Merge pull request #3918 from LinuxCNC/revert-3908-rtapi_cleanup

Revert "Rtapi cleanup"

Author: andypugh

src/rtapi/Submakefile

@@ -32,7 +32,6 @@ $(patsubst ./rtapi/%,../include/%,$(RTAPIINCS)): ../include/%.h: ./rtapi/%.h
 ifeq ($(BUILD_SYS),uspace)
 
 RTAPI_APP_SRCS := \
-	rtapi/uspace_rtapi_main.cc \
 	rtapi/uspace_rtapi_app.cc \
 	rtapi/uspace_rtapi_parport.cc \
 	rtapi/uspace_rtapi_string.c \
@@ -44,19 +43,10 @@ $(call TOOBJSDEPS, $(RTAPI_APP_SRCS)): EXTRAFLAGS += -DSIM \
 	-UULAPI -DRTAPI -pthread
 ../bin/rtapi_app: $(call TOOBJS, $(RTAPI_APP_SRCS))
 	$(ECHO) Linking $(notdir $@)
-	$(Q)$(CXX) -rdynamic -o $@ $^ $(LIBDL) -pthread -lrt -lfmt $(LIBUDEV_LIBS) -ldl $(LDFLAGS)
+	$(Q)$(CXX) -rdynamic -o $@ $^ $(LIBDL) -pthread -lrt $(LIBUDEV_LIBS) -ldl $(LDFLAGS)
 TARGETS += ../bin/rtapi_app
 endif
 
-USPACE_POSIX_SRCS := rtapi/uspace_posix.cc
-USERSRCS += $(USPACE_POSIX_SRCS)
-$(call TOOBJSDEPS, $(USPACE_POSIX_SRCS)): EXTRAFLAGS += -pthread -fPIC
-../lib/libuspace-posix.so.0: $(call TOOBJS, $(USPACE_POSIX_SRCS))
-	$(ECHO) Linking $(notdir $@)
-	$(Q)$(CXX) -shared $(LDFLAGS) -o $@ $^ -Wl,-soname,$(notdir $@)
-TARGETS += ../lib/libuspace-posix.so.0
-TARGETS += ../lib/libuspace-posix.so
-
 ifeq ($(CONFIG_USPACE_RTAI),y)
 USPACE_RTAI_SRCS := rtapi/uspace_rtai.cc
 USERSRCS += $(USPACE_RTAI_SRCS)

src/rtapi/rtapi_pci.cc

@@ -34,7 +34,7 @@
 #include <rtapi.h>
 #include <rtapi_pci.h>
 #include <rtapi_firmware.h>
-#include "uspace_rtapi_app.hh"
+#include "rtapi_uspace.hh"
 
 #include <dirent.h>
 #include <errno.h>

src/rtapi/uspace_rtapi_app.hh src/rtapi/rtapi_uspace.hhsrc/rtapi/uspace_rtapi_app.hh renamed to src/rtapi/rtapi_uspace.hh

@@ -34,42 +34,42 @@ static inline void rtapi_timespec_add(timespec &result, const timespec &ta, cons
 }
 
 static inline bool rtapi_timespec_less(const struct timespec &ta, const struct timespec &tb) {
-    if (ta.tv_sec < tb.tv_sec)
-        return 1;
-    if (ta.tv_sec > tb.tv_sec)
-        return 0;
+    if(ta.tv_sec < tb.tv_sec) return 1;
+    if(ta.tv_sec > tb.tv_sec) return 0;
     return ta.tv_nsec < tb.tv_nsec;
 }
 
 void rtapi_timespec_advance(struct timespec &result, const struct timespec &src, unsigned long nsec);
 
-struct WithRoot {
+struct WithRoot
+{
     WithRoot();
     ~WithRoot();
     static std::atomic_int level;
 };
 
 struct rtapi_task {
-    rtapi_task();
+  rtapi_task();
 
-    int magic; /* to check for valid handle */
-    int id;
-    int owner;
-    int uses_fp;
-    size_t stacksize;
-    int prio;
-    long period;
-    struct timespec nextstart;
-    long pll_correction;
-    long pll_correction_limit;
-    void *arg;
-    void (*taskcode)(void *); /* pointer to task function */
+  int magic;			/* to check for valid handle */
+  int id;
+  int owner;
+  int uses_fp;
+  size_t stacksize;
+  int prio;
+  long period;
+  struct timespec nextstart;
+  unsigned ratio;
+  long pll_correction;
+  long pll_correction_limit;
+  void *arg;
+  void (*taskcode) (void*);	/* pointer to task function */
 };
 
-struct RtapiApp {
+struct RtapiApp
+{
 
-    RtapiApp(int policy = SCHED_OTHER) : policy(policy), period(0) {
-    }
+    RtapiApp(int policy = SCHED_OTHER) : policy(policy), period(0) {}
 
     virtual int prio_highest() const;
     virtual int prio_lowest() const;
@@ -79,11 +79,12 @@ struct RtapiApp {
     int prio_next_higher(int prio) const;
     int prio_next_lower(int prio) const;
     long clock_set_period(long int period_nsec);
-    int task_new(void (*taskcode)(void *), void *arg, int prio, int owner, unsigned long int stacksize, int uses_fp);
+    int task_new(void (*taskcode)(void*), void *arg,
+            int prio, int owner, unsigned long int stacksize, int uses_fp);
     virtual rtapi_task *do_task_new() = 0;
     static int allocate_task_id();
     static struct rtapi_task *get_task(int task_id);
-    void unexpected_realtime_delay(rtapi_task *task, int nperiod = 1);
+    void unexpected_realtime_delay(rtapi_task *task, int nperiod=1);
     virtual int task_delete(int id) = 0;
     virtual int task_start(int task_id, unsigned long period_nsec) = 0;
     virtual int task_pause(int task_id) = 0;
@@ -101,20 +102,18 @@ struct RtapiApp {
     long period;
 };
 
-template <class T = rtapi_task> T *rtapi_get_task(int task_id) {
-    return static_cast<T *>(RtapiApp::get_task(task_id));
+template<class T=rtapi_task>
+T *rtapi_get_task(int task_id) {
+    return static_cast<T*>(RtapiApp::get_task(task_id));
 }
 
 int find_rt_cpu_number();
-void set_namef(const char *fmt, ...);
 
-#define MAX_TASKS 64
-#define TASK_MAGIC 21979 /* random numbers used as signatures */
-#define TASK_MAGIC_INIT ((rtapi_task *)(-1))
+#define MAX_TASKS  64
+#define TASK_MAGIC    21979	/* random numbers used as signatures */
+#define TASK_MAGIC_INIT   ((rtapi_task*)(-1))
 
 extern struct rtapi_task *task_array[MAX_TASKS];
 
-extern uid_t euid, ruid; //ToDo: Improve
-
 #define WITH_ROOT WithRoot root
 #endif

src/rtapi/uspace_common.h

@@ -21,7 +21,6 @@
 #include <sys/time.h>
 #include <time.h>
 #include <stdio.h>
-#include <stdlib.h>
 #include <sys/utsname.h>
 #include <string.h>
 #include <unistd.h>
@@ -40,7 +39,7 @@ static msg_level_t msg_level = RTAPI_MSG_ERR;	/* message printing level */
 #include "config.h"
 
 #ifdef RTAPI
-#include "uspace_rtapi_app.hh"
+#include "rtapi_uspace.hh"
 #endif
 
 typedef struct {