powerlink: build demo_mn_console and demo_cn_console

APP_Framework/Framework/connection/industrial_ethernet/Kconfig

@@ -5,3 +5,11 @@ config CONNECTION_ADAPTER_ETHERCAT
     if CONNECTION_ADAPTER_ETHERCAT
         source "$APP_DIR/Framework/connection/industrial_ethernet/ethercat/Kconfig"
     endif
+
+menuconfig POWERLINK_MN
+    bool "Using powerlink MN"
+    default n
+
+menuconfig POWERLINK_CN
+    bool "Using powerlink CN"
+    default n

APP_Framework/Framework/connection/industrial_ethernet/Makefile

@@ -1,3 +1,5 @@
+include $(KERNEL_ROOT)/.config
+
 all: COMPILER
 
 CUR_DIR := $(shell pwd)
@@ -5,19 +7,48 @@ OPLK_ROOT := $(CUR_DIR)/openPOWERLINK
 LIBOPLKMN := $(OPLK_ROOT)/stack/lib/xiuos/arm/liboplkmn.a
 LIBOPLKCN := $(OPLK_ROOT)/stack/lib/xiuos/arm/liboplkcn.a
 LIBOPLK_BUILD_DIR := $(OPLK_ROOT)/stack/build/xiuos
+OPLK_DEMO_MN_CONSOLE := $(OPLK_ROOT)/bin/xiuos/arm/demo_mn_console/libdemo_mn_console.a
+OPLK_DEMO_CN_CONSOLE := $(OPLK_ROOT)/bin/xiuos/arm/demo_cn_console/libdemo_cn_console.a
+OPLK_DEMO_MN_CONSOLE_BUILD_DIR := $(OPLK_ROOT)/apps/demo_mn_console/build/xiuos
+OPLK_DEMO_CN_CONSOLE_BUILD_DIR := $(OPLK_ROOT)/apps/demo_cn_console/build/xiuos
 OPLK_TOOLCHAIN := $(OPLK_ROOT)/cmake/toolchain-xiuos-arm-none-eabi-gnu.cmake
 
+define oplk_build
+	cd $(1) && \
+		find . ! -name '.' ! -name '.gitignore' -exec rm -rf {} + && \
+		cmake -DCMAKE_TOOLCHAIN_FILE=$(OPLK_TOOLCHAIN) ../.. && \
+		cmake --build . --target install
+endef
+
 .PHONY: $(LIBOPLKMN) $(LIBOPLKCN)
 $(LIBOPLKMN) $(LIBOPLKCN)&:
-	cd $(LIBOPLK_BUILD_DIR) && \
+	$(call oplk_build,$(LIBOPLK_BUILD_DIR))
-		rm -rf CMakeFiles proj cmake_install.cmake CMakeCache.txt Makefile && \
+$(LIBOPLKMN):
-		cmake -DCMAKE_TOOLCHAIN_FILE=$(OPLK_TOOLCHAIN) ../.. && \
+	$(call oplk_build,$(LIBOPLK_BUILD_DIR))
-		cmake --build . --target install
+$(LIBOPLKCN):
+	$(call oplk_build,$(LIBOPLK_BUILD_DIR))
+
+.PHONY: $(OPLK_DEMO_MN_CONSOLE)
+$(OPLK_DEMO_MN_CONSOLE):
+	$(call oplk_build,$(OPLK_DEMO_MN_CONSOLE_BUILD_DIR))
+
+.PHONY: $(OPLK_DEMO_CN_CONSOLE)
+$(OPLK_DEMO_CN_CONSOLE):
+	$(call oplk_build,$(OPLK_DEMO_CN_CONSOLE_BUILD_DIR))
 
 LIBOPLKMN := $(LIBOPLKMN:$(CUR_DIR)/%=%)
 LIBOPLKCN := $(LIBOPLKCN:$(CUR_DIR)/%=%)
+OPLK_DEMO_MN_CONSOLE := $(OPLK_DEMO_MN_CONSOLE:$(CUR_DIR)/%=%)
+OPLK_DEMO_CN_CONSOLE := $(OPLK_DEMO_CN_CONSOLE:$(CUR_DIR)/%=%)
 
-SRC_FILES := $(LIBOPLKMN) $(LIBOPLKCN)
+SRC_FILES := powerlink_demo.c
+ifeq ($(CONFIG_POWERLINK_MN)_$(CONFIG_POWERLINK_CN),y_)
+	SRC_FILES += $(OPLK_DEMO_MN_CONSOLE) $(LIBOPLKMN)
+else ifeq ($(CONFIG_POWERLINK_MN)_$(CONFIG_POWERLINK_CN),_y)
+	SRC_FILES += $(OPLK_DEMO_CN_CONSOLE) $(LIBOPLKCN)
+else ifeq ($(CONFIG_POWERLINK_MN)_$(CONFIG_POWERLINK_CN),y_y)
+	$(error CONFIG_POWERLINK_MN and CONFIG_POWERLINK_CN cannot be enabled simultaneously due to name conflict)
+endif
 
 ifeq ($(CONFIG_CONNECTION_ADAPTER_ETHERCAT),y)
 	SRC_DIR += ethercat

APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/apps/common/cmake/configure-xiuos.cmake

