/****************************************************************************** * * PROJECT: Carnegie Mellon Planetary Rover Project * Task Control Architecture * * (c) Copyright 1991 Christopher Fedor and Reid Simmons. All rights reserved. * * MODULE: x_ipc * * FILE: x_ipc.h * * ABSTRACT: * * Task Control Architecture * * Include File * * $Source: /cvsroot/carmen/carmen/src/ipc/tca.h,v $ * $Revision: 1.1.1.1 $ * $Date: 2004/10/15 14:33:16 $ * $Author: tomkol $ * * REVISION HISTORY: * * $Log: tca.h,v $ * Revision 1.1.1.1 2004/10/15 14:33:16 tomkol * Initial Import * * Revision 1.5 2003/04/20 02:28:13 nickr * Upgraded to IPC 3.7.6. * Reversed meaning of central -s to be default silent, * -s turns silent off. * * Revision 2.4 2003/03/07 19:45:46 trey * added ability to silently close child copies of the connection to the central server * * Revision 2.3 2000/08/14 21:28:35 reids * Added support for making under Windows. * * Revision 2.2 2000/07/03 17:03:29 hersh * Removed all instances of "tca" in symbols and messages, plus changed * the names of all other symbols which conflicted with TCA. This new * version of IPC should be able to interoperate TCA fully. Client * programs can now link to both tca and ipc. * * Revision 2.1.1.1 1999/11/23 19:07:33 reids * Putting IPC Version 2.9.0 under local (CMU) CVS control. * * Revision 1.1.2.10 1997/01/27 20:10:01 udo * ipc_2_6_006 to r3_Dev merge * * Revision 1.1.2.8 1997/01/11 01:21:25 udo * ipc 2.6.002 to r3_dev merge * * Revision 1.1.2.7.4.1 1996/12/24 14:41:49 reids * Merge the C and Lisp IPC libraries (both C and Lisp modules can now * link with the same libipc.a). * Moved the Lisp-specific code to ipcLisp.c: Cleaner design and it will * not be linked into C modules this way. * * Revision 1.1.2.7 1996/12/18 15:27:23 reids * Renamed EXTERN_FUNCTION to IPC_EXTERN_FUNCTION to avoid name conflicts * * Revision 1.1.2.6 1996/11/22 20:18:11 rouquett * forgot that semicolon in the c++ EXTERN_FUNCTION * * Revision 1.1.2.5 1996/11/22 19:03:44 rouquett * get rid of the annoying warnings with c++ * * Revision 1.1.2.4 1996/10/29 14:55:00 reids * Use the right prototype definition for x_ipcRegisterMallocHnd. * * Revision 1.1.2.3 1996/10/24 15:19:27 reids * Make everything use x_ipcMalloc/x_ipcFree. * * Revision 1.1.2.2 1996/10/18 18:18:12 reids * Changes to keep X_IPC consistent with the NASA IPC package. * * Revision 1.1.2.1 1996/10/14 00:11:49 reids * Added a "raw" option to handler languages. * * Revision 1.1 1996/05/09 01:02:04 reids * Moved all the X_IPC files over to the IPC directory. * Fixed problem with sending NULL data. * Added function IPC_setCapacity. * VxWorks m68k version released. * * Revision 1.4 1996/04/24 19:11:08 reids * Support for the vxworks version. Main changes to the way getting time is * handled and parsing of command line options. * * Revision 1.3 1996/03/19 03:38:54 reids * Plugging more memory leaks; Able to free formatter data structures. * * Revision 1.2 1996/03/12 03:20:05 reids * Added "enum" format type. * Plugged memory leaks (using Purify). * * Revision 1.1 1996/03/03 04:32:47 reids * First release of IPC files. X_IPC code (8.5), modified to support NM-DS1 IPC. * * Revision 1.46 1996/06/27 15:40:18 rich * Added x_ipcGetAcceptFds. * * Revision 1.45 1996/05/09 18:31:37 reids * Changes to keep X_IPC consistent with the NASA IPC package. * Some bug fixes (mainly to do with freeing formatters). * * Revision 1.44 1996/03/15 21:28:00 reids * Added x_ipcQueryNotify, x_ipcAddEventHandler, x_ipcRemoveEventHandler. * Fixed re-registration bug; Plugged memory leaks; Fixed way task trees * are killed; Added support for "enum" format type. * * Revision 1.43 1996/03/05 05:04:56 reids * Changes (mainly delineated by NMP_IPC conditionals) to support the * New Millennium IPC. * * Revision 1.42 1996/02/21 18:30:29 rich * Created single event loop. * * Revision 1.41 1996/02/10 16:50:40 rich * Fixed header problems and a crash related to direct connections. * * Revision 1.40 1996/02/01 04:03:40 rich * Generalized updateVersion and added recursion. * * Revision 1.39 1996/01/30 15:05:03 rich * Fixed var array index problem. Index refers to the enclosing structure. * Added ability to force 32 bit enums and changed some #defs to enums to * ease debugging. Fixed initialization problems for central. * * Revision 1.38 1996/01/27 21:54:33 rich * Pre-release of 8.4. * Added recursive named formatters and "BAD" formats. Also incorporated * Iain's windows changes. * * Revision 1.37 1996/01/05 16:31:42 rich * Added windows NT port. * * Revision 1.36 1995/10/29 18:27:12 rich * Initial creation of 8.3. Added changes made after 8.2 branch was * created. These mostly have to do