src/w3c/HTStyle.h\
- 	src/w3c/HTTCP.h\
- 	src/w3c/HTTChunk.h\
- 	src/w3c/HTTP.h\
- 	src/w3c/HTTPGen.h\
- 	src/w3c/HTTPReq.h\
- 	src/w3c/HTTPRes.h\
- 	src/w3c/HTTPServ.h\
- 	src/w3c/HTTPUtil.h\
- 	src/w3c/HTTeXGen.h\
- 	src/w3c/HTTee.h\
- 	src/w3c/HTTelnet.h\
- 	src/w3c/HTTrans.h\
- 	src/w3c/HTUTree.h\
- 	src/w3c/HTUU.h\
- 	src/w3c/HTUser.h\
- 	src/w3c/HTUtils.h\
- 	src/w3c/HTWSRC.h\
- 	src/w3c/HTWWWStr.h\
- 	src/w3c/HTWriter.h\
- 	src/w3c/HTXParse.h\
- 	src/w3c/HText.h\
- 	src/w3c/SGML.h\
- 	src/w3c/WWWApp.h\
- 	src/w3c/WWWCache.h\
- 	src/w3c/WWWCore.h\
- 	src/w3c/WWWDir.h\
- 	src/w3c/WWWFTP.h\
- 	src/w3c/WWWFile.h\
- 	src/w3c/WWWGophe.h\
- 	src/w3c/WWWHTML.h\
- 	src/w3c/WWWHTTP.h\
- 	src/w3c/WWWInit.h\
- 	src/w3c/WWWLib.h\
- 	src/w3c/WWWMIME.h\
- 	src/w3c/WWWNews.h\
- 	src/w3c/WWWStream.h\
- 	src/w3c/WWWTelnt.h\
- 	src/w3c/WWWTrans.h\
- 	src/w3c/WWWUtil.h\
- 	src/w3c/WWWWAIS.h\
- 	src/w3c/sysdep.h\
- 	src/w3c/w3cconf.h\
  	src/rcs.hh\
  	src/rcs_defs.hh\
--- 669,672 ----