@@ -0,0 +1,98 @@
+################################################################################
+#
+# XiUOS configuration options for openPOWERLINK demo applications
+#
+# Copyright (c) 2014, B&R Industrial Automation GmbH
+# Copyright (c) 2016, kalycito Infotech Private Limited
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#     * Redistributions of source code must retain the above copyright
+#       notice, this list of conditions and the following disclaimer.
+#     * Redistributions in binary form must reproduce the above copyright
+#       notice, this list of conditions and the following disclaimer in the
+#       documentation and/or other materials provided with the distribution.
+#     * Neither the name of the copyright holders nor the
+#       names of its contributors may be used to endorse or promote products
+#       derived from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS BE LIABLE FOR ANY
+# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+################################################################################
+
+SET(CFG_BUILD_KERNEL_STACK "Link to Application"
+    CACHE STRING "Configure how to build the kernel stack")
+
+SET(KernelStackBuildTypes
+    "Link to Application;Linux Userspace Daemon;Linux Kernel Module;Kernel stack on PCIe card;Kernel stack on Zynq PCP;None"
+    CACHE INTERNAL
+    "List of possible kernel stack build types")
+
+SET_PROPERTY(CACHE CFG_BUILD_KERNEL_STACK
+             PROPERTY STRINGS ${KernelStackBuildTypes})
+
+IF (CFG_BUILD_KERNEL_STACK STREQUAL "Link to Application")
+
+    SET (CFG_KERNEL_STACK_DIRECTLINK ON CACHE INTERNAL
+         "Link kernel stack directly into application (Single process solution)")
+    UNSET (CFG_KERNEL_STACK_USERSPACE_DAEMON CACHE)
+    UNSET (CFG_KERNEL_STACK_KERNEL_MODULE CACHE)
+    UNSET (CFG_KERNEL_STACK_PCIE_INTF CACHE)
+    UNSET (CFG_KERNEL_STACK_ZYNQ_INTF CACHE)
+
+ELSEIF (CFG_BUILD_KERNEL_STACK STREQUAL "Linux Userspace Daemon")
+
+    SET (CFG_KERNEL_STACK_USERSPACE_DAEMON ON CACHE INTERNAL
+         "Build kernel stack as Linux userspace daemon")
+    UNSET (CFG_KERNEL_STACK_DIRECTLINK CACHE)
+    UNSET (CFG_KERNEL_STACK_KERNEL_MODULE CACHE)
+    UNSET (CFG_KERNEL_STACK_PCIE_INTF CACHE)
+    UNSET (CFG_KERNEL_STACK_ZYNQ_INTF CACHE)
+
+ELSEIF (CFG_BUILD_KERNEL_STACK STREQUAL "Linux Kernel Module")
+
+    SET (CFG_KERNEL_STACK_KERNEL_MODULE ON CACHE INTERNAL
+         "Build kernel stack as Linux kernelspace module")
+    UNSET (CFG_KERNEL_STACK_USERSPACE_DAEMON CACHE)
+    UNSET (CFG_KERNEL_STACK_DIRECTLINK CACHE)
+    UNSET (CFG_KERNEL_STACK_PCIE_INTF CACHE)
+    UNSET (CFG_KERNEL_STACK_ZYNQ_INTF CACHE)
+
+ELSEIF (CFG_BUILD_KERNEL_STACK STREQUAL "Kernel stack on PCIe card")
+
+    SET (CFG_KERNEL_STACK_PCIE_INTF ON CACHE INTERNAL
+         "Build kernel stack on an external PCIe device")
+    UNSET (CFG_KERNEL_STACK_USERSPACE_DAEMON CACHE)
+    UNSET (CFG_KERNEL_STACK_DIRECTLINK CACHE)
+    UNSET (CFG_KERNEL_STACK_KERNEL_MODULE CACHE)
+    UNSET (CFG_KERNEL_STACK_ZYNQ_INTF CACHE)
+
+ELSEIF (CFG_BUILD_KERNEL_STACK STREQUAL "Kernel stack on Zynq PCP")
+
+    SET (CFG_KERNEL_STACK_ZYNQ_INTF ON CACHE INTERNAL
+         "Build kernel stack on an external zynq PCP device")
+    UNSET (CFG_KERNEL_STACK_USERSPACE_DAEMON CACHE)
+    UNSET (CFG_KERNEL_STACK_DIRECTLINK CACHE)
+    UNSET (CFG_KERNEL_STACK_KERNEL_MODULE CACHE)
+    UNSET (CFG_KERNEL_STACK_PCIE_INTF CACHE)
+
+ELSEIF (CFG_BUILD_KERNEL_STACK STREQUAL "None")
+    UNSET (CFG_KERNEL_STACK_USERSPACE_DAEMON CACHE)
+    UNSET (CFG_KERNEL_STACK_KERNEL_MODULE CACHE)
+    UNSET (CFG_KERNEL_STACK_DIRECTLINK CACHE)
+    UNSET (CFG_KERNEL_STACK_PCIE_INTF CACHE)
+    UNSET (CFG_KERNEL_STACK_ZYNQ_INTF CACHE)
+
+ENDIF (CFG_BUILD_KERNEL_STACK STREQUAL "Link to Application")
+
+
+

APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/apps/common/cmake/findoplklib.cmake