with context switching. * * Revision 1.35.2.1 1995/10/27 01:48:15 rich * Removed unimplemented calls. * * Revision 1.35 1995/10/25 22:49:03 rich * Fixed problems with context switching. Now the context is a separate * data structure accessed from the module data structure, using the * currentContext field. GET_C_GLOBAL is used instead of GET_M_GLOBAL for * the context dependent fields. * * Revision 1.34 1995/10/17 17:36:47 reids * Added a "language" slot to the HND_TYPE data structure, so that the LISP * X_IPC version will know what language to decode the data structure into * (extensible for other languages, as well). * * Revision 1.33 1995/10/07 19:07:56 rich * Pre-alpha release of x_ipc-8.2. * Added PROJECT_DIR. Added x_ipcWillListen. * Only transmit broadcast messages when there is a handler to receive them. * All system messages now start with "x_ipc_". Old messages are also supported. * * Revision 1.32 1995/08/14 21:32:05 rich * Got rid of the "sharedBuffers" flag on the dataMessages. It was not the * right solution, and possibly caused a memory leak. * Limit pending for X_IPC_TAPPED_MSG_VAR to 1. * * Revision 1.31 1995/08/08 05:43:32 rich * Removed junk from x_ipc.h file. * * Revision 1.30 1995/07/26 20:42:41 rich * Recognize dump when not compiled with DBMALLOC, remove proc from prototypes. * * Revision 1.29 1995/07/24 15:56:59 reids * Somehow x_ipc.h got all screwed up (confused with x_ipc.lisp)! * * Revision 1.27 1995/07/19 14:26:50 rich * Added display and dump to the central interface. * Fixed problem with direct querries not returning to the correct module. * Added Argv versions of provides and requires. * * Revision 1.26 1995/07/12 04:55:34 rich * Release of 8.0. * Fixed problems with sending between machines of different endien. * * Revision 1.25 1995/07/10 16:18:53 rich * Interm save. * * Revision 1.24 1995/06/14 03:22:35 rich * Added DBMALLOC_DIR. * More support for DOS. Fixed some problems with direct connections. * * Revision 1.23 1995/06/05 23:59:12 rich * Improve support of detecting broken pipes. Add support for OSF 2. * Add return types to the global variable routines. * * Revision 1.22 1995/05/31 19:37:00 rich * Fixed problem with reply data being freed early from replys. * Initial work on getting the PC version to work. * * Revision 1.21 1995/04/21 03:53:35 rich * Added central commands to kill the task tree and close a module. * Added x_ipcGetContext and x_ipcSetContext to support connections to multiple * central servers. x_ipcConnectModules can be called multiple times. * Fixed a bug in the resource limit pending. * Created seperate routines to print help and option messages. * * Revision 1.20 1995/04/04 19:43:08 rich * Added sgi support. * Split low level com routines out to be used in devUtils. * Improved some error messages. * Added central switch to default to direct connections. Does not work yet. * Fixed the vectorization code. * * Revision 1.19 1995/03/28 01:15:07 rich * - Added ability to log data with direct connections. Also fixed some * problems with global variables. It now uses broadcasts for watching variables. * - Added preliminary memory recovery routines to handle out of memory * conditions. It currently purges items from resource queues. Needs to * be tested. * - If the CENTRALHOST environment variable is not set, try the current * host. * - Fixed a problem with central registered messages that caused the parsed * formatters to be lost. * - Added const declarations where needed to the prototypes in x_ipc.h. * - x_ipcGetConnections: Get the fd_set. Needed for direct connections. * - Added x_ipcExecute and x_ipcExecuteWithConstraints. Can "execute" a goal * or command. * - x_ipcPreloadMessage: Preload the definition of a message from the * central server. * * Revision 1.18 1995/03/19 19:39:47 rich * Implemented direct connections using x_ipcDirectResouce call. * Also made the basics.h file a module include. * Changed class in the interval structure to be interval_class to avoid a * conflict with C++. * * Revision 1.17 1995/03/18 15:11:06 rich * Fixed updateVersion script so it can be run from any directory. * * Revision 1.16 1995/02/06 14:46:13 reids * Removed the "Global" suffix from x_ipcRootNode, x_ipcServer and x_ipcDefaultTime * * Revision 1.15 1995/01/18 22:43:14 rich * X_IPC 7.9: Speed improvements. * Use unix sockets for communication on the same machine. * Eliminate copying. * Optimize loop for arrays, especially simple, primitive arrays. * Optimize the buffer size. * * Revision 1.14 1994/05/25 17:32:41 reids * Added utilities to limit the number of pending messages * * Revision 1.13 1994/05/25 04:58:06 rich * Defined macros for registering simple messages