Index: Makefile.in
===================================================================
RCS file: /cvsroot/emc/rcslib/Makefile.in,v
retrieving revision 1.7.2.1
retrieving revision 1.7.2.2
diff -C2 -d -r1.7.2.1 -r1.7.2.2
*** Makefile.in	8 Aug 2003 14:21:04 -0000	1.7.2.1
--- Makefile.in	8 Aug 2003 16:38:58 -0000	1.7.2.2
***************
*** 667,672 ****
  	src/stg_clss/Makefile.lib\
  	src/test/Makefile\
- 	src/w3c/Makefile\
- 	src/w3c/Makefile.lib\
  	src/java/test.nml\
  	src/test/cgtest.nml\
--- 667,670 ----
***************
*** 764,897 ****
  	src/posemath/posemath.h\
  	src/posemath/sincos.h\
- 	src/w3c/HTAABrow.h\
- 	src/w3c/HTAAUtil.h\
- 	src/w3c/HTANSI.h\
- 	src/w3c/HTAccess.h\
- 	src/w3c/HTAlert.h\
- 	src/w3c/HTAncMan.h\
- 	src/w3c/HTAnchor.h\
- 	src/w3c/HTArray.h\
- 	src/w3c/HTAssoc.h\
- 	src/w3c/HTAtom.h\
- 	src/w3c/HTBInit.h\
- 	src/w3c/HTBTree.h\
- 	src/w3c/HTBind.h\
- 	src/w3c/HTBound.h\
- 	src/w3c/HTBufWrt.h\
- 	src/w3c/HTCache.h\
- 	src/w3c/HTChannl.h\
- 	src/w3c/HTChunk.h\
- 	src/w3c/HTConLen.h\
- 	src/w3c/HTDNS.h\
- 	src/w3c/HTDescpt.h\
- 	src/w3c/HTDialog.h\
- 	src/w3c/HTDir.h\
- 	src/w3c/HTEPtoCl.h\
- 	src/w3c/HTError.h\
- 	src/w3c/HTEscape.h\
- 	src/w3c/HTEvent.h\
- 	src/w3c/HTEvntrg.h\
- 	src/w3c/HTFTP.h\
- 	src/w3c/HTFTPDir.h\
- 	src/w3c/HTFWrite.h\
- 	src/w3c/HTFile.h\
- 	src/w3c/HTFilter.h\
- 	src/w3c/HTFormat.h\
- 	src/w3c/HTGopher.h\
- 	src/w3c/HTGuess.h\
- 	src/w3c/HTHInit.h\
- 	src/w3c/HTHeader.h\
- 	src/w3c/HTHist.h\
- 	src/w3c/HTHome.h\
- 	src/w3c/HTHost.h\
- 	src/w3c/HTIOStream.h\
- 	src/w3c/HTIcons.h\
- 	src/w3c/HTInet.h\
- 	src/w3c/HTInit.h\
- 	src/w3c/HTLib.h\
- 	src/w3c/HTLink.h\
- 	src/w3c/HTList.h\
- 	src/w3c/HTLocal.h\
- 	src/w3c/HTLog.h\
- 	src/w3c/HTMIME.h\
- 	src/w3c/HTMIMERq.h\
- 	src/w3c/HTMIMImp.h\
- 	src/w3c/HTMIMPrs.h\
- 	src/w3c/HTML.h\
- 	src/w3c/HTMLGen.h\
- 	src/w3c/HTMLPDTD.h\
- 	src/w3c/HTMemory.h\
- 	src/w3c/HTMerge.h\
- 	src/w3c/HTMethod.h\
- 	src/w3c/HTMulpar.h\
- 	src/w3c/HTMulti.h\
- 	src/w3c/HTMux.h\
- 	src/w3c/HTNDir.h\
- 	src/w3c/HTNet.h\
- 	src/w3c/HTNetMan.h\
- 	src/w3c/HTNetTxt.h\
- 	src/w3c/HTNews.h\
- 	src/w3c/HTNewsLs.h\
- 	src/w3c/HTNewsRq.h\
- 	src/w3c/HTPEP.h\
- 	src/w3c/HTParse.h\
- 	src/w3c/HTPlain.h\
- 	src/w3c/HTProfil.h\
- 	src/w3c/HTProt.h\
- 	src/w3c/HTProxy.h\
- 	src/w3c/HTReader.h\
- 	src/w3c/HTReq.h\
- 	src/w3c/HTReqMan.h\
- 	src/w3c/HTResMan.h\
- 	src/w3c/HTResponse.h\
- 	src/w3c/HTRules.h\
- 	src/w3c/HTSChunk.h\
- 	src/w3c/HTSocket.h\
- 	src/w3c/HTStream.h\
- 	src/w3c/HTString.h\
- 	src/w3c/HTStruct.h\
- 	src/w3c/HTStyle.h\
- 	src/w3c/HTTCP.h\
- 	src/w3c/HTTChunk.h\
- 	src/w3c/HTTP.h\
- 	src/w3c/HTTPGen.h\
- 	src/w3c/HTTPReq.h\
- 	src/w3c/HTTPRes.h\
- 	src/w3c/HTTPServ.h\
- 	src/w3c/HTTPUtil.h\
- 	src/w3c/HTTeXGen.h\
- 	src/w3c/HTTee.h\
- 	src/w3c/HTTelnet.h\
- 	src/w3c/HTTrans.h\
- 	src/w3c/HTUTree.h\
- 	src/w3c/HTUU.h\
- 	src/w3c/HTUser.h\
- 	src/w3c/HTUtils.h\
- 	src/w3c/HTWSRC.h\
- 	src/w3c/HTWWWStr.h\
- 	src/w3c/HTWriter.h\
- 	src/w3c/HTXParse.h\
- 	src/w3c/HText.h\
- 	src/w3c/SGML.h\
- 	src/w3c/WWWApp.h\
- 	src/w3c/WWWCache.h\
- 	src/w3c/WWWCore.h\
- 	src/w3c/WWWDir.h\
- 	src/w3c/WWWFTP.h\
- 	src/w3c/WWWFile.h\
- 	src/w3c/WWWGophe.h\
- 	src/w3c/WWWHTML.h\
- 	src/w3c/WWWHTTP.h\
- 	src/w3c/WWWInit.h\
- 	src/w3c/WWWLib.h\
- 	src/w3c/WWWMIME.h\
- 	src/w3c/WWWNews.h\
- 	src/w3c/WWWStream.h\
- 	src/w3c/WWWTelnt.h\
- 	src/w3c/WWWTrans.h\
- 	src/w3c/WWWUtil.h\
- 	src/w3c/WWWWAIS.h\
- 	src/w3c/sysdep.h\
- 	src/w3c/w3cconf.h\
  	src/rcs.hh\
  	src/rcs_defs.hh\
--- 762,765 ----
***************
*** 5890,5894 ****
  	$(am__remove_distdir)
  	mkdir $(distdir)
! 	$(mkinstalldirs) $(distdir)/etc $(distdir)/src $(distdir)/src/ce_miss $(distdir)/src/cms $(distdir)/src/java $(distdir)/src/java/diagapplet $(distdir)/src/java/diagapplet/CodeGen $(distdir)/src/java/diagapplet/plotter $(distdir)/src/java/diagapplet/utils $(distdir)/src/java/rcs $(distdir)/src/java/rcs/nml $(distdir)/src/java/rcs/posemath $(distdir)/src/java/rcs/utils $(distdir)/src/java/rcsdesign $(distdir)/src/java/ste $(distdir)/src/node $(distdir)/src/nt_xdr $(distdir)/src/os_intf $(distdir)/src/pcio $(distdir)/src/pmac $(distdir)/src/posemath $(distdir)/src/print $(distdir)/src/stg_clss $(distdir)/src/test $(distdir)/src/w3c
  	@list='$(DISTFILES)'; for file in $$list; do \
  	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
--- 5758,5762 ----
  	$(am__remove_distdir)
  	mkdir $(distdir)
! 	$(mkinstalldirs) $(distdir)/etc $(distdir)/src $(distdir)/src/ce_miss $(distdir)/src/cms $(distdir)/src/java $(distdir)/src/java/diagapplet $(distdir)/src/java/diagapplet/CodeGen $(distdir)/src/java/diagapplet/plotter $(distdir)/src/java/diagapplet/utils $(distdir)/src/java/rcs $(distdir)/src/java/rcs/nml $(distdir)/src/java/rcs/posemath $(distdir)/src/java/rcs/utils $(distdir)/src/java/rcsdesign $(distdir)/src/java/ste $(distdir)/src/node $(distdir)/src/nt_xdr $(distdir)/src/os_intf $(distdir)/src/pcio $(distdir)/src/pmac $(distdir)/src/posemath $(distdir)/src/print $(distdir)/src/stg_clss $(distdir)/src/test
  	@list='$(DISTFILES)'; for file in $$list; do \
  	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \

Index: configure
===================================================================
RCS file: /cvsroot/emc/rcslib/configure,v
retrieving revision 1.3.2.1
retrieving revision 1.3.2.2
diff -C2 -d -r1.3.2.1 -r1.3.2.2
*** configure	8 Aug 2003 14:21:06 -0000	1.3.2.1
--- configure	8 Aug 2003 16:38:59 -0000	1.3.2.2
***************
*** 1019,1022 ****
--- 1019,1023 ----
    --enable-shmem          Add shared memory support to CMS (default=yes)
    --enable-filemem        Add filemem support to CMS (default=no)
+   --enable-rtlmem         Add rtlmem support to CMS (default=no)
    --enable-locmem         Add locmem support to CMS (default=no)
    --enable-phantom        Add phantom support to CMS (default=no)
***************
*** 2001,2004 ****
--- 2002,2015 ----
  
  
+ # Check whether --enable-rtlmem or --disable-rtlmem was given.
+ if test "${enable_rtlmem+set}" = set; then
+   enableval="$enable_rtlmem"
+   enable_rtlmem=$enableval;
+ 	{ echo "$as_me:$LINENO: enable_rtlmem=$enableval" >&5
+ echo "$as_me: enable_rtlmem=$enableval" >&6;}
+ else
+   enable_rtlmem=no
+ fi;
+ 
  
