* Add ISR_Task task kind for handling interrupts

src/Makefile.am

@@ -2,20 +2,21 @@ SUBDIRS = drivers
 
 # BEGIN: DO NOT DELETE THIS LINE
 ADA_SPECS_WITH_BODY = $(srcdir)/polyorb_hi-aperiodic_task.ads	\
-	$(srcdir)/polyorb_hi-background_task.ads		\
-	$(srcdir)/polyorb_hi-hybrid_task.ads			\
-	$(srcdir)/polyorb_hi-hybrid_task_driver.ads		\
-	$(srcdir)/polyorb_hi-marshallers_g.ads			\
-	$(srcdir)/polyorb_hi-messages.ads			\
-	$(srcdir)/polyorb_hi-output.ads				\
-	$(srcdir)/polyorb_hi-periodic_task.ads			\
-	$(srcdir)/polyorb_hi-port_kinds.ads			\
-	$(srcdir)/polyorb_hi-protocols.ads			\
-	$(srcdir)/polyorb_hi-sporadic_task.ads			\
-	$(srcdir)/polyorb_hi-suspenders.ads			\
-	$(srcdir)/polyorb_hi-thread_interrogators.ads		\
-	$(srcdir)/polyorb_hi-scheduler.ads			\
-	$(srcdir)/polyorb_hi-utils.ads
+	 $(srcdir)/polyorb_hi-background_task.ads		\
+	 $(srcdir)/polyorb_hi-hybrid_task.ads			\
+	 $(srcdir)/polyorb_hi-hybrid_task_driver.ads		\
+	 $(srcdir)/polyorb_hi-isr_task.ads			\
+	 $(srcdir)/polyorb_hi-marshallers_g.ads			\
+	 $(srcdir)/polyorb_hi-messages.ads			\
+	 $(srcdir)/polyorb_hi-output.ads			\
+	 $(srcdir)/polyorb_hi-periodic_task.ads			\
+	 $(srcdir)/polyorb_hi-port_kinds.ads			\
+	 $(srcdir)/polyorb_hi-protocols.ads			\
+	 $(srcdir)/polyorb_hi-sporadic_task.ads			\
+	 $(srcdir)/polyorb_hi-suspenders.ads			\
+	 $(srcdir)/polyorb_hi-thread_interrogators.ads		\
+	 $(srcdir)/polyorb_hi-scheduler.ads			\
+	 $(srcdir)/polyorb_hi-utils.ads
 
 
 ADA_SPECS = $(ADA_SPECS_WITH_BODY) $(srcdir)/polyorb_hi.ads	\

src/polyorb_hi-isr_task.adb

+------------------------------------------------------------------------------
+--                                                                          --
+--                          PolyORB HI COMPONENTS                           --
+--                                                                          --
+--                  P O L Y O R B _ H I . I S R _ T A S K                   --
+--                                                                          --
+--                                 B o d y                                  --
+--                                                                          --
+--                     Copyright (C) 2013 ESA & ISAE.                       --
+--                                                                          --
+-- PolyORB HI is free software; you  can  redistribute  it and/or modify it --
+-- under terms of the GNU General Public License as published by the Free   --
+-- Software Foundation; either version 2, or (at your option) any later.    --
+-- PolyORB HI 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  distributed with PolyORB HI; see file       --
+-- COPYING. If not, write  to the Free  Software Foundation, 51 Franklin    --
+-- Street, Fifth Floor, Boston, MA 02111-1301, USA.                         --
+--                                                                          --
+-- As a special exception,  if other files  instantiate  generics from this --
+-- unit, or you link  this unit with other files  to produce an executable, --
+-- this  unit  does not  by itself cause  the resulting  executable  to  be --
+-- covered  by the  GNU  General  Public  License.  This exception does not --
+-- however invalidate  any other reasons why  the executable file  might be --
+-- covered by the  GNU Public License.                                      --
+--                                                                          --
+--              PolyORB-HI/Ada is maintained by the TASTE project           --
+--                      (taste-users@lists.tuxfamily.org)                   --
+--                                                                          --
+------------------------------------------------------------------------------
+
+with Ada.Synchronous_Task_Control;
+
+with PolyORB_HI.Output;
+with PolyORB_HI.Suspenders;
+
+package body PolyORB_HI.ISR_Task is
+
+   use PolyORB_HI.Errors;
+   use PolyORB_HI.Output;
+   use PolyORB_HI_Generated.Deployment;
+   use PolyORB_HI.Suspenders;
+   use Ada.Real_Time;
+   use Ada.Synchronous_Task_Control;
+
+   -------------
+   -- Handler --
+   -------------
+
+   protected body Handler is
+
+      ----------
+      -- Wait --
+      ----------
+
+      entry Wait when ISR_Pending is
+      begin
+         ISR_Pending := False;
+      end Wait;
+
+      ------------
+      -- Handle --
+      ------------
+
+      procedure Handle is
+      begin
+         ISR_Pending := True;
+      end Handle;
+
+   end Handler;
+
+   Next_Deadline_Val : Time;
+
+   ------------------
+   -- The_ISR_Task --
+   ------------------
+
+   task body The_ISR_Task is
+      Next_Start : Time;
+      Error : Error_Kind;
+
+   begin
+      --  Run the initialize entrypoint (if any)
+
+      Activate_Entrypoint;
+
+      --  Wait for the network initialization to be finished
+
+      pragma Debug
+        (Put_Line
+         (Verbose,
+          "ISR Task "
+          & Entity_Image (Entity)
+          & ": Wait initialization"));
+
+      Suspend_Until_True (Task_Suspension_Objects (Entity));
+      --      delay until System_Startup_Time;
+
+      pragma Debug (Put_Line
+                    (Verbose,
+                     "ISR task initialized for entity "
+                     & Entity_Image (Entity)));
+
+
+      --  Main task loop
+
+      loop
+         pragma Debug
+           (Put_Line
+            (Verbose,
+             "ISR Task "
+             & Entity_Image (Entity)
+             & ": New Dispatch"));
+
+         --  Block until an event is received
+
+         Handler.Wait;
+
+         pragma Debug
+           (Put_Line
+            (Verbose,
+             "ISR Task "
+             & Entity_Image (Entity)
+             & ": received event"));
+
+         --  Calculate the next start time according to the minimal
+         --  inter-arrival time.
+
+         Next_Start        := Ada.Real_Time.Clock + Task_Period;
+         Next_Deadline_Val := Ada.Real_Time.Clock + Task_Deadline;
+
+         --  Execute the job
+
+         Error := Job;
+
+         if Error /= Error_None then
+            Recover_Entrypoint;
+         end if;
+
+         --  Sleep to guarantee at least the minimal inter-arrival
+         --  time elapses.
+
+         delay until Next_Start;
+      end loop;
+   end The_ISR_Task;
+
+   -------------------
+   -- Next_Deadline --
+   -------------------
+
+   function Next_Deadline return Ada.Real_Time.Time is
+   begin
+      return Next_Deadline_Val;
+   end Next_Deadline;
+
+end PolyORB_HI.ISR_Task;