and handlers at once. * Added function to ignore logging for all messages associated with a * global variable. * Moved module global variable routines to a new file so they are not * included in the .sa library file. Gets better code sharing and lets you * debug these routines. * Added code to force the module variables to be re-initialized after the * server goes down. * x_ipcClose now will not crash if the server is down and frees some module * memory. * The command line flag "-u" turns off the simple user interface. * Added routines to free hash tables and id tables. * * Revision 1.12 1994/05/17 23:18:00 rich * Added global variables and associated routines. * Added some error checking. The central connection is now set to -1 * rather than zero to prevent x_ipc messages from being send to stdout. * Now compiles on the sgi machines. Still need to have the endian and * alignment figured out automatically. * * Revision 1.11 1994/05/11 01:57:36 rich * Now set an invalid x_ipcServerGlobal (a socket fd) to -1 rather than 0 * which is stdout. * Added checks to make sure x_ipcServerGlobal is a valid socket before * sending messages or waiting for messages. * * Revision 1.10 1994/04/28 16:17:39 reids * Changes in X_IPC Version 7.6: * 1) New functions: x_ipcIgnoreLogging and x_ipcResumeLogging * 2) Code for MacIntosh (MPW) version of X_IPC * * Revision 1.9 1994/04/25 16:12:07 reids * Fixed external declaration of x_ipcByPassException, which was mis-spelled * * Revision 1.8 1994/04/16 19:43:25 rich * First release of X_IPC for the DEC alpha. * Changes were needed because longs are 64 bits. * Fixed alignment assumption in the data message format. * Fixed the way offsets are calculated for variable length arrays. This * was a problem even without 64 bit longs and pointers. * * Added the commit date to the version information printed out with the -v * option. * * Now uses standard defines for byte order * (BYTE_ORDER = BIG_ENDIAN, LITTLE_ENDIAN or PDP_ENDIAN) * * Defined alignment types: ALIGN_INT ALINE_LONGEST and ALIGN_WORD. * * *** WARNING *** * sending longs between alphas and non-alpha machines will probably not work. * *** WARNING *** * * Revision 1.7 1993/11/21 20:19:49 rich * Added shared library for sun4c_411 sunos machines. * Added install to the makefile. * Fixed problems with global variables. * * Revision 1.3 1993/10/20 18:56:11 rich * Got rid of VOID_FN an INT_FN. * * Revision 1.6 1993/10/06 18:07:24 reids * Fixed two bugs: x_ipcTplConstrain was not externed correctly and * -D option was not being incorporated correctly in compiling * * Revision 1.5 1993/08/30 21:54:48 fedor * V7+V6+VXWORKS Everything compiles but there are initialization problems. * * Revision 1.6 1993/07/08 05:37:45 rich * Added function prototypes * * Revision 1.5 1993/07/06 20:30:05 reids * Accidentally deleted prototypes for x_ipcEnableDistributedResponses and * Disable... * * Revision 1.4 1993/07/05 18:11:30 reids * Added x_ipcDeregisterHandler function * * Revision 1.2 1993/05/27 22:15:24 rich * Added automatic logging. * * 13-Oct-92 Reid Simmons, School of Computer Science, CMU * Changed ConstraintClass to InformClass (more informative name). * Added BroadcastClass and MultiQueryClass messages. * Added WhenSuccess and WhenFailure message tap conditions * ****************************************************************************/ /* This flag ensures that multiple occurrences of the include file don't cause problems*/ #ifndef INCx_ipc #define INCx_ipc #include /* Support for HandleMessage */ #define WAITFOREVER (0xFFFFFFFF) /* must be less than 0 */ #ifdef Success #undef Success #endif /* Some parameters need to be of a fixed number of bits. */ #if !defined(__TURBOC__) && !defined(WIN32) typedef unsigned short u_int16; typedef short int16; typedef unsigned int u_int32; typedef int int32; #else typedef unsigned int u_int16; #define int16 short typedef unsigned long u_int32; #define int32 long #endif /* Communciation Return Values */ typedef enum { Success=0, TimeOut=1, Failure=2, WrongVersion=3, MsgUndefined=4, WrongMsgClass=5, NullReply=6 #ifdef FORCE_32BIT_ENUM , dummyX_IpcReturnValue = 0x7FFFFFFF #endif } X_IPC_RETURN_VALUE_TYPE; /* Low Level Communication Status Values */ typedef enum { StatEOF=0, StatError=1, StatOK=2, StatSendEOF=3, StatSendError=4, StatRecvEOF=5, StatRecvError=6 #ifdef FORCE_32BIT_ENUM , dummyX_IpcReturnStatus = 0x7FFFFFFF #endif } X_IPC_RETURN_STATUS_TYPE; /* Class Type */ #ifndef __TURBOC__ typedef enum { UNKNOWN=0, HandlerRegClass=1, ExecHndClass=2, QueryClass=3, GoalClass=4, CommandClass=5, InformClass=6, ExceptionClass=7, PollingMonitorClass=8, PointMonitorClass=9, DemonMonitorClass=10, ReplyClass=11, SuccessClass=12, FailureClass=13, FireDemonClass=14, BroadcastClass=15, MultiQueryClass=16 #ifdef FORCE_32BIT_ENUM , dummyX_IpcMsgClass = 0x7FFFFFFF #endif } X_IPC_MSG_CLASS_TYPE; #else typedef int32 X_IPC_MSG_CLASS_TYPE; #define UNKNOWN 0 #define HandlerRegClass 1 #define ExecHndClass 2 #define QueryClass 3 #define GoalClass 4 #define CommandClass 5 #define InformClass 6 #define ExceptionClass 7 #define PollingMonitorClass 8 #define PointMonitorClass 9 #define DemonMonitorClass 10 #define ReplyClass 11 #define SuccessClass 12 #define FailureClass 13 #define FireDemonClass 14 #define BroadcastClass 15 #define MultiQueryClass 16 #endif /* For upward compatibility */ #define ConstraintClass InformClass /* Reference Status Return Values */ typedef enum { UnknownRefStatus=0, InactiveRef=1, PendingRef=2, ActiveRef=3, HandledRef=4, PlannedRef=5, AchievedRef=6, KilledRef=7 } X_IPC_REF_STATUS_TYPE; typedef struct _X_IPC_REF *X_IPC_REF_PTR; typedef struct _X_IPC_CONTEXT *X_IPC_CONTEXT_PTR; typedef void (* X_IPC_HND_FN)(X_IPC_REF_PTR, char *); typedef void (* X_IPC_HND_DATA_FN)(X_IPC_REF_PTR, char *, void *clientData); typedef struct { int maxFire; /* maximum times to fire action message; -1 indicates infinite (default is -1) */ int fireEvery; /* fire action message every n times condition is satisfied. (default is 1) */ int duration; /* maximum time, in seconds, that the monitor can run; -1 indicates infinite time (default is -1) */ int period; /* time between polls, in seconds */ int initialWait; /* if TRUE, don't poll immediately (default is FALSE) */ } INTERVAL_MONITOR_OPTIONS_TYPE, *INTERVAL_MONITOR_OPTIONS_PTR; /* * For representing temporal constraints within modules (central uses * a different representation). */ #ifndef __TURBOC__ typedef enum { NoTime=0, StartPoint=1, EndPoint=2 #ifdef FORCE_32BIT_ENUM , dummyX_IpcPointClass = 0x7FFFFFFF #endif } X_IPC_POINT_CLASS_TYPE; #else typedef int32 X_IPC_POINT_CLASS_TYPE; #define NoTime 0 #define StartPoint 1 #define EndPoint 2 #endif #ifndef __TURBOC__ typedef enum { NoInterval=0, HandlingInterval=1, AchievementInterval=2, PlanningInterval=3 #ifdef FORCE_32BIT_ENUM , dummyX_IpcIntervalClass = 0x7FFFFFFF #endif } X_IPC_INTERVAL_CLASS_TYPE; #else typedef int32 X_IPC_INTERVAL_CLASS_TYPE; #define NoInterval 0 #define HandlingInterval 1 #define AchievementInterval 2 #define PlanningInterval 3 #endif typedef enum { UnknownCondition=0, WhenSent=1, BeforeHandling=2, WhileHandling=3, AfterHandled=4, AfterReplied=5, AfterSuccess=6, AfterFailure=7, BeforeAchieving=8, WhileAchieving=9, AfterAchieved=10, WhenAchieved=11, BeforePlanning=12, WhilePlanning=13, AfterPlanned=14, WhenPlanned=15, WhenSuccess=16, WhenFailure=17, WhenKilled=18 #ifdef FORCE_32BIT_ENUM , dummyTapCondition = 0x7FFFFFFF #endif } TAP_CONDITION_TYPE; typedef struct { X_IPC_INTERVAL_CLASS_TYPE interval_class; int msgRef; } X_IPC_INTERVAL_TYPE, *X_IPC_INTERVAL_PTR; #define X_IPC_INTERVAL_FORMAT "{int,int}" typedef struct { X_IPC_POINT_CLASS_TYPE point_class; X_IPC_INTERVAL_TYPE interval; } X_IPC_TIME_POINT_TYPE, *X_IPC_TIME_POINT_PTR; #define X_IPC_TIME_POINT_FORMAT "{int,X_IPC_INTERVAL}" typedef struct _TIMELIST { X_IPC_TIME_POINT_TYPE timePoint; struct _TIMELIST *Next; } X_IPC_TIME_LIST_TYPE, *X_IPC_TIME_LIST_PTR; #define X_IPC_TIME_LIST_FORMAT "{X_IPC_TIME_POINT,*!}" typedef struct { X_IPC_TIME_POINT_TYPE timePoint1; const char *relationship; X_IPC_TIME_POINT_TYPE timePoint2; } X_IPC_TPL_CONSTRAINT_TYPE, *X_IPC_TPL_CONSTRAINT_PTR; #define X_IPC_TPL_CONSTRAINT_FORMAT "{X_IPC_TIME_POINT,*char,X_IPC_TIME_POINT}" typedef struct { X_IPC_REF_PTR ERef, CRef; int numOfRetries; /* number of times of CNode being retried */ } EXC_INFO_TYPE, * EXC_INFO_PTR; /* The language in which the message handler is written */ typedef enum { UNKNOWN_LANGUAGE=0, C_LANGUAGE=1, LISP_LANGUAGE=2, RAW_C_LANGUAGE=3, RAW_LISP_LANGUAGE=4 #ifdef FORCE_32BIT_ENUM , dummyHndLanguageEnum = 0x7FFFFFFF #endif } HND_LANGUAGE_ENUM; /***************************************************************************/ typedef enum { NO_TPLCONSTR = 0, /* End(Achievement(Last_Node)) <= Start(Achievement(Node)) */ SEQ_ACH = 01, /* End(Planning(Last_Node)) <= Start(Planning(Node)) */ SEQ_PLANNING = 02, /* End(Planning(Node)) <= Start(Achievement(Node)) */ PLAN_FIRST = 04, /* Start(Planning(Node)) = Start(Achievement(Node)) */ DELAY_PLANNING = 010 #ifdef FORCE_32BIT_ENUM , dummyTplconstrEnum = 0x7FFFFFFF #endif } TPLCONSTR_ENUM; #define x_ipcRegisterGoalMessage(name, format) \ x_ipcRegisterMessage(name, GoalClass, format, (const char *)NULL) #define x_ipcRegisterCommandMessage(name, format) \ x_ipcRegisterMessage(name, CommandClass, format, (const char *)NULL) #define x_ipcRegisterInformMessage(name, format) \ x_ipcRegisterMessage(name, InformClass, format, (const char *)NULL) /* Kept for upward compatibility -- use "x_ipcRegisterInformMessage" */ #define x_ipcRegisterConstraintMessage(name, format) \ x_ipcRegisterInformMessage(name, format) #define x_ipcRegisterQueryMessage(name, msgFormat, resFormat) \ x_ipcRegisterMessage(name, QueryClass, msgFormat, resFormat) #define x_ipcRegisterExceptionMessage(name, format) \ x_ipcRegisterMessage(name, ExceptionClass, format, (const char *)NULL) #define x_ipcRegisterBroadcastMessage(name, format) \ x_ipcRegisterMessage(name, BroadcastClass, format, (const char *)NULL) #define x_ipcRegisterMultiQueryMessage(name, msgFormat, resFormat) \ x_ipcRegisterMessage(name, MultiQueryClass, msgFormat, resFormat) #define VALID_TIME(timePoint) ((timePoint).point_class != NoTime) #define TPL_ORDER(interval1, interval2) \ (x_ipcTplConstrain(x_ipcEndOf(interval1), "<=", x_ipcStartOf(interval2))) #define x_ipcRaiseException(a,b,c) x_ipcFailure(a,b,c) /***************************************************************************/ /* EXTERN_FUNCTION( rtn name, (arg types) ); * Macro to make external function declarations portable between * the major C dialects: C, ANSI C, and C++. */ #if defined(__cplusplus) /* C++ */ #define IPC_EXTERN_FUNCTION( rtn, args ) rtn args #elif defined(__STDC__) || defined(__GNUC__) /* ANSI C */ #define IPC_EXTERN_FUNCTION( rtn, args ) extern rtn args #elif defined(__TURBOC__) /* ANSI C */ #define IPC_EXTERN_FUNCTION( rtn, args ) extern rtn args #else /* "Regular" C */ #define IPC_EXTERN_FUNCTION( rtn, args ) extern rtn() #endif /********************* * Library Functions * *********************/ #if defined(__cplusplus) /* C++ */ extern "C" { #endif /* * Functions for starting X_IPC and setting parameters */ IPC_EXTERN_FUNCTION( const char *x_ipcServerMachine, (void)); IPC_EXTERN_FUNCTION( void x_ipcConnectModule, (const char *moduleName, const char *serverHost)); IPC_EXTERN_FUNCTION( void x_ipcModuleProvides, (const char *resourceName, ...)); IPC_EXTERN_FUNCTION( void x_ipcModuleProvidesArgv, (const char **resourceNames)); IPC_EXTERN_FUNCTION( void x_ipcModuleRequires, (const char *resourceName, ...)); IPC_EXTERN_FUNCTION( void x_ipcModuleRequiresArgv, (const char **resourceNames)); IPC_EXTERN_FUNCTION( char **x_ipcQueryAvailable, (void)); IPC_EXTERN_FUNCTION( void x_ipcEnableDistributedResponses, (void)); IPC_EXTERN_FUNCTION( void x_ipcDisableDistributedResponses, (void)); IPC_EXTERN_FUNCTION( void x_ipcRegisterFreeMemHnd, (void (*func)(u_int32), int retry)); #if defined(DBMALLOC) IPC_EXTERN_FUNCTION( void x_ipcRegisterMallocHnd, (void *(*func)(const char*,int, SIZETYPE), int retry)); #elif defined(__sgi) IPC_EXTERN_FUNCTION( void x_ipcRegisterMallocHnd, (void *(*func)(unsigned int), int retry)); #elif defined(__TURBOC__) void x_ipcRegisterMallocHnd(void *(*func)(unsigned long), long retry); #else IPC_EXTERN_FUNCTION( void x_ipcRegisterMallocHnd, (void *(*func)(size_t size), int retry)); #endif IPC_EXTERN_FUNCTION( void x_ipcWillListen, (int listen)); IPC_EXTERN_FUNCTION( void x_ipcWaitUntilReady, (void)); /* * Functions for registering messages, handlers... */ IPC_EXTERN_FUNCTION( void x_ipcRegisterNamedFormatter, (const char *formName, const char *formString)); IPC_EXTERN_FUNCTION( void x_ipcRegisterLengthFormatter, (const char *formName, int32 length)); IPC_EXTERN_FUNCTION( void x_ipcRegisterMessage, (const char *name, X_IPC_MSG_CLASS_TYPE msg_class, const char *msgFormat, const char *resFormat)); IPC_EXTERN_FUNCTION( void x_ipcPreloadMessage, (const char *name)); IPC_EXTERN_FUNCTION( void _x_ipcRegisterHandlerL, (const char *msgName, const char *hndName, X_IPC_HND_FN hndProc, HND_LANGUAGE_ENUM hndLanguage)); #define x_ipcRegisterHandler(msgName, hndName, hndProc) \ _x_ipcRegisterHandlerL(msgName, hndName, (X_IPC_HND_FN) hndProc, C_LANGUAGE) IPC_EXTERN_FUNCTION( void x_ipcDeregisterHandler, (const char *msgName, const char *hndName)); /* * Functions for getting information about registered messages. */ IPC_EXTERN_FUNCTION( int x_ipcMessageRegistered, (const char *msgName)); IPC_EXTERN_FUNCTION( int x_ipcMessageHandlerRegistered, (const char *msgName)); IPC_EXTERN_FUNCTION( char **x_ipcGetRegisteredMsgs, (void)); typedef struct { char *name; char *msgFormat, *resFormat; X_IPC_MSG_CLASS_TYPE msg_class; char *resourceName; int numberOfHandlers; } MSG_INFO_TYPE, *MSG_INFO_PTR; /* Call this function with a pointer to a valid MSG_INFO_TYPE structure with * the name field filled and it will fill in the rest of the fields. */ IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcGetMsgInfo, (MSG_INFO_PTR info)); /* * define