  # Check whether --enable-locmem or --disable-locmem was given.
***************
*** 2225,2229 ****
  if test "${enable_ALL+set}" = set; then
    enableval="$enable_ALL"
!   enable_nml_codegen=${enableval};enable_rcs_jar=${enableval};enable_codegen_jar=${enableval};enable_diagapplet_jar=${enableval};enable_filemem=${enableval};enable_xml=${enableval};enable_xdr=${enableval};enable_disp=${enableval};enable_diag=${enableval};enable_print=${enableval};enable_nmlqr=${enableval};enable_xsd2nmlh=${enableval};enable_locmem=${enableval};enable_phantom=${enableval};enable_shmem=${enableval};enable_stcp=${enableval};enable_tcp=${enableval};enable_udp=${enableval};enable_tty=${enableval};enable_crypt=${enableval};enable_http=${enableval};enable_posemath_in_rcslib=${enableval};enable_nmlmod_in_rcslib=${enableval};enable_server=${enableval};enable_sokintrf=${enable_val}
  fi;
  
--- 2236,2240 ----
  if test "${enable_ALL+set}" = set; then
    enableval="$enable_ALL"
!   enable_nml_codegen=${enableval};enable_rcs_jar=${enableval};enable_codegen_jar=${enableval};enable_diagapplet_jar=${enableval};enable_filemem=${enableval};enable_xml=${enableval};enable_xdr=${enableval};enable_disp=${enableval};enable_diag=${enableval};enable_print=${enableval};enable_nmlqr=${enableval};enable_xsd2nmlh=${enableval};enable_locmem=${enableval};enable_phantom=${enableval};enable_shmem=${enableval};enable_stcp=${enableval};enable_tcp=${enableval};enable_udp=${enableval};enable_tty=${enableval};enable_crypt=${enableval};enable_http=${enableval};enable_posemath_in_rcslib=${enableval};enable_nmlmod_in_rcslib=${enableval};enable_server=${enableval};enable_sokintrf=${enable_val};enable_rtlmem=${enableval}
  fi;
  
***************
*** 5205,5209 ****
  *-*-irix6*)
    # Find out which ABI we are using.
!   echo '#line 5207 "configure"' > conftest.$ac_ext
    if { (eval echo "$as_me:$LINENO: \"$ac_compile\"") >&5
    (eval $ac_compile) 2>&5
--- 5216,5220 ----
  *-*-irix6*)
    # Find out which ABI we are using.
!   echo '#line 5218 "configure"' > conftest.$ac_ext
    if { (eval echo "$as_me:$LINENO: \"$ac_compile\"") >&5
    (eval $ac_compile) 2>&5
***************
*** 5741,5745 ****
  CFLAGS="$CFLAGS -o out/conftest2.$ac_objext"
  compiler_c_o=no
! if { (eval echo configure:5743: \"$ac_compile\") 1>&5; (eval $ac_compile) 2>out/conftest.err; } && test -s out/conftest2.$ac_objext; then
    # The compiler can only warn and ignore the option if not recognized
    # So say no if there are warnings
--- 5752,5756 ----
  CFLAGS="$CFLAGS -o out/conftest2.$ac_objext"
  compiler_c_o=no
! if { (eval echo configure:5754: \"$ac_compile\") 1>&5; (eval $ac_compile) 2>out/conftest.err; } && test -s out/conftest2.$ac_objext; then
    # The compiler can only warn and ignore the option if not recognized
    # So say no if there are warnings
***************
*** 7534,7538 ****
    lt_status=$lt_dlunknown
    cat > conftest.$ac_ext <<EOF
! #line 7536 "configure"
  #include "confdefs.h"
  
--- 7545,7549 ----
    lt_status=$lt_dlunknown
    cat > conftest.$ac_ext <<EOF
! #line 7547 "configure"
  #include "confdefs.h"
  
***************
*** 7632,7636 ****
    lt_status=$lt_dlunknown
    cat > conftest.$ac_ext <<EOF
! #line 7634 "configure"
  #include "confdefs.h"
  
--- 7643,7647 ----
    lt_status=$lt_dlunknown
    cat > conftest.$ac_ext <<EOF
! #line 7645 "configure"
  #include "confdefs.h"
  
