/*===========================================================================*
* do_endksig *
*===========================================================================*/
int do_endksig(struct proc * caller, message * m_ptr)
{
/* Finish up after a kernel type signal, caused by a SYS_KILL message or a
* call to cause_sig by a task. This is called by a signal manager after
* processing a signal it got with SYS_GETKSIG.
*/
register struct proc *rp;
int proc_nr;
/* Get process pointer and verify that it had signals pending. If the
* process is already dead its flags will be reset.
*/
if(!isokendpt(m_ptr->m_sigcalls.endpt, &proc_nr))
return EINVAL;
rp = proc_addr(proc_nr);
if (caller->p_endpoint != priv(rp)->s_sig_mgr) return(EPERM);
if (!RTS_ISSET(rp, RTS_SIG_PENDING)) return(EINVAL);
/* The signal manager has finished one kernel signal. Is the process ready? */
if (!RTS_ISSET(rp, RTS_SIGNALED)) /* new signal arrived */
RTS_UNSET(rp, RTS_SIG_PENDING); /* remove pending flag */
return(OK);
}
static void profile_sample(struct proc * p, void * pc)
{
/* This executes on every tick of the CMOS timer. */
/* Are we profiling, and profiling memory not full? */
if (!sprofiling || sprof_info.mem_used == -1)
return;
/* Check if enough memory available before writing sample. */
if (sprof_info.mem_used + sizeof(sprof_info) +
2*sizeof(struct sprof_sample) +
2*sizeof(struct sprof_sample) > sprof_mem_size) {
sprof_info.mem_used = -1;
return;
}
/* Runnable system process? */
if (p->p_endpoint == IDLE)
sprof_info.idle_samples++;
else if (p->p_endpoint == KERNEL ||
(priv(p)->s_flags & SYS_PROC && proc_is_runnable(p))) {
if (!(p->p_misc_flags & MF_SPROF_SEEN)) {
p->p_misc_flags |= MF_SPROF_SEEN;
sprof_save_proc(p);
}
sprof_save_sample(p, pc);
sprof_info.system_samples++;
} else {
/* User process. */
sprof_info.user_samples++;
}
sprof_info.total_samples++;
}
开发者ID:Ga-vin，项目名称:MINIX3，代码行数:36，代码来源:profile.c
示例6: timer_int_handler
/*
* The boot processos timer interrupt handler. In addition to non-boot cpus it
* keeps real time and notifies the clock task if need be
*/
PUBLIC int timer_int_handler(void)
{
/* Update user and system accounting times. Charge the current process
* for user time. If the current process is not billable, that is, if a
* non-user process is running, charge the billable process for system
* time as well. Thus the unbillable process' user time is the billable
* user's system time.
*/
struct proc * p, * billp;
/* FIXME watchdog for slave cpus! */
#ifdef CONFIG_WATCHDOG
/*
* we need to know whether local timer ticks are happening or whether
* the kernel is locked up. We don't care about overflows as we only
* need to know that it's still ticking or not
*/
watchdog_local_timer_ticks++;
#endif
if (cpu_is_bsp(cpuid))
realtime++;
/* Update user and system accounting times. Charge the current process
* for user time. If the current process is not billable, that is, if a
* non-user process is running, charge the billable process for system
* time as well. Thus the unbillable process' user time is the billable
* user's system time.
*/
p = get_cpulocal_var(proc_ptr);
billp = get_cpulocal_var(bill_ptr);
p->p_user_time++;
if (! (priv(p)->s_flags & BILLABLE)) {
billp->p_sys_time++;
}
/* Decrement virtual timers, if applicable. We decrement both the
* virtual and the profile timer of the current process, and if the
* current process is not billable, the timer of the billed process as
* well. If any of the timers expire, do_clocktick() will send out
* signals.
*/
if ((p->p_misc_flags & MF_VIRT_TIMER)){
p->p_virt_left--;
}
if ((p->p_misc_flags & MF_PROF_TIMER)){
p->p_prof_left--;
}
if (! (priv(p)->s_flags & BILLABLE) &&
(billp->p_misc_flags & MF_PROF_TIMER)){
billp->p_prof_left--;
}
/*
* Check if a process-virtual timer expired. Check current process, but
* also bill_ptr - one process's user time is another's system time, and
* the profile timer decreases for both!
*/
vtimer_check(p);
if (p != billp)
vtimer_check(billp);
/* Update load average. */
load_update();
if (cpu_is_bsp(cpuid)) {
/* if a timer expired, notify the clock task */
if ((next_timeout <= realtime)) {
tmrs_exptimers(&clock_timers, realtime, NULL);
next_timeout = (clock_timers == NULL) ?