a set of macros that make it easy to register simple * messages and handlers */ #define x_ipcRegisterGoal(name, format, hndProc) \ {x_ipcRegisterGoalMessage(name, format); \ x_ipcRegisterHandler(name, name, hndProc);} #define x_ipcRegisterCommand(name, format, hndProc) \ {x_ipcRegisterCommandMessage(name, format); \ x_ipcRegisterHandler(name, name, hndProc);} #define x_ipcRegisterInform(name, format, hndProc) \ {x_ipcRegisterInformMessage(name, format); \ x_ipcRegisterHandler(name, name, hndProc);} #define x_ipcRegisterQuery(name, format, reply, hndProc) \ {x_ipcRegisterQueryMessage(name, format, reply); \ x_ipcRegisterHandler(name, name, hndProc);} #define x_ipcRegisterException(name, format, hndProc) \ {x_ipcRegisterExceptionMessage(name, format); \ x_ipcRegisterHandler(name, name, hndProc);} IPC_EXTERN_FUNCTION( void x_ipcRegisterExitProc, (void (*)(void))); IPC_EXTERN_FUNCTION( void x_ipcLimitPendingMessages, (const char *msgName, const char *resName, int32 limit)); IPC_EXTERN_FUNCTION( void x_ipcIgnoreLogging, (char *msgName)); IPC_EXTERN_FUNCTION( void x_ipcResumeLogging, (char *msgName)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcCleanUpAfterAchieved, (const char *msgName)); /* * Functions for sending/replying to messages */ /* * "x_ipcInform" and "x_ipcAddConstraint" are equivalent -- the former name * is just more informative of what the function does */ IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcInform, (const char *name, const void *data)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcAddConstraint, (const char *name, const void *data)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcQuery, (const char *name, void *queryData, void *replyData)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcReply, (X_IPC_REF_PTR ref, const void *data)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcNullReply, (X_IPC_REF_PTR ref)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcQuerySend, (const char *name, void *query, X_IPC_REF_PTR *ref)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcQueryReceive, (X_IPC_REF_PTR ref, void *reply)); typedef void (*REPLY_HANDLER_FN)(void *replyData, void *clientData); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcQueryNotify, (const char *name, void *query, REPLY_HANDLER_FN replyHandler, void *clientData)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcExpandGoal, (const char *name, const void *data)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcExpandGoalWithConstraints, (X_IPC_REF_PTR ref, const char *name, const void *data, int32 tplConstraints)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcExecuteCommand, (const char *name, const void *data)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcExecuteCommandWithConstraints, (X_IPC_REF_PTR ref, const char *name, const void *data, int32 tplConstraints)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcWaitForCommand, (const char *name, const void *data)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcWaitForCommandWithConstraints, (X_IPC_REF_PTR ref, const char *name, const void *data, int32 tplConstraints)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcExecute, (const char *name, const void *data)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcExecuteWithConstraints, (X_IPC_REF_PTR ref, const char *name, const void *data, int tplConstraints)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcWaitForGoalWithConstraints, (X_IPC_REF_PTR ref, const char *name, const void *data, int tplConstr)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcWaitForExecutionWithConstraints, (X_IPC_REF_PTR ref, const char *name, const void *data, int tplConstr)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcWaitForExecution, (const char *name, const void *data)); #define x_ipcExecuteCommandAsync(name, data) \ x_ipcExecuteCommandWithConstraints(NULL,name,data,NO_TPLCONSTR) #define x_ipcExecuteAsync(name, data) \ x_ipcExecuteWithConstraints(NULL,name,data,NO_TPLCONSTR) #define x_ipcMaybeExecute(name, data) \ { if (x_ipcMessageHandlerRegistered(name)) x_ipcExecute(name,data); } #define x_ipcMaybeExecuteWithConstraints(ref, name, data, tplConstraints) \ { if (x_ipcMessageHandlerRegistered(name))\ x_ipcExecuteWithConstraints(ref,name,data,tplConstraints); } #define x_ipcMaybeExecuteAsync(name, data) \ { if (x_ipcMessageHandlerRegistered(name)) x_ipcExecuteAsync(name,data); } #ifdef macintosh /* Needed by MCL version of IPC */ #pragma export on #endif IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcSuccess, (X_IPC_REF_PTR ref)); #ifdef macintosh #pragma export off #endif IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcFailure, (X_IPC_REF_PTR