@@ -56,6 +56,9 @@ MACRO(FIND_OPLK_LIBRARY OPLK_NODE_TYPE)
             SET(OPLKLIB_NAME oplk${OPLK_NODE_TYPE}app-kernelintf)
         ENDIF (CFG_KERNEL_STACK_DIRECTLINK)
 
+    ELSEIF(CMAKE_SYSTEM_NAME STREQUAL "XiUOS")
+        SET(OPLKLIB_NAME oplk${OPLK_NODE_TYPE})
+
     ELSEIF(CMAKE_SYSTEM_NAME STREQUAL "Generic" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "Microblazeise")
         IF (CFG_KERNEL_STACK_DIRECTLINK)
             SET(OPLKLIB_NAME oplk${OPLK_NODE_TYPE})

APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/apps/common/cmake/options.cmake

@@ -4,6 +4,7 @@
 #
 # Copyright (c) 2016, B&R Industrial Automation GmbH
 # Copyright (c) 2016, Kalycito Infotech Private Limited
+# Copyright (c) 2020, AIIT XUOS Lab
 # All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
@@ -95,6 +96,8 @@ IF(CMAKE_SYSTEM_NAME STREQUAL "Linux")
     INCLUDE(configure-linux)
 ELSEIF(CMAKE_SYSTEM_NAME STREQUAL "Windows")
     INCLUDE(configure-windows)
+ELSEIF(CMAKE_SYSTEM_NAME STREQUAL "XiUOS")
+    INCLUDE(configure-xiuos)
 ELSEIF(CMAKE_SYSTEM_NAME STREQUAL "Generic" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "Microblazeise")
     INCLUDE(configure-microblazeise)
 ELSEIF(CMAKE_SYSTEM_NAME STREQUAL "Generic" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "alterac5arm")

APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/apps/common/src/system/system-xiuos.c