TMR_NEVER : clock_timers->tmr_exp_time;
}
if (do_serial_debug)
do_ser_debug();
}
return(1); /* reenable interrupts */
}
static int __devinit ether3_init_2(struct net_device *dev)
{
int i;
priv(dev)->regs.config1 = CFG1_RECVCOMPSTAT0|CFG1_DMABURST8;
priv(dev)->regs.config2 = CFG2_CTRLO|CFG2_RECVCRC|CFG2_ERRENCRC;
priv(dev)->regs.command = 0;
/*
* Set up our hardware address
*/
ether3_outw(priv(dev)->regs.config1 | CFG1_BUFSELSTAT0, REG_CONFIG1);
for (i = 0; i < 6; i++)
ether3_outb(dev->dev_addr[i], REG_BUFWIN);
if (dev->flags & IFF_PROMISC)
priv(dev)->regs.config1 |= CFG1_RECVPROMISC;
else if (dev->flags & IFF_MULTICAST)
priv(dev)->regs.config1 |= CFG1_RECVSPECBRMULTI;
else
priv(dev)->regs.config1 |= CFG1_RECVSPECBROAD;
/*
* There is a problem with the NQ8005 in that it occasionally loses the
* last two bytes. To get round this problem, we receive the CRC as
* well. That way, if we do lose the last two, then it doesn't matter.
*/
ether3_outw(priv(dev)->regs.config1 | CFG1_TRANSEND, REG_CONFIG1);
ether3_outw((TX_END>>8) - 1, REG_BUFWIN);
ether3_outw(priv(dev)->rx_head, REG_RECVPTR);
ether3_outw(0, REG_TRANSMITPTR);
ether3_outw(priv(dev)->rx_head >> 8, REG_RECVEND);
ether3_outw(priv(dev)->regs.config2, REG_CONFIG2);
ether3_outw(priv(dev)->regs.config1 | CFG1_LOCBUFMEM, REG_CONFIG1);
ether3_outw(priv(dev)->regs.command, REG_COMMAND);
i = ether3_ramtest(dev, 0x5A);
if(i)
return i;
i = ether3_ramtest(dev, 0x1E);
if(i)
return i;
ether3_setbuffer(dev, buffer_write, 0);
ether3_writelong(dev, 0);
return 0;
}
开发者ID:AllenDou，项目名称:linux，代码行数:47，代码来源:ether3.c
示例9: main
/***
* Starts up a SimpleGraspControlServer.
* Launch this node with the following launch file (or include it in another launch file):
*
* `` \`rospack find grasp_execution\`/launch/simple_grasp_control_server.launch ``
*
* Please also refer to this file (and the SimpleGraspControlServer header documentation)
* for more details about the required parameters.
*
* \author Jennifer Buehler
* \date March 2016
*/
int main(int argc, char**argv){
ros::init(argc, argv, "simple_grasp_action");
ros::NodeHandle priv("~");
ros::NodeHandle pub;
std::string JOINT_STATES_TOPIC="/joint_states";
priv.param<std::string>("joint_states_topic", JOINT_STATES_TOPIC, JOINT_STATES_TOPIC);
std::string JOINT_CONTROL_TOPIC="/joint_control";
priv.param<std::string>("joint_control_topic", JOINT_CONTROL_TOPIC, JOINT_CONTROL_TOPIC);
std::string GRASP_ACTION_TOPIC="/grasp_control_action";
priv.param<std::string>("grasp_control_action_topic", GRASP_ACTION_TOPIC, GRASP_ACTION_TOPIC);
std::string ROBOT_NAMESPACE;
if (!priv.hasParam("robot_namespace"))
{
ROS_ERROR_STREAM(ros::this_node::getName()<<": Must have at least 'robot_namespace' defined in private node namespace");
return 0;
}
priv.param<std::string>("robot_namespace", ROBOT_NAMESPACE, ROBOT_NAMESPACE);
double CHECK_FINGER_STATE_RATE=DEFAULT_CHECK_FINGER_STATE_RATE;
priv.param<double>("check_movement_rate", CHECK_FINGER_STATE_RATE, CHECK_FINGER_STATE_RATE);
double NO_MOVE_TOLERANCE=DEFAULT_NO_MOVE_TOLERANCE;
priv.param<double>("no_move_tolerance", NO_MOVE_TOLERANCE, NO_MOVE_TOLERANCE);
int NO_MOVE_STILL_CNT=DEFAULT_NO_MOVE_STILL_CNT;
priv.param<int>("no_move_still_cnt", NO_MOVE_STILL_CNT, NO_MOVE_STILL_CNT);
double GOAL_TOLERANCE=DEFAULT_GOAL_TOLERANCE;