ref, const char *description, const void *data)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcBroadcast, (const char *name, const void *data)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcMultiQuery, (const char *name, void *query, int32 max, X_IPC_REF_PTR *refPtr)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcMultiReceive, (X_IPC_REF_PTR ref, void *reply, long timeout)); /* * Functions for handling messages */ IPC_EXTERN_FUNCTION( void x_ipcModuleListen, (void)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcHandleMessage, (long seconds)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcHandleFdInput, (int fd)); typedef void (* X_IPC_FD_HND_FN)(int, void *); IPC_EXTERN_FUNCTION( void x_ipcAddEventHandler, (int fd, X_IPC_FD_HND_FN hnd, void *clientData)); IPC_EXTERN_FUNCTION( void x_ipcRemoveEventHandler, (int fd)); /* * Functions for handling message data. */ IPC_EXTERN_FUNCTION( void x_ipcFreeData, (const char *msgName, void *data)); IPC_EXTERN_FUNCTION( void *x_ipcAllocateReply, (const char *msgName)); IPC_EXTERN_FUNCTION( void x_ipcFreeReply, (const char *msgName, void *replyData)); /* * Functions for handling temporal relations. */ IPC_EXTERN_FUNCTION( X_IPC_TIME_POINT_TYPE x_ipcStartOf, (X_IPC_INTERVAL_TYPE interval)); IPC_EXTERN_FUNCTION( X_IPC_TIME_POINT_TYPE x_ipcEndOf, (X_IPC_INTERVAL_TYPE interval)); IPC_EXTERN_FUNCTION( X_IPC_INTERVAL_TYPE x_ipcHandlingOf, (X_IPC_REF_PTR msgRef)); IPC_EXTERN_FUNCTION( X_IPC_INTERVAL_TYPE x_ipcAchievementOf, (X_IPC_REF_PTR msgRef)); IPC_EXTERN_FUNCTION( X_IPC_INTERVAL_TYPE x_ipcPlanningOf, (X_IPC_REF_PTR msgRef)); IPC_EXTERN_FUNCTION( void x_ipcTplConstrain, (X_IPC_TIME_POINT_TYPE timePoint1, const char *relationship, X_IPC_TIME_POINT_TYPE timePoint2)); /* * Functions for handling message taps. */ IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcTapMessage, (TAP_CONDITION_TYPE condition, const char *tappedMsg, const char *listenMsg)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcTapReference, (TAP_CONDITION_TYPE condition, X_IPC_REF_PTR tappedRef, const char *listenMsg)); IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcFindTappedReference, (X_IPC_REF_PTR listeningRef)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcRemoveTap, (TAP_CONDITION_TYPE condition, const char *tappedMsg, const char *listenMsg)); /* * Functions for handling resources. */ IPC_EXTERN_FUNCTION( void x_ipcRegisterResource, (const char *resName, int32 capacity)); IPC_EXTERN_FUNCTION( void x_ipcDirectResource, (const char *resName)); IPC_EXTERN_FUNCTION( void x_ipcAddHndToResource, (const char *hndName, const char *resName)); IPC_EXTERN_FUNCTION( void x_ipcLimitPendingResource, (const char *resName, int32 limit)); IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcReserveResource, (const char *resName)); IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcReserveModResource, (const char *modName, const char *resName)); IPC_EXTERN_FUNCTION( void x_ipcCancelReservation, (X_IPC_REF_PTR ref)); IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcLockResource, (const char *resName)); IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcLockModResource, (const char *modName, const char *resName)); IPC_EXTERN_FUNCTION( void x_ipcUnlockResource, (X_IPC_REF_PTR ref)); IPC_EXTERN_FUNCTION( void x_ipcAddHndToResource, (const char *hndName, const char *resName)); /* * Functions for handling variables. */ /* Experimental version of global variables */ IPC_EXTERN_FUNCTION( void x_ipcRegisterVar, (const char*, const char*)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE _x_ipcSetVar, (const char*, const void*)); #define x_ipcSetVar(msgName, value) \ _x_ipcSetVar(msgName, (const void*) value) IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE _x_ipcGetVar, (const char*, void*)); #define x_ipcGetVar(msgName, value) \ _x_ipcGetVar(msgName, (void*) value) IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE _x_ipcGetSetVar, (const char*, void*, void*)); #define x_ipcGetSetVar(msgName, setValue, getValue) \ _x_ipcGetSetVar(msgName, (void*) setValue, (void*) getValue) IPC_EXTERN_FUNCTION( void _x_ipcWatchVar, (const char *name, const char *format, X_IPC_HND_FN watchFn)); #define x_ipcWatchVar(varName, format, handler) \ _x_ipcWatchVar(varName, format, (X_IPC_HND_FN) handler) IPC_EXTERN_FUNCTION( void x_ipcUnwatchVar, (const char *name)); IPC_EXTERN_FUNCTION( void x_ipcIgnoreVarLogging, (const char *varName)); IPC_EXTERN_FUNCTION( void x_ipcFreeVar, (const char *varName, void *varData)); /* * Functions for handling the task tree. */ IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcRootNode, (void)); /* For upward