***************
*** 8653,8659 ****
        { echo "$as_me:$LINENO: CONFIGURED_STATIC_LIBRARIES : ${CONFIGURED_STATIC_LIBRARIES}" >&5
  echo "$as_me: CONFIGURED_STATIC_LIBRARIES : ${CONFIGURED_STATIC_LIBRARIES}" >&6;};
!       LTLIBOBJS="${LTLIBOBJS} rtlnml.lo	rtlmem.lo rtlinux_user_api_implement.lo"
!       { echo "$as_me:$LINENO: LTLIBOBJS=${LTLIBOBJS}" >&5
  echo "$as_me: LTLIBOBJS=${LTLIBOBJS}" >&6;}
  
        else
--- 8664,8675 ----
        { echo "$as_me:$LINENO: CONFIGURED_STATIC_LIBRARIES : ${CONFIGURED_STATIC_LIBRARIES}" >&5
  echo "$as_me: CONFIGURED_STATIC_LIBRARIES : ${CONFIGURED_STATIC_LIBRARIES}" >&6;};
!       if test "x${enable_rtlmem}" = "xyes" ; then
! 	 LTLIBOBJS="${LTLIBOBJS} rtlnml.lo	rtlmem.lo rtlinux_user_api_implement.lo"
! 	 { echo "$as_me:$LINENO: LTLIBOBJS=${LTLIBOBJS}" >&5
  echo "$as_me: LTLIBOBJS=${LTLIBOBJS}" >&6;}
+ 	 CPPFLAGS="${CPPFLAGS} -DCMS_USE_RTLMEM"
+ 	 { echo "$as_me:$LINENO: CPPFLAGS : ${CPPFLAGS}" >&5
+ echo "$as_me: CPPFLAGS : ${CPPFLAGS}" >&6;}
+       fi
  
        else
***************
*** 8810,8817 ****
  				   { echo "$as_me:$LINENO: CONFIGURED_STATIC_LIBRARIES : ${CONFIGURED_STATIC_LIBRARIES}" >&5
  echo "$as_me: CONFIGURED_STATIC_LIBRARIES : ${CONFIGURED_STATIC_LIBRARIES}" >&6;};
! 				   LTLIBOBJS="${LTLIBOBJS} rtlnml.lo	rtlmem.lo rtai_user_api_implement.lo"
! 				   { echo "$as_me:$LINENO: LTLIBOBJS=${LTLIBOBJS}" >&5
! echo "$as_me: LTLIBOBJS=${LTLIBOBJS}" >&6;}
  
  			fi
  
--- 8826,8838 ----
  				   { echo "$as_me:$LINENO: CONFIGURED_STATIC_LIBRARIES : ${CONFIGURED_STATIC_LIBRARIES}" >&5
  echo "$as_me: CONFIGURED_STATIC_LIBRARIES : ${CONFIGURED_STATIC_LIBRARIES}" >&6;};
! 				   if test "x${enable_rtlmem}" = "xyes" ; then
  
+ 				      LTLIBOBJS="${LTLIBOBJS} rtlnml.lo	rtlmem.lo rtai_user_api_implement.lo"
+ 				      { echo "$as_me:$LINENO: LTLIBOBJS=${LTLIBOBJS}" >&5
+ echo "$as_me: LTLIBOBJS=${LTLIBOBJS}" >&6;}
+ 				      CPPFLAGS="${CPPFLAGS} -DCMS_USE_RTLMEM"
+ 				      { echo "$as_me:$LINENO: CPPFLAGS : ${CPPFLAGS}" >&5
+ echo "$as_me: CPPFLAGS : ${CPPFLAGS}" >&6;}
+ 				   fi
  			fi
  

Index: rcs_config.h.in
===================================================================
RCS file: /cvsroot/emc/rcslib/rcs_config.h.in,v
retrieving revision 1.1.2.1
retrieving revision 1.1.2.2
diff -C2 -d -r1.1.2.1 -r1.1.2.2
*** rcs_config.h.in	8 Aug 2003 14:21:06 -0000	1.1.2.1
--- rcs_config.h.in	8 Aug 2003 16:38:59 -0000	1.1.2.2
***************
*** 4,14 ****
  #undef BUILD_PLATFORM
  
- /* Define to the type of elements in the array set by `getgroups'. Usually
-    this is either `int' or `gid_t'. */
- #undef GETGROUPS_T
- 
- /* Define to 1 if you have the `alarm' function. */
- #undef HAVE_ALARM
- 
  /* Define to 1 if you have the <arpa/inet.h> header file. */
  #undef HAVE_ARPA_INET_H
--- 4,7 ----
***************
*** 32,38 ****
  #undef HAVE_DLFCN_H
  