@@ -0,0 +1,396 @@
+/**
+********************************************************************************
+\file   system-xiuos.c
+
+\brief  System specific functions for XiUOS
+
+The file implements the system specific functions for XiUOS used by the
+openPOWERLINK demo applications.
+
+\ingroup module_app_common
+*******************************************************************************/
+
+/*------------------------------------------------------------------------------
+Copyright (c) 2020, AIIT XUOS Lab
+Copyright (c) 2016, B&R Industrial Automation GmbH
+Copyright (c) 2013, SYSTEC electronic GmbH
+Copyright (c) 2013, Kalycito Infotech Private Ltd.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the copyright holders nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+------------------------------------------------------------------------------*/
+
+//------------------------------------------------------------------------------
+// includes
+//------------------------------------------------------------------------------
+#include <stdio.h>
+#include <unistd.h>
+#include <errno.h>
+#include <pthread.h>
+#include <signal.h>
+#include <sys/time.h>
+#include <trace/trace.h>
+#include "system.h"
+
+#include <xizi.h>
+
+//============================================================================//
+//            G L O B A L   D E F I N I T I O N S                             //
+//============================================================================//
+
+//------------------------------------------------------------------------------
+// const defines
+//------------------------------------------------------------------------------
+#define SET_CPU_AFFINITY
+#define MAIN_THREAD_PRIORITY        20
+
+//------------------------------------------------------------------------------
+// module global vars
+//------------------------------------------------------------------------------
+
+//------------------------------------------------------------------------------
+// global function prototypes
+//------------------------------------------------------------------------------
+
+//============================================================================//
+//            P R I V A T E   D E F I N I T I O N S                           //
+//============================================================================//
+
+//------------------------------------------------------------------------------
+// const defines
+//------------------------------------------------------------------------------
+
+//------------------------------------------------------------------------------
+// local types
+//------------------------------------------------------------------------------
+#if defined(CONFIG_USE_SYNCTHREAD)
+typedef struct
+{
+    tSyncCb                 pfnSyncCb;
+    BOOL                    fTerminate;
+} tSyncThreadInstance;
+#endif
+
+typedef struct
+{
+    tFirmwareManagerThreadCb    pfnFwmCb;
+    BOOL                        fTerminate;
+    unsigned int                interval;
+} tFwmThreadInstance;
+
+//------------------------------------------------------------------------------
+// local vars
+//------------------------------------------------------------------------------
+static BOOL                 fTermSignalReceived_l = FALSE;
+
+#if defined(CONFIG_USE_SYNCTHREAD)
+static pthread_t            syncThreadId_l;
+static tSyncThreadInstance  syncThreadInstance_l;
+#endif
+
+static tFwmThreadInstance   fwmThreadInstance_l;
+
+//------------------------------------------------------------------------------
+// local function prototypes
+//------------------------------------------------------------------------------
+
+#if defined(CONFIG_USE_SYNCTHREAD)
+static void* powerlinkSyncThread(void* arg);
+#endif
+
+static void* firmwareManagerThread(void* arg);
+
+//============================================================================//
+//            P U B L I C   F U N C T I O N S                                 //
+//============================================================================//
+
+//------------------------------------------------------------------------------
+/**
+\brief  Initialize system
+
+The function initializes important stuff on the system for openPOWERLINK to
+work correctly.
+
+\return The function returns 0 if the initialization has been successful,
+        otherwise -1.
+
+\ingroup module_app_common
+*/
+//------------------------------------------------------------------------------
+int system_init(void)
+{
+    struct sched_param  schedParam;
+
+    schedParam.sched_priority = MAIN_THREAD_PRIORITY;
+    if (pthread_setschedparam(pthread_self(), SCHED_RR, &schedParam) != 0)
+    {
+        TRACE("%s() couldn't set thread scheduling parameters! %d\n",
+              __func__,
+              schedParam.sched_priority);
+    }
+
+    return 0;
+}
+
+//------------------------------------------------------------------------------
+/**
+\brief  Shutdown system
+
+The function shuts down the system.
+
+\ingroup module_app_common
+*/
+//------------------------------------------------------------------------------
+void system_exit(void)
+{
+
+}
+
+//------------------------------------------------------------------------------
+/**
+\brief  Determines whether a termination signal has been received
+
+The function can be used by the application to react on termination request.
+
+\ingroup module_app_common
+*/
+//------------------------------------------------------------------------------
+BOOL system_getTermSignalState(void)
+{
+    return fTermSignalReceived_l;
+}
+
+
+//------------------------------------------------------------------------------
+/**
+\brief Sleep for the specified number of milliseconds
+
+The function makes the calling thread sleep until the number of specified
+milliseconds has elapsed.
+
+\param[in]      milliSeconds_p      Number of milliseconds to sleep
+
+\ingroup module_app_common
+*/
+//------------------------------------------------------------------------------
+void system_msleep(unsigned int milliSeconds_p)
+{
+    struct  timeval timeout;
+    fd_set          readFds;
+    int             maxFd;
+    int             selectRetVal;
+    unsigned int    seconds;
+    unsigned int    microSeconds;
+
+    // initialize file descriptor set
+    maxFd = 0 + 1;
+    FD_ZERO(&readFds);
+
+    // Calculate timeout values
+    seconds = milliSeconds_p / 1000;
+    microSeconds = (milliSeconds_p - (seconds * 1000)) * 1000;
+
+    // initialize timeout value
+    timeout.tv_sec = seconds;
+    timeout.tv_usec = microSeconds;
+
+    selectRetVal = select(maxFd, &readFds, NULL, NULL, &timeout);
+    switch (selectRetVal)
+    {
+        case 0:     // select timeout occurred, no packet received
+            break;
+
+        case -1:    // select error occurred
+            break;
+
+        default:    // packet available for receive
+            break;
+    }
+}
+
+#if defined(CONFIG_USE_SYNCTHREAD)
+//------------------------------------------------------------------------------
+/**
+\brief  Start synchronous data thread
+
+The function starts the thread used for synchronous data handling.
+
+\param[in]      pfnSync_p           Pointer to sync callback function
+
+\ingroup module_app_common
+*/
+//------------------------------------------------------------------------------
+void system_startSyncThread(tSyncCb pfnSync_p)
+{
+    int ret;
+
+    syncThreadInstance_l.pfnSyncCb = pfnSync_p;
+    syncThreadInstance_l.fTerminate = FALSE;
+
+    // create sync thread
+    ret = pthread_create(&syncThreadId_l,
+                         NULL,
+                         &powerlinkSyncThread,
+                         &syncThreadInstance_l);
+    if (ret != 0)
+    {
+        fprintf(stderr, "pthread_create() failed with \"%d\"\n", ret);
+        return;
+    }
+
+#if (defined(__GLIBC__) && (__GLIBC__ >= 2) && (__GLIBC_MINOR__ >= 12))
+    pthread_setname_np(syncThreadId_l, "oplkdemo-sync");
+#endif
+}
+
+//------------------------------------------------------------------------------
+/**
+\brief  Stop synchronous data thread
+
+The function stops the thread used for synchronous data handling.
+
+\ingroup module_app_common
+*/
+//------------------------------------------------------------------------------
+void system_stopSyncThread(void)
+{
+    syncThreadInstance_l.fTerminate = TRUE;
+}
+#endif
+
+//------------------------------------------------------------------------------
+/**
+\brief  Start firmware manager thread
+
+The function starts the thread used by the firmware manager.
+
+\param[in]      pfnFwmThreadCb_p    Pointer to firmware manager callback
+\param[in]      intervalSec_p       Thread execution interval in seconds
+
+\ingroup module_app_common
+*/
+//------------------------------------------------------------------------------
+void system_startFirmwareManagerThread(tFirmwareManagerThreadCb pfnFwmThreadCb_p,
+                                       unsigned int intervalSec_p)
+{
+    int ret;
+    pthread_t thread;
+    struct sched_param  schedParam;
+
+    fwmThreadInstance_l.fTerminate = FALSE;
+    fwmThreadInstance_l.pfnFwmCb = pfnFwmThreadCb_p;
+    fwmThreadInstance_l.interval = intervalSec_p;
+
+    ret = pthread_create(&thread, NULL, firmwareManagerThread, &fwmThreadInstance_l);
+    if (ret != 0)
+    {
+        fprintf(stderr, "%s() pthread_create() failed with \"%d\"\n",
+                __func__,
+                ret);
+        return;
+    }
+
+    schedParam.sched_priority = 0;
+    if (pthread_setschedparam(thread, SCHED_IDLE, &schedParam) != 0)
+    {
+        TRACE("%s() couldn't set thread scheduling parameters! %d\n",
+              __func__,
+              schedParam.sched_priority);
+    }
+
+#if (defined(__GLIBC__) && (__GLIBC__ >= 2) && (__GLIBC_MINOR__ >= 12))
+    pthread_setname_np(thread, "oplkdemo-fwm");
+#endif
+}
+
+//------------------------------------------------------------------------------
+/**
+\brief  Stop firmware manager thread
+
+The function stops the thread used by the firmware manager.
+
+\ingroup module_app_common
+*/
+//------------------------------------------------------------------------------
+void system_stopFirmwareManagerThread(void)
+{
+    fwmThreadInstance_l.fTerminate = TRUE;
+}
+
+//============================================================================//
+//            P R I V A T E   F U N C T I O N S                               //
+//============================================================================//
+/// \name Private Functions
+/// \{
+
+//------------------------------------------------------------------------------
+
+#if defined(CONFIG_USE_SYNCTHREAD)
+//------------------------------------------------------------------------------
+/**
+\brief  Synchronous application thread
+
+This function implements the synchronous application thread.
+
+\param[in,out]  arg                 Needed for thread interface not used
+*/
+//------------------------------------------------------------------------------
+static void* powerlinkSyncThread(void* arg)
+{
+    tSyncThreadInstance*    pSyncThreadInstance = (tSyncThreadInstance*)arg;
+
+    printf("Synchronous data thread is starting...\n");
+    while (!pSyncThreadInstance->fTerminate)
+    {
+        pSyncThreadInstance->pfnSyncCb();
+    }
+    printf("Synchronous data thread is terminating...\n");
+
+    return NULL;
+}
+#endif
+
+//------------------------------------------------------------------------------
+/**
+\brief  Firmware manager thread
+
+This function implements the firmware manager thread.
+
+\param[in,out]  arg                 Needed for thread interface not used
+*/
+//------------------------------------------------------------------------------
+static void* firmwareManagerThread(void* arg)
+{
+    tFwmThreadInstance* pInstance = (tFwmThreadInstance*)arg;
+
+    while (!pInstance->fTerminate)
+    {
+        pInstance->pfnFwmCb();
+
+        DelayKTask(pInstance->interval * 1000);
+    }
+
+    return NULL;
+}
+
+/// \}

APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/apps/demo_cn_console/CMakeLists.txt

@@ -112,6 +112,8 @@ IF(CMAKE_SYSTEM_NAME STREQUAL "Linux")
     include(linux.cmake)
 ELSEIF(CMAKE_SYSTEM_NAME STREQUAL "Windows")
     include (windows.cmake)
+ELSEIF(CMAKE_SYSTEM_NAME STREQUAL "XiUOS")
+    include(xiuos.cmake)
 ELSE()
     MESSAGE(FATAL_ERROR "System ${CMAKE_SYSTEM_NAME} is not supported!")
 ENDIF()
@@ -131,7 +133,11 @@ SOURCE_GROUP("Object Dictionary" FILES
 ################################################################################
 # Set the executable
 
-ADD_EXECUTABLE(demo_cn_console ${DEMO_SOURCES} ${DEMO_ARCH_SOURCES})
+IF(CMAKE_SYSTEM_NAME STREQUAL "XiUOS")
+    ADD_LIBRARY(demo_cn_console STATIC ${DEMO_SOURCES} ${DEMO_ARCH_SOURCES})
+ELSE()
+    ADD_EXECUTABLE(demo_cn_console ${DEMO_SOURCES} ${DEMO_ARCH_SOURCES})
+ENDIF()
 SET_PROPERTY(TARGET demo_cn_console
              PROPERTY COMPILE_DEFINITIONS_DEBUG DEBUG;DEF_DEBUG_LVL=${CFG_DEBUG_LVL})
 
@@ -144,4 +150,4 @@ TARGET_LINK_LIBRARIES(demo_cn_console ${ARCH_LIBRARIES})
 ################################################################################
 # Installation rules
 
-INSTALL(TARGETS demo_cn_console RUNTIME DESTINATION ${PROJECT_NAME})
+INSTALL(TARGETS demo_cn_console DESTINATION ${PROJECT_NAME})

APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/apps/demo_cn_console/build/xiuos/.gitignore

@@ -0,0 +1,4 @@
+*
+.*
+!.gitignore
+

APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/apps/demo_cn_console/src/main.c

@@ -142,7 +142,11 @@ This is the main function of the openPOWERLINK console CN demo application.
 \ingroup module_demo_cn_console
 */
 //------------------------------------------------------------------------------
+#ifdef __XIUOS__
+int OplkDemoCnConsole(int argc, char* argv[])
+#else
 int main(int argc, char* argv[])
+#endif
 {
     tOplkError  ret = kErrorOk;
     tOptions    opts;

APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/apps/demo_cn_console/xiuos.cmake

