/usr/include/rtai/rtai_wd.h is in librtai-dev 3.8.1-4build1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 | /*
* Development of this (watchdog) module was sponsored by Alcatel, Strasbourg
* as part of general debugging enhancements to RTAI.
*
* Copyright (©) 2001 Ian Soanes <ians@lineo.com>, All rights reserved
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License as
* published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*/
#ifndef _RTAI_WD_H
#define _RTAI_WD_H
#include <rtai_types.h>
// Useful bits and pieces
#define NSECS_PER_SEC 1000000000
// For logging stuff
#define WDLOG(fmt, args...) rt_printk("RTAI[watchdog]: " fmt, ##args)
// What should happen to misbehaving tasks
typedef enum watchdog_policy {
WD_NOTHING, // Not recommended
WD_RESYNC, // Good for occasional overruns
WD_DEBUG, // Good for debugging oneshot tasks
WD_STRETCH, // Good for overrunning tasks
WD_SLIP, // Good for infinite loops
WD_SUSPEND, // Good for most things
WD_KILL // Death sentence
} wd_policy;
// Information about a misbehaving task
typedef struct bad_rt_task {
RT_TASK *task; // Pointer to the bad task
int in_use; // Allocated (static memory management)
int slipping; // In the process of being slipped
int countdown; // Watchdog ticks to stay suspended
int count; // How many times it's offended
int valid; // Still an existing RT task
int forced; // Forcibly suspended
RTIME orig_period; // Original period before adjustments
wd_policy policy; // Policy at time of last offence
struct bad_rt_task *next; // Next in list
} BAD_RT_TASK;
#define WD_INDX 2
#define WD_SET_GRACE 1
#define WD_SET_GRACEDIV 2
#define WD_SET_SAFETY 3
#define WD_SET_POLICY 4
#define WD_SET_SLIP 5
#define WD_SET_STRETCH 6
#define WD_SET_LIMIT 7
#ifdef __KERNEL__
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
int __rtai_wd_init(void);
void __rtai_wd_exit(void);
// API for setting parameters
RTAI_SYSCALL_MODE int rt_wdset_grace(int new_value);
RTAI_SYSCALL_MODE int rt_wdset_gracediv(int new_value);
RTAI_SYSCALL_MODE wd_policy rt_wdset_policy(wd_policy new_value);
RTAI_SYSCALL_MODE int rt_wdset_slip(int new_value);
RTAI_SYSCALL_MODE int rt_wdset_stretch(int new_value);
RTAI_SYSCALL_MODE int rt_wdset_limit(int new_value);
RTAI_SYSCALL_MODE int rt_wdset_safety(int new_value);
#ifdef __cplusplus
}
#endif /* __cplusplus */
#else /* !__KERNEL__ */
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
// API for setting parameters
RTAI_PROTO(int, rt_wdset_grace, (int new_value))
{
struct { long new_value; } arg = { new_value };
return rtai_lxrt(WD_INDX, SIZARG, WD_SET_GRACE, &arg).i[LOW];
}
RTAI_PROTO(int, rt_wdset_gracediv, (int new_value))
{
struct { long new_value; } arg = { new_value };
return rtai_lxrt(WD_INDX, SIZARG, WD_SET_GRACEDIV, &arg).i[LOW];
}
RTAI_PROTO(wd_policy, rt_wdset_policy, (wd_policy new_value))
{
struct { long new_value; } arg = { new_value };
return (wd_policy)rtai_lxrt(WD_INDX, SIZARG, WD_SET_POLICY, &arg).i[LOW];
}
RTAI_PROTO(int, rt_wdset_slip, (int new_value))
{
struct { long new_value; } arg = { new_value };
return rtai_lxrt(WD_INDX, SIZARG, WD_SET_SLIP, &arg).i[LOW];
}
RTAI_PROTO(int, rt_wdset_stretch, (int new_value))
{
struct { long new_value; } arg = { new_value };
return rtai_lxrt(WD_INDX, SIZARG, WD_SET_STRETCH, &arg).i[LOW];
}
RTAI_PROTO(int, rt_wdset_limit, (int new_value))
{
struct { long new_value; } arg = { new_value };
return rtai_lxrt(WD_INDX, SIZARG, WD_SET_LIMIT, &arg).i[LOW];
}
RTAI_PROTO(int, rt_wdset_safety, (int new_value))
{
struct { long new_value; } arg = { new_value };
return rtai_lxrt(WD_INDX, SIZARG, WD_SET_SAFETY, &arg).i[LOW];
}
#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif /* __KERNEL__ */
#endif /* !_RTAI_WD_H */
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