mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-26 07:33:37 +08:00
Add an example for testing the ELF loader
git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5260 42af7a65-404d-4744-a932-0658087f49c3
This commit is contained in:
patacongo
@@ -0,0 +1,58 @@
|
||||
############################################################################
|
||||
# examples/elf/tests/signal/Makefile
|
||||
#
|
||||
# Copyright (C) 2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. 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.
|
||||
# 3. Neither the name NuttX 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 THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
-include $(TOPDIR)/.config
|
||||
-include $(TOPDIR)/Make.defs
|
||||
|
||||
BIN = signal
|
||||
|
||||
SRCS = $(BIN).c
|
||||
OBJS = $(BIN:.c=.o)
|
||||
|
||||
all: $(BIN)
|
||||
|
||||
$(OBJS): %.o: %.c
|
||||
@echo "CC: $<"
|
||||
@$(CC) -c $(CFLAGS) $< -o $@
|
||||
|
||||
$(BIN): $(OBJS)
|
||||
@echo "LD: $<"
|
||||
@$(LD) $(LDELFFLAGS) -o $@ $^
|
||||
|
||||
clean:
|
||||
@rm -f $(BIN) *.o *~ .*.swp core
|
||||
|
||||
install:
|
||||
@install -D $(BIN) $(ROMFS_DIR)/$(BIN)
|
||||
@@ -0,0 +1,308 @@
|
||||
/****************************************************************************
|
||||
* examples/elf/tests/signal/signal.c
|
||||
*
|
||||
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. 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.
|
||||
* 3. Neither the name NuttX 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 THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <signal.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h>
|
||||
#include <errno.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************/
|
||||
|
||||
#define USEC_PER_MSEC 1000
|
||||
#define MSEC_PER_SEC 1000
|
||||
#define USEC_PER_SEC (USEC_PER_MSEC * MSEC_PER_SEC)
|
||||
#define SHORT_DELAY (USEC_PER_SEC / 3)
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
static int sigusr1_rcvd = 0;
|
||||
static int sigusr2_rcvd = 0;
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sigusr1_sighandler
|
||||
****************************************************************************/
|
||||
|
||||
/* NOTE: it is necessary for functions that are referred to by function pointers
|
||||
* pointer to be declared with global scope (at least for ARM). Otherwise,
|
||||
* a relocation type that is not supported by ELF is generated by GCC.
|
||||
*/
|
||||
|
||||
void sigusr1_sighandler(int signo)
|
||||
{
|
||||
printf("sigusr1_sighandler: Received SIGUSR1, signo=%d\n", signo);
|
||||
sigusr1_rcvd = 1;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sigusr2_sigaction
|
||||
***************************************************************************/
|
||||
|
||||
/* NOTE: it is necessary for functions that are referred to by function pointers
|
||||
* pointer to be declared with global scope (at least for ARM). Otherwise,
|
||||
* a relocation type that is not supported by ELF is generated by GCC.