@@ -0,0 +1,78 @@
+################################################################################
+#
+# XiUOS definitions for console CN demo application
+#
+# Copyright (c) 2016, B&R Industrial Automation GmbH
+# Copyright (c) 2020, AIIT XUOS Lab
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#     * Redistributions of source code must retain the above copyright
+#       notice, this list of conditions and the following disclaimer.
+#     * Redistributions in binary form must reproduce the above copyright
+#       notice, this list of conditions and the following disclaimer in the
+#       documentation and/or other materials provided with the distribution.
+#     * Neither the name of the copyright holders nor the
+#       names of its contributors may be used to endorse or promote products
+#       derived from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS BE LIABLE FOR ANY
+# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+################################################################################
+
+################################################################################
+# Set architecture specific definitions
+
+ADD_DEFINITIONS(-D__XIUOS__ -D_GNU_SOURCE -D_POSIX_C_SOURCE=200112L)
+SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -pedantic -std=c99")
+
+################################################################################
+# Set architecture specific sources and include directories
+
+SET (DEMO_ARCH_SOURCES
+     ${COMMON_SOURCE_DIR}/system/system-xiuos.c
+     ${CONTRIB_SOURCE_DIR}/console/console-xiuos.c
+     ${CONTRIB_SOURCE_DIR}/trace/trace-printf.c
+     )
+
+################################################################################
+# Set architecture specific libraries
+
+IF (NOT CFG_COMPILE_SHARED_LIBRARY)
+    SET(PCAP_CONFIG_OPTS --static)
+ENDIF()
+
+IF (CFG_KERNEL_STACK_DIRECTLINK OR CFG_KERNEL_STACK_USERSPACE_DAEMON)
+
+FIND_PROGRAM(PCAP_CONFIG NAMES pcap-config PATHS)
+
+IF (PCAP_CONFIG)
+    MESSAGE (STATUS "Looking for pcap-config... ${PCAP_CONFIG}")
+
+    EXECUTE_PROCESS (COMMAND ${PCAP_CONFIG} --libs ${PCAP_CONFIG_OPTS}
+        OUTPUT_VARIABLE PCAP_LDFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
+    EXECUTE_PROCESS (COMMAND ${PCAP_CONFIG} --cflags ${PCAP_CONFIG_OPTS}
+        OUTPUT_VARIABLE PCAP_CFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+   SET (ARCH_LIBRARIES ${ARCH_LIBRARIES} ${PCAP_LDFLAGS})
+ELSE (PCAP_CONFIG)
+    MESSAGE (STATUS "pcap-config not found, using defaults...")
+    SET (ARCH_LIBRARIES ${ARCH_LIBRARIES} pcap)
+ENDIF (PCAP_CONFIG)
+
+ENDIF (CFG_KERNEL_STACK_DIRECTLINK OR CFG_KERNEL_STACK_USERSPACE_DAEMON)
+SET (ARCH_LIBRARIES ${ARCH_LIBRARIES} pthread rt)
+
+################################################################################
+# Set architecture specific installation files
+
+INSTALL(PROGRAMS ${TOOLS_DIR}/linux/set_prio DESTINATION ${PROJECT_NAME})

APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/apps/demo_mn_console/CMakeLists.txt

@@ -4,6 +4,7 @@
 #
 # Copyright (c) 2017, B&R Industrial Automation GmbH
 # Copyright (c) 2016, Kalycito Infotech Private Limited
+# Copyright (c) 2020, AIIT XUOS Lab
 # All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
@@ -126,6 +127,8 @@ IF(CMAKE_SYSTEM_NAME STREQUAL "Linux")
     include(linux.cmake)
 ELSEIF(CMAKE_SYSTEM_NAME STREQUAL "Windows")
     include (windows.cmake)
+ELSEIF(CMAKE_SYSTEM_NAME STREQUAL "XiUOS")
+    include(xiuos.cmake)
 ELSE()
     MESSAGE(FATAL_ERROR "System ${CMAKE_SYSTEM_NAME} is not supported!")
 ENDIF()
@@ -146,7 +149,11 @@ SOURCE_GROUP("Object Dictionary" FILES
 ################################################################################
 # Set the executable
 
-ADD_EXECUTABLE(demo_mn_console ${DEMO_SOURCES} ${DEMO_ARCH_SOURCES} ${CMAKE_CURRENT_BINARY_DIR}/mnobd.cdc)
+IF(CMAKE_SYSTEM_NAME STREQUAL "XiUOS")
+    ADD_LIBRARY(demo_mn_console ${DEMO_SOURCES} ${DEMO_ARCH_SOURCES} ${CMAKE_CURRENT_BINARY_DIR}/mnobd.cdc)
+ELSE()
+    ADD_EXECUTABLE(demo_mn_console ${DEMO_SOURCES} ${DEMO_ARCH_SOURCES} ${CMAKE_CURRENT_BINARY_DIR}/mnobd.cdc)
+ENDIF()
 SET_PROPERTY(TARGET demo_mn_console
              PROPERTY COMPILE_DEFINITIONS_DEBUG DEBUG;DEF_DEBUG_LVL=${CFG_DEBUG_LVL})
 
@@ -164,5 +171,5 @@ TARGET_LINK_LIBRARIES(demo_mn_console ${ARCH_LIBRARIES})
 ################################################################################
 # Installation rules
 
-INSTALL(TARGETS demo_mn_console RUNTIME DESTINATION ${PROJECT_NAME})
+INSTALL(TARGETS demo_mn_console DESTINATION ${PROJECT_NAME})
 INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/mnobd.cdc DESTINATION ${PROJECT_NAME})

APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/apps/demo_mn_console/build/xiuos/.gitignore