src/polyorb_hi-isr_task.ads

+------------------------------------------------------------------------------
+--                                                                          --
+--                          PolyORB HI COMPONENTS                           --
+--                                                                          --
+--                  P O L Y O R B _ H I . I S R _ T A S K                   --
+--                                                                          --
+--                                 S p e c                                  --
+--                                                                          --
+--                     Copyright (C) 2013 ESA & ISAE.                       --
+--                                                                          --
+-- PolyORB HI is free software; you  can  redistribute  it and/or modify it --
+-- under terms of the GNU General Public License as published by the Free   --
+-- Software Foundation; either version 2, or (at your option) any later.    --
+-- PolyORB HI 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  distributed with PolyORB HI; see file       --
+-- COPYING. If not, write  to the Free  Software Foundation, 51 Franklin    --
+-- Street, Fifth Floor, Boston, MA 02111-1301, USA.                         --
+--                                                                          --
+-- As a special exception,  if other files  instantiate  generics from this --
+-- unit, or you link  this unit with other files  to produce an executable, --
+-- this  unit  does not  by itself cause  the resulting  executable  to  be --
+-- covered  by the  GNU  General  Public  License.  This exception does not --
+-- however invalidate  any other reasons why  the executable file  might be --
+-- covered by the  GNU Public License.                                      --
+--                                                                          --
+--              PolyORB-HI/Ada is maintained by the TASTE project           --
+--                      (taste-users@lists.tuxfamily.org)                   --
+--                                                                          --
+------------------------------------------------------------------------------
+
+--  Sporadic threads are a little bit more complicated that periodic
+--  ones. Their behaviour can be summerized as follows:
+
+--  BEGIN LOOP
+--   1 - Blocks until a triggering event comes
+--   2 - Do the job
+--   3 - Sleep to guarantee that minimal inter-arrival time elapses
+--  END LOOP
+
+with System;
+with Ada.Real_Time;
+with PolyORB_HI_Generated.Deployment;
+with PolyORB_HI.Errors;
+
+with Ada.Interrupts; use Ada.Interrupts;
+with Ada.Interrupts.Names; use Ada.Interrupts.Names;
+
+generic
+   Entity          : in PolyORB_HI_Generated.Deployment.Entity_Type;
+   --  So that the task know from which AADL entity it has been
+   --  mapped.
+
+   Task_Period     : in Ada.Real_Time.Time_Span;
+   --  Task minimal inter-arrival time of events
+
+   Task_Deadline   : in Ada.Real_Time.Time_Span;
+   --  Task deadline
+
+   Task_Priority   : in System.Any_Priority;
+   --  Task priority
+
+   Task_Stack_Size : in Natural;
+   --  Task stack size
+
+   Interrupt_Identifier : in Ada.Interrupts.Interrupt_ID := SIGUSR1;
+
+   with function Job return PolyORB_HI.Errors.Error_Kind;
+   --  Parameterless procedure executed by the periodic task
+
+   with procedure Activate_Entrypoint is null;
+   --  If given, the task run Activate_Entrypoint after the global
+   --  initialization and before the task main loop.
+
+   with procedure Recover_Entrypoint is null;
+   --  If given, the task runs Recover_Entrypoint when an error is
+   --  detected.
+
+package PolyORB_HI.ISR_Task is
+
+   protected Handler is
+      entry Wait;
+
+      procedure Handle;
+      pragma Interrupt_Handler(Handle);
+      pragma Attach_Handler(Handle, Interrupt_Identifier);
+
+   private
+      ISR_Pending : Boolean := False;
+   end Handler;
+
+   task The_ISR_Task is
+      pragma Priority (Task_Priority);
+      pragma Storage_Size (Task_Stack_Size);
+   end The_ISR_Task;
+
+   function Next_Deadline return Ada.Real_Time.Time;
+   --  Return the value of the next deadline (in absolute time)
+
+end PolyORB_HI.ISR_Task;