compatibility */ #define x_ipcRootNodeGlobal x_ipcRootNode IPC_EXTERN_FUNCTION( int x_ipcIsSameReference, (X_IPC_REF_PTR ref1, X_IPC_REF_PTR ref2)); IPC_EXTERN_FUNCTION( int x_ipcReferenceId, (X_IPC_REF_PTR ref)); IPC_EXTERN_FUNCTION( const char *x_ipcReferenceName, (X_IPC_REF_PTR ref)); IPC_EXTERN_FUNCTION( void *x_ipcReferenceData, (X_IPC_REF_PTR ref)); IPC_EXTERN_FUNCTION( void x_ipcReferenceRelease, (X_IPC_REF_PTR ref)); IPC_EXTERN_FUNCTION( int x_ipcReferenceStatus, (X_IPC_REF_PTR ref)); IPC_EXTERN_FUNCTION( void x_ipcRefFree, (X_IPC_REF_PTR ref)); IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcAddChildReference, (X_IPC_REF_PTR parent, const char *name)); IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcCreateReference, (const char *name)); IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcFindParentReference, (X_IPC_REF_PTR child)); IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcFindFirstChild, (X_IPC_REF_PTR parent)); IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcFindLastChild, (X_IPC_REF_PTR parent)); IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcFindNextChild, (X_IPC_REF_PTR child)); IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcFindPreviousChild, (X_IPC_REF_PTR child)); IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcFindFailedReference, (X_IPC_REF_PTR exception)); IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcFindTopLevelReference, (X_IPC_REF_PTR child)); IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcFindAnteReferenceByName, (X_IPC_REF_PTR child, const char *antecedentName)); IPC_EXTERN_FUNCTION( X_IPC_REF_PTR x_ipcFindChildByName, (X_IPC_REF_PTR parent, const char *childName)); IPC_EXTERN_FUNCTION( void x_ipcKillTaskTree, (X_IPC_REF_PTR ref)); IPC_EXTERN_FUNCTION( void x_ipcKillSubTaskTree, (X_IPC_REF_PTR ref)); IPC_EXTERN_FUNCTION( void x_ipcDisplayTaskTree, (X_IPC_REF_PTR ref)); /* * Functions for handling monitors. */ IPC_EXTERN_FUNCTION( void x_ipcRegisterPointMonitor, (const char *monitor, const char *condition, const char *act)); IPC_EXTERN_FUNCTION( void x_ipcRegisterDemonMonitor, (const char *monitor, const char *setUp, const char *act, const char *cancel)); IPC_EXTERN_FUNCTION( void x_ipcRegisterPollingMonitor, (const char *monitor, const char *condition, const char *act)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcPointMonitor, (const char *name, const void *data)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcPointMonitorWithConstraints, (X_IPC_REF_PTR ref, const char *name, const void *data, int32 tplConstraint)); IPC_EXTERN_FUNCTION( INTERVAL_MONITOR_OPTIONS_PTR x_ipcCreateMonitorOptions, (void)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcIntervalMonitor, (const char *name, const void *data)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcIntervalMonitorWithConstraints, (X_IPC_REF_PTR ref, const char *name, const void *data, X_IPC_TIME_POINT_TYPE start, X_IPC_TIME_POINT_TYPE expire, INTERVAL_MONITOR_OPTIONS_PTR ops)); IPC_EXTERN_FUNCTION( X_IPC_RETURN_VALUE_TYPE x_ipcFireDemon, (const char *name, int32 idValue, const void *data)); /* * Functions for getting information about X_IPC. */ /* Get the version of X_IPC. */ IPC_EXTERN_FUNCTION(int32 x_ipcGetVersionMajor, (void)); IPC_EXTERN_FUNCTION(int32 x_ipcGetVersionMinor, (void)); IPC_EXTERN_FUNCTION( X_IPC_TIME_POINT_TYPE x_ipcDefaultTime, (void)); /* For upward compatibility */ #define x_ipcDefaultTimeGlobal x_ipcDefaultTime IPC_EXTERN_FUNCTION( int x_ipcGetServer, (void)); /* For upward compatibility */ #define x_ipcGetServerGlobal x_ipcGetServer IPC_EXTERN_FUNCTION( fd_set* x_ipcGetConnections, (void)); IPC_EXTERN_FUNCTION( fd_set* x_ipcGetAcceptFds, (void)); IPC_EXTERN_FUNCTION( int x_ipcGetMaxConnection, (void)); /* * Functions for handling exceptions. */ IPC_EXTERN_FUNCTION( void x_ipcRetry, (X_IPC_REF_PTR ref)); IPC_EXTERN_FUNCTION( void x_ipcByPassException, ( X_IPC_REF_PTR ref)); IPC_EXTERN_FUNCTION( void x_ipcGetExceptionInfo, (X_IPC_REF_PTR ref, EXC_INFO_PTR info)); IPC_EXTERN_FUNCTION( void x_ipcAddExceptionHandler, (X_IPC_REF_PTR ref, const char *hndName)); IPC_EXTERN_FUNCTION( void x_ipcAddExceptionHandlerToMessage, (const char *msgName, const char *hndName)); /* * Functions for handling connections to multiple central servers. */ IPC_EXTERN_FUNCTION(void x_ipcSetContext, (X_IPC_CONTEXT_PTR context)); IPC_EXTERN_FUNCTION(X_IPC_CONTEXT_PTR x_ipcGetContext, (void)); /* * Functions for shutting down. */ IPC_EXTERN_FUNCTION( void x_ipcClose, (void)); IPC_EXTERN_FUNCTION( void x_ipcCloseInternal, (int)); #if defined(__cplusplus) /* C++ */ } #endif #if defined(VXWORKS) void central(char *options); #endif #endif /* INCx_ipc */