@@ -0,0 +1,3 @@
+*
+.*
+!.gitignore

APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/apps/demo_mn_console/src/main.c

@@ -151,7 +151,11 @@ This is the main function of the openPOWERLINK console MN demo application.
 \ingroup module_demo_mn_console
 */
 //------------------------------------------------------------------------------
+#ifdef __XIUOS__
+int OplkDemoMnConsole(int argc, char* argv[])
+#else
 int main(int argc, char* argv[])
+#endif
 {
     tOplkError      ret = kErrorOk;
     tOptions        opts;

APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/apps/demo_mn_console/xiuos.cmake

@@ -0,0 +1,78 @@
+################################################################################
+#
+# XiUOS definitions for demo_mn_console application
+#
+# Copyright (c) 2017, B&R Industrial Automation GmbH
+# Copyright (c) 2020, AIIT XUOS Lab
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#     * Redistributions of source code must retain the above copyright
+#       notice, this list of conditions and the following disclaimer.
+#     * Redistributions in binary form must reproduce the above copyright
+#       notice, this list of conditions and the following disclaimer in the
+#       documentation and/or other materials provided with the distribution.
+#     * Neither the name of the copyright holders nor the
+#       names of its contributors may be used to endorse or promote products
+#       derived from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS BE LIABLE FOR ANY
+# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+################################################################################
+
+################################################################################
+# Set architecture specific definitions
+
+ADD_DEFINITIONS(-D__XIUOS__ -D_GNU_SOURCE -D_POSIX_C_SOURCE=200112L)
+SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -pedantic -std=c99")
+
+################################################################################
+# Set architecture specific sources and include directories
+
+SET (DEMO_ARCH_SOURCES
+     ${COMMON_SOURCE_DIR}/system/system-xiuos.c
+     ${CONTRIB_SOURCE_DIR}/console/console-xiuos.c
+     ${CONTRIB_SOURCE_DIR}/trace/trace-printf.c
+     )
+
+################################################################################
+# Set architecture specific libraries
+
+IF (NOT CFG_COMPILE_SHARED_LIBRARY)
+    SET(PCAP_CONFIG_OPTS --static)
+ENDIF()
+
+IF (CFG_KERNEL_STACK_DIRECTLINK OR CFG_KERNEL_STACK_USERSPACE_DAEMON)
+
+FIND_PROGRAM(PCAP_CONFIG NAMES pcap-config PATHS)
+
+IF (PCAP_CONFIG)
+    MESSAGE (STATUS "Looking for pcap-config... ${PCAP_CONFIG}")
+
+    EXECUTE_PROCESS (COMMAND ${PCAP_CONFIG} --libs ${PCAP_CONFIG_OPTS}
+        OUTPUT_VARIABLE PCAP_LDFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
+    EXECUTE_PROCESS (COMMAND ${PCAP_CONFIG} --cflags ${PCAP_CONFIG_OPTS}
+        OUTPUT_VARIABLE PCAP_CFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+   SET (ARCH_LIBRARIES ${ARCH_LIBRARIES} ${PCAP_LDFLAGS})
+ELSE (PCAP_CONFIG)
+    MESSAGE (STATUS "pcap-config not found, using defaults...")
+    SET (ARCH_LIBRARIES ${ARCH_LIBRARIES} pcap)
+ENDIF (PCAP_CONFIG)
+
+ENDIF (CFG_KERNEL_STACK_DIRECTLINK OR CFG_KERNEL_STACK_USERSPACE_DAEMON)
+SET (ARCH_LIBRARIES ${ARCH_LIBRARIES} pthread rt)
+
+################################################################################
+# Set architecture specific installation files
+
+INSTALL(PROGRAMS ${TOOLS_DIR}/linux/set_prio DESTINATION ${PROJECT_NAME})

APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/contrib/console/console-xiuos.c

@@ -0,0 +1,82 @@
+/**
+********************************************************************************
+\file   console-xiuos.c
+
+\brief  Console input/output implementation for XiUOS
+
+This file contains the console input/output implementation for XiUOS.
+
+\ingroup module_console
+*******************************************************************************/
+
+/*------------------------------------------------------------------------------
+Copyright (c) 2016, B&R Industrial Automation GmbH
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the copyright holders nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+------------------------------------------------------------------------------*/
+
+//------------------------------------------------------------------------------
+// includes
+//------------------------------------------------------------------------------
+#include <stdio.h>
+#include <unistd.h>
+#include <fcntl.h>
+
+//============================================================================//
+//            P U B L I C   F U N C T I O N S                                 //
+//============================================================================//
+
+//------------------------------------------------------------------------------
+/**
+\brief  Get character from console
+
+This function reads a character from the console input. It uses the
+termios library.
+
+\return The function returns the read character.
+
+\ingroup module_console
+*/
+//------------------------------------------------------------------------------
+int console_getch(void)
+{
+    return getchar();
+}
+
+//------------------------------------------------------------------------------
+/**
+\brief  Detecting a keystroke
+
+The function checks the console for a keystroke.
+
+\return The function returns 0 if no key has been pressed or 1 if a key has
+        been pressed.
+
+\ingroup module_console
+*/
+//------------------------------------------------------------------------------
+int console_kbhit(void)
+{
+    return 1;
+}

APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/stack/src/arch/xiuos/target-xiuos.c