- /* Define to 1 if you don't have `vprintf' but do have `_doprnt.' */
- #undef HAVE_DOPRNT
- 
  /* Define to 1 if you have the <errno.h> header file. */
  #undef HAVE_ERRNO_H
--- 25,28 ----
***************
*** 44,50 ****
  #undef HAVE_FLOOR
  
- /* Define to 1 if you have the `fork' function. */
- #undef HAVE_FORK
- 
  /* Define to 1 if you have the `fstat' function. */
  #undef HAVE_FSTAT
--- 34,37 ----
***************
*** 53,59 ****
  #undef HAVE_GETCWD
  
- /* Define to 1 if your system has a working `getgroups' function. */
- #undef HAVE_GETGROUPS
- 
  /* Define to 1 if you have the `gethostbyaddr' function. */
  #undef HAVE_GETHOSTBYADDR
--- 40,43 ----
***************
*** 65,71 ****
  #undef HAVE_GETHOSTNAME
  
- /* Define to 1 if you have the `getpagesize' function. */
- #undef HAVE_GETPAGESIZE
- 
  /* Define to 1 if you have the `getpass' function. */
  #undef HAVE_GETPASS
--- 49,52 ----
***************
*** 95,105 ****
  #undef HAVE_LOCALTIME_R
  
- /* Define to 1 if `lstat' has the bug that it succeeds when given the
-    zero-length file name argument. */
- #undef HAVE_LSTAT_EMPTY_STRING_BUG
- 
- /* Define to 1 if your system has a working `malloc' function. */
- #undef HAVE_MALLOC
- 
  /* Define to 1 if you have the <math.h> header file. */
  #undef HAVE_MATH_H
--- 76,79 ----
***************
*** 114,120 ****
  #undef HAVE_MEMSET
  
- /* Define to 1 if you have a working `mmap' system call. */
- #undef HAVE_MMAP
- 
  /* define if the compiler implements namespaces */
  #undef HAVE_NAMESPACES
--- 88,91 ----
***************
*** 177,184 ****
  #undef HAVE_STANDARDS_H
  
- /* Define to 1 if `stat' has the bug that it succeeds when given the
-    zero-length file name argument. */
- #undef HAVE_STAT_EMPTY_STRING_BUG
- 
  /* define if the compiler supports ISO C++ standard library */
  #undef HAVE_STD
--- 148,151 ----
***************
*** 202,208 ****
  #undef HAVE_STRERROR
  
- /* Define to 1 if you have the `strftime' function. */
- #undef HAVE_STRFTIME
- 
  /* Define to 1 if you have the <strings.h> header file. */
  #undef HAVE_STRINGS_H
--- 169,172 ----
***************
*** 315,337 ****
  #undef HAVE_USLEEP
  
- /* Define to 1 if you have the `vfork' function. */
- #undef HAVE_VFORK
- 
- /* Define to 1 if you have the <vfork.h> header file. */
- #undef HAVE_VFORK_H
- 
- /* Define to 1 if you have the `vprintf' function. */
- #undef HAVE_VPRINTF
- 
- /* Define to 1 if `fork' works. */
- #undef HAVE_WORKING_FORK
- 
- /* Define to 1 if `vfork' works. */
- #undef HAVE_WORKING_VFORK
- 
- /* Define to 1 if `lstat' dereferences a symlink specified with a trailing
-    slash. */
- #undef LSTAT_FOLLOWS_SLASHED_SYMLINK
- 
  /* if no thread system is available */
  #undef NO_THREADS
--- 279,282 ----
***************
*** 370,376 ****
  #undef POSIX_THREADS
  
- /* Define as the return type of signal handlers (`int' or `void'). */
- #undef RETSIGTYPE
- 
  /* Define to 1 if you have the ANSI C header files. */
  #undef STDC_HEADERS
--- 315,318 ----
***************
*** 421,425 ****
  /* Define to `int' if <sys/types.h> doesn't define. */
  #undef uid_t
- 
- /* Define as `fork' if `vfork' does not work. */
- #undef vfork
--- 363,364 ----