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QNX用户参考手册neutrino_prog

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QNX用户参考手册。

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QNX Neutrino Realtime Operating System Programmers Guide For QNX Neutrino 650 2012 QNX Software Systems Limited 20002012 QNX Software Systems Limited All rights reserved QNX Software Systems Limited 1001 Farrar Road Kanata Ontario Canada K2K 0B3 Voice 1 613 5910931 Fax 1 613 5913579 Email infoqnxcom Web httpwwwqnxcom Electronic edition published 2012 QNX Momentics Neutrino Aviage Photon Photon microGUI and Foundry27 are trademarks of QNX Software Systems Limited which are registered trademarks......

QNX® Neutrino® Realtime Operating System Programmer’s Guide For QNX® Neutrino® 6.5.0 © 2012, QNX Software Systems Limited © 2000–2012, QNX Software Systems Limited. All rights reserved. QNX Software Systems Limited 1001 Farrar Road Kanata, Ontario Canada K2K 0B3 Voice: +1 613 591-0931 Fax: +1 613 591-3579 Email: info@qnx.com Web: http://www.qnx.com/ Electronic edition published 2012 QNX, Momentics, Neutrino, Aviage, Photon, Photon microGUI, and Foundry27 are trademarks of QNX Software Systems Limited, which are registered trademarks and/or used in certain jurisdictions. All other trademarks belong to their respective owners. xv xvii About This Book What you’ll find in this guide Recommended reading xviii Typographical conventions xviii xix Note to Windows users Technical support xix 1 Compiling and Debugging Choosing the version of the OS 3 Making your code more portable 3 1 Conforming to standards Including QNX- or Neutrino-specific code 4 6 Header files in /usr/include Self-hosted or cross-development 6 7 7 A simple example Self-hosted 8 Cross-development with network filesystem Cross-development with debugger Cross-development, deeply embedded 9 9 Contents 8 Using libraries 11 12 Static linking Dynamic linking Runtime loading Static and dynamic libraries 12 Platform-specific library locations 12 12 13 Linking your modules 14 Creating shared objects 15 Optimizing the runtime linker 15 16 18 19 Lazy binding RTLD_LAZY Lazy loading Diagnostics and debugging Environment variables 21 21 June 14, 2012 Contents iii Debugging 22 Debugging in a self-hosted environment 22 Debugging in a cross-development environment The GNU debugger (gdb) The process-level debug agent 23 24 © 2012, QNX Software Systems Limited 23 29 29 29 29 A simple debug session Configure the target Compile for debugging Start the debug session Get help Sample boot image 30 32 Debugging using libmudflap 33 2 Programming Overview 35 Process model 37 An application as a set of processes 37 Processes and threads Some definitions 39 39 42 40 Priorities and scheduling 40 Priority range BLOCKED and READY states The ready queue Suspending a running thread When the thread is blocked When the thread is preempted When the thread yields 43 43 Scheduling policies FIFO scheduling 46 Round-robin scheduling Sporadic scheduling 46 47 Why threads? Summary 48 47 41 43 43 43 51 49 Processes Starting processes — two methods Process creation Concurrency Using fork() and forkpty() Inheriting file descriptors 51 52 53 53 3 Process termination 54 Normal process termination 54 iv Contents June 14, 2012 © 2012, QNX Software Systems Limited Abnormal process termination Effect of parent termination 54 55 Detecting process termination 56 56 Using the High Availability Framework Detecting termination from a starter process 57 Sample parent process using wait() Sample parent process using sigwaitinfo() Detecting dumped processes Detecting the termination of daemons Detecting client termination 63 60 63 57 58 Controlling processes via the /proc filesystem 63 65 66 64 72 74 74 68 72 74 75 73 73 Establishing a connection Reading and writing the process’s address space Manipulating a process or thread Thread information DCMD_PROC_BREAK DCMD_PROC_CHANNELS DCMD_PROC_CLEAR_FLAG DCMD_PROC_CURTHREAD DCMD_PROC_EVENT 73 DCMD_PROC_FREEZETHREAD DCMD_PROC_GETALTREG DCMD_PROC_GETFPREG DCMD_PROC_GETGREG DCMD_PROC_GETREGSET 75 DCMD_PROC_GET_BREAKLIST DCMD_PROC_INFO DCMD_PROC_IRQS DCMD_PROC_MAPDEBUG 76 DCMD_PROC_MAPDEBUG_BASE DCMD_PROC_MAPINFO DCMD_PROC_PAGEDATA DCMD_PROC_RUN 78 DCMD_PROC_SETALTREG DCMD_PROC_SETFPREG DCMD_PROC_SETGREG DCMD_PROC_SETREGSET DCMD_PROC_SET_FLAG DCMD_PROC_SIGNAL DCMD_PROC_STATUS DCMD_PROC_STOP 77 78 80 80 81 81 80 80 76 76 75 77 79 81 June 14, 2012 Contents v
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