@@ -51,6 +51,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <time.h>
 #include <sys/time.h>
 
+#include <xizi.h>
 #include <transform.h>
 
 //============================================================================//
@@ -136,37 +137,7 @@ milliseconds has elapsed.
 //------------------------------------------------------------------------------
 void target_msleep(UINT32 milliSeconds_p)
 {
-    struct  timeval timeout;
+    DelayKTask(milliSeconds_p);
-    fd_set          readFds;
-    int             maxFd;
-    int             selectRetVal;
-    unsigned int    seconds;
-    unsigned int    microSeconds;
-
-    // initialize file descriptor set
-    maxFd = 0 + 1;
-    FD_ZERO(&readFds);
-
-    // Calculate timeout values
-    seconds = milliSeconds_p / 1000;
-    microSeconds = (milliSeconds_p - (seconds * 1000)) * 1000;
-
-    // initialize timeout value
-    timeout.tv_sec = seconds;
-    timeout.tv_usec = microSeconds;
-
-    selectRetVal = select(maxFd, &readFds, NULL, NULL, &timeout);
-    switch (selectRetVal)
-    {
-        case 0:     // select timeout occurred, no packet received
-            break;
-
-        case -1:    // select error occurred
-            break;
-
-        default:    // packet available for receive
-            break;
-    }
 }
 
 //------------------------------------------------------------------------------

APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/stack/src/kernel/edrv/edrv-xiuos.c

@@ -229,7 +229,7 @@ tOplkError edrv_exit(void)
     edrvInstance_l.fStartCommunication = FALSE;
 
     // Wait to terminate thread safely
-    usleep(100000);
+    target_msleep(100);
 
     if (edrvInstance_l.fThreadIsExited)
         pthread_cancel(edrvInstance_l.hThread);

APP_Framework/Framework/connection/industrial_ethernet/openPOWERLINK/stack/src/kernel/timer/hrestimer-xiuos.c

@@ -461,7 +461,6 @@ flag m_fContinue is set the thread loops until the timer is deleted.
 //------------------------------------------------------------------------------
 static void* timerThread(void* pArgument_p)
 {
-    int                 iRet;
     tHresTimerInfo*     pTimerInfo;
     struct timespec     startTime, timeout;
     ULONGLONG           period;
@@ -504,13 +503,7 @@ static void* timerThread(void* pArgument_p)
             do
             {
                 /* sleep until timeout */
-                iRet = usleep(period / 1000);
+                target_msleep(period / 1000000);
-                if (iRet < 0)
-                {
-                    DEBUG_LVL_ERROR_TRACE("%s(): Error in clock_nanosleep!\n",
-                                          __func__);
-                    /* todo how to signal that timeout wasn't correct? */
-                }
                 FTRACE_MARKER("HighReskTimer(%d) expired (%d ns)",
                               (int)pArgument_p, period);
 

APP_Framework/Framework/connection/industrial_ethernet/powerlink_demo.c

@@ -0,0 +1,28 @@
+#include <xizi.h>
+#include <xsconfig.h>
+
+#ifdef POWERLINK_MN
+extern int OplkDemoMnConsole(int argc, char *argv[]);
+
+SHELL_EXPORT_CMD(
+    SHELL_CMD_PERMISSION(0) |
+    SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) |
+    SHELL_CMD_PARAM_NUM(0) |
+    SHELL_CMD_DISABLE_RETURN,
+    OplkDemoMnConsole,
+    OplkDemoMnConsole,
+    openPOWERLINK demo MN (console version));
+#endif
+
+#ifdef POWERLINK_CN
+extern int OplkDemoCnConsole(int argc, char *argv[]);
+
+SHELL_EXPORT_CMD(
+    SHELL_CMD_PERMISSION(0) |
+    SHELL_CMD_TYPE(SHELL_TYPE_CMD_MAIN) |
+    SHELL_CMD_PARAM_NUM(0) |
+    SHELL_CMD_DISABLE_RETURN,
+    OplkDemoCnConsole,
+    OplkDemoCnConsole,
+    openPOWERLINK demo CN (console version));
+#endif

APP_Framework/Framework/transform_layer/xizi/user_api/posix_support/include/pthread.h

@@ -67,6 +67,7 @@ typedef int   pid_t;
 #define SCHED_OTHER		0
 #define SCHED_FIFO		1
 #define SCHED_RR		2
+#define SCHED_IDLE      5
 
 /* function in pthread.c */
 int       pthread_atfork(void (*prepare)(void), void (*parent)(void), void (*child)(void));

APP_Framework/Framework/transform_layer/xizi/user_api/posix_support/pthread.c

@@ -67,6 +67,12 @@ pthread_t pthread_self(void){
     return pthread;
 }
 
+int pthread_setschedparam(pthread_t thread, int policy,
+                          const struct sched_param *pParam)
+{
+    return 0;
+}
+
 int pthread_setschedprio(pthread_t thread, int prio)
 {
     //add syscall
@@ -98,6 +104,11 @@ int pthread_setcanceltype(int type, int *oldtype)
     return -1;
 }
 
+int pthread_join(pthread_t thread, void **retval)
+{
+    return -1;
+}
+
 int pthread_kill(pthread_t thread, int sig)
 {
     /* This api should not be used, and will not be supported */