|
||||
*/
|
||||
|
||||
#ifdef __USE_POSIX199309
|
||||
void sigusr2_sigaction(int signo, siginfo_t *siginfo, void *arg)
|
||||
{
|
||||
printf("sigusr2_sigaction: Received SIGUSR2, signo=%d siginfo=%p arg=%p\n",
|
||||
signo, siginfo, arg);
|
||||
|
||||
#ifdef HAVE_SIGQUEUE
|
||||
if (siginfo)
|
||||
{
|
||||
printf(" si_signo = %d\n", siginfo->si_signo);
|
||||
printf(" si_errno = %d\n", siginfo->si_errno);
|
||||
printf(" si_code = %d\n", siginfo->si_code);
|
||||
printf(" si_pid = %d\n", siginfo->si_pid);
|
||||
printf(" si_uid = %d\n", siginfo->si_uid);
|
||||
printf(" si_status = %d\n", siginfo->si_status);
|
||||
printf(" si_utime = %ld\n", (long)siginfo->si_utime);
|
||||
printf(" si_stime = %ld\n", (long)siginfo->si_stime);
|
||||
printf(" si_value = %d\n", siginfo->si_value.sival_int);
|
||||
printf(" si_int = %d\n", siginfo->si_int);
|
||||
printf(" si_ptr = %p\n", siginfo->si_ptr);
|
||||
printf(" si_addr = %p\n", siginfo->si_addr);
|
||||
printf(" si_band = %ld\n", siginfo->si_band);
|
||||
printf(" si_fd = %d\n", siginfo->si_fd);
|
||||
}
|
||||
#endif
|
||||
sigusr2_rcvd = 1;
|
||||
}
|
||||
#else
|
||||
void sigusr2_sigaction(int signo)
|
||||
{
|
||||
printf("sigusr2_sigaction: Received SIGUSR2, signo=%d\n", signo);
|
||||
sigusr2_rcvd = 1;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sigusr2_sighandler
|
||||
****************************************************************************/
|
||||
|
||||
static void sigusr2_sighandler(int signo)
|
||||
{
|
||||
printf("sigusr2_sighandler: Received SIGUSR2, signo=%d\n", signo);
|
||||
sigusr2_rcvd = 1;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: main
|
||||
****************************************************************************/
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
struct sigaction act;
|
||||
struct sigaction oact;
|
||||
void (*old_sigusr1_sighandler)(int signo);
|
||||
void (*old_sigusr2_sighandler)(int signo);
|
||||
pid_t mypid = getpid();
|
||||
#if defined(__USE_POSIX199309) && defined(HAVE_SIGQUEUE)
|
||||
sigval_t sigval;
|
||||
#endif
|
||||
int status;
|
||||
|
||||
printf("Setting up signal handlers from pid=%d\n", mypid);
|
||||
|
||||
/* Set up so that sigusr1_sighandler will respond to SIGUSR1 */
|
||||
|
||||
old_sigusr1_sighandler = signal(SIGUSR1, sigusr1_sighandler);
|
||||
if (old_sigusr1_sighandler == SIG_ERR)
|
||||
{
|
||||
fprintf(stderr, "Failed to install SIGUSR1 handler, errno=%d\n",
|
||||
errno);
|
||||
exit(1);
|
||||
}
|
||||
|
||||
printf("Old SIGUSR1 sighandler at %p\n", old_sigusr1_sighandler);
|
||||
printf("New SIGUSR1 sighandler at %p\n", sigusr1_sighandler);
|
||||
|
||||
/* Set up so that sigusr2_sigaction will respond to SIGUSR2 */
|
||||
|
||||
memset(&act, 0, sizeof(struct sigaction));
|
||||
act.sa_sigaction = sigusr2_sigaction;
|
||||
act.sa_flags = SA_SIGINFO;
|
||||
|
||||
(void)sigemptyset(&act.sa_mask);
|
||||
|
||||
status = sigaction(SIGUSR2, &act, &oact);
|
||||
if (status != 0)
|
||||
{
|
||||
fprintf(stderr, "Failed to install SIGUSR2 handler, errno=%d\n",
|
||||
errno);
|
||||
exit(2);
|
||||
}
|
||||
|
||||
printf("Old SIGUSR2 sighandler at %p\n", oact.sa_handler);
|
||||
printf("New SIGUSR2 sighandler at %p\n", sigusr2_sigaction);
|
||||
printf("Raising SIGUSR1 from pid=%d\n", mypid);
|
||||
|
||||
fflush(stdout); usleep(SHORT_DELAY);
|
||||
|
||||
/* Send SIGUSR1 to ourselves via raise() */
|
||||
|
||||
status = raise(SIGUSR1);
|
||||
if (status != 0)
|
||||
{
|
||||
fprintf(stderr, "Failed to raise SIGUSR1, errno=%d\n", errno);
|
||||
exit(3);
|
||||
}
|
||||
|
||||
usleep(SHORT_DELAY);
|
||||
printf("SIGUSR1 raised from pid=%d\n", mypid);
|
||||
|
||||
/* Verify that we received SIGUSR1 */
|
||||
|
||||
if (sigusr1_rcvd == 0)
|
||||
{
|
||||
fprintf(stderr, "SIGUSR1 not received\n");
|
||||
exit(4);
|
||||
}
|
||||
sigusr1_rcvd = 0;
|
||||
|
||||
/* Send SIGUSR2 to ourselves */
|
||||
|
||||
printf("Killing SIGUSR2 from pid=%d\n", mypid);
|
||||
fflush(stdout); usleep(SHORT_DELAY);
|
||||
|
||||
#if defined(__USE_POSIX199309) && defined(HAVE_SIGQUEUE)
|
||||
/* Send SIGUSR2 to ourselves via sigqueue() */
|
||||
|
||||
sigval.sival_int = 87;
|
||||
status = sigqueue(mypid, SIGUSR2, sigval);
|
||||
if (status != 0)
|
||||
{
|
||||
fprintf(stderr, "Failed to queue SIGUSR2, errno=%d\n", errno);
|
||||
exit(5);
|
||||
}
|
||||
|
||||
usleep(SHORT_DELAY);
|
||||
printf("SIGUSR2 queued from pid=%d, sigval=97\n", mypid);
|
||||
#else
|
||||
/* Send SIGUSR2 to ourselves via kill() */
|
||||
|
||||
status = kill(mypid, SIGUSR2);
|
||||
if (status != 0)
|
||||
{
|
||||
fprintf(stderr, "Failed to kill SIGUSR2, errno=%d\n", errno);
|
||||
exit(5);
|
||||
}
|
||||
|
||||
usleep(SHORT_DELAY);
|
||||
printf("SIGUSR2 killed from pid=%d\n", mypid);
|
||||
#endif
|
||||
/* Verify that SIGUSR2 was received */
|
||||
|
||||
if (sigusr2_rcvd == 0)
|
||||
{
|
||||
fprintf(stderr, "SIGUSR2 not received\n");
|
||||
exit(6);
|
||||
}
|
||||
sigusr2_rcvd = 0;
|
||||
|
||||
/* Remove the sigusr2_sigaction handler and replace the SIGUSR2
|
||||
* handler with sigusr2_sighandler.
|
||||
*/
|
||||
|
||||
printf("Resetting SIGUSR2 signal handler from pid=%d\n", mypid);
|
||||
|
||||
old_sigusr2_sighandler = signal(SIGUSR2, sigusr2_sighandler);
|
||||
if (old_sigusr2_sighandler == SIG_ERR)
|
||||
{
|
||||
fprintf(stderr, "Failed to install SIGUSR2 handler, errno=%d\n",
|
||||
errno);
|
||||
exit(7);
|
||||
}
|
||||
|
||||
printf("Old SIGUSR2 sighandler at %p\n", old_sigusr2_sighandler);
|
||||
printf("New SIGUSR2 sighandler at %p\n", sigusr2_sighandler);
|
||||
|
||||
/* Verify that the handler that was removed was sigusr2_sigaction */
|
||||
|
||||
if ((void*)old_sigusr2_sighandler != (void*)sigusr2_sigaction)
|
||||
{
|
||||
fprintf(stderr,
|
||||
"Old SIGUSR2 signhanlder (%p) is not sigusr2_sigation (%p)\n",
|
||||
old_sigusr2_sighandler, sigusr2_sigaction);
|
||||
exit(8);
|
||||
}
|
||||
|
||||
/* Send SIGUSR2 to ourselves via kill() */
|
||||
|
||||
printf("Killing SIGUSR2 from pid=%d\n", mypid);
|
||||
fflush(stdout); usleep(SHORT_DELAY);
|
||||
|
||||
status = kill(mypid, SIGUSR2);
|
||||
if (status != 0)
|
||||
{
|
||||
fprintf(stderr, "Failed to kill SIGUSR2, errno=%d\n", errno);
|
||||
exit(9);
|
||||
}
|
||||
|
||||
usleep(SHORT_DELAY);
|
||||
printf("SIGUSR2 killed from pid=%d\n", mypid);
|
||||
|
||||
/* Verify that SIGUSR2 was received */
|
||||
|
||||
if (sigusr2_rcvd == 0)
|
||||
{
|
||||
fprintf(stderr, "SIGUSR2 not received\n");
|
||||
exit(10);
|
||||
}
|
||||
sigusr2_rcvd = 0;
|
||||
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user