priv.param<double>("goal_tolerance", GOAL_TOLERANCE, GOAL_TOLERANCE);
ROS_INFO("Launching arm components name manager");
arm_components_name_manager::ArmComponentsNameManager jointsManager(ROBOT_NAMESPACE, false);
float maxWait=5;
ROS_INFO("Waiting for joint info parameters to be loaded...");
if (!jointsManager.waitToLoadParameters(1,maxWait,1))
{
ROS_ERROR("Joint names (ArmComponentsNameManager) could not be launched due to missing ROS parameters.");
return 0;
}
grasp_execution::SimpleGraspControlServer actionServer(
pub,
GRASP_ACTION_TOPIC,
JOINT_STATES_TOPIC,
JOINT_CONTROL_TOPIC,
jointsManager,
GOAL_TOLERANCE,
NO_MOVE_TOLERANCE,
NO_MOVE_STILL_CNT,
CHECK_FINGER_STATE_RATE);
actionServer.init();
// ros::MultiThreadedSpinner spinner(4); // Use 4 threads
// spinner.spin(); // spin() will not return until the node has been shutdown
ros::spin();
return 0;
}
/*===========================================================================*
* do_irqctl *
*===========================================================================*/
int do_irqctl(struct proc * caller, message * m_ptr)
{
/* Dismember the request message. */
int irq_vec;
int irq_hook_id;
int notify_id;
int r = OK;
int i;
irq_hook_t *hook_ptr;
struct priv *privp;
/* Hook identifiers start at 1 and end at NR_IRQ_HOOKS. */
irq_hook_id = m_ptr->m_lsys_krn_sys_irqctl.hook_id - 1;
irq_vec = m_ptr->m_lsys_krn_sys_irqctl.vector;
/* See what is requested and take needed actions. */
switch(m_ptr->m_lsys_krn_sys_irqctl.request) {
/* Enable or disable IRQs. This is straightforward. */
case IRQ_ENABLE:
case IRQ_DISABLE:
if (irq_hook_id >= NR_IRQ_HOOKS || irq_hook_id < 0 ||
irq_hooks[irq_hook_id].proc_nr_e == NONE) return(EINVAL);
if (irq_hooks[irq_hook_id].proc_nr_e != caller->p_endpoint) return(EPERM);
if (m_ptr->m_lsys_krn_sys_irqctl.request == IRQ_ENABLE) {
enable_irq(&irq_hooks[irq_hook_id]);
}
else
disable_irq(&irq_hooks[irq_hook_id]);
break;
/* Control IRQ policies. Set a policy and needed details in the IRQ table.
* This policy is used by a generic function to handle hardware interrupts.
*/
case IRQ_SETPOLICY:
/* Check if IRQ line is acceptable. */
if (irq_vec < 0 || irq_vec >= NR_IRQ_VECTORS) return(EINVAL);
privp= priv(caller);
if (!privp)
{
printf("do_irqctl: no priv structure!\n");
return EPERM;
}
if (privp->s_flags & CHECK_IRQ)
{
for (i= 0; i<privp->s_nr_irq; i++)
{
if (irq_vec == privp->s_irq_tab[i])
break;
}
if (i >= privp->s_nr_irq)
{
printf(
"do_irqctl: IRQ check failed for proc %d, IRQ %d\n",
caller->p_endpoint, irq_vec);
return EPERM;
}
}
/* When setting a policy, the caller must provide an identifier that
* is returned on the notification message if a interrupt occurs.
*/
notify_id = m_ptr->m_lsys_krn_sys_irqctl.hook_id;
if (notify_id > CHAR_BIT * sizeof(irq_id_t) - 1) return(EINVAL);
/* Try to find an existing mapping to override. */
hook_ptr = NULL;
for (i=0; !hook_ptr && i<NR_IRQ_HOOKS; i++) {
if (irq_hooks[i].proc_nr_e == caller->p_endpoint
&& irq_hooks[i].notify_id == notify_id) {
irq_hook_id = i;
hook_ptr = &irq_hooks[irq_hook_id]; /* existing hook */
rm_irq_handler(&irq_hooks[irq_hook_id]);
}
}
/* If there is nothing to override, find a free hook for this mapping. */
for (i=0; !hook_ptr && i<NR_IRQ_HOOKS; i++) {
if (irq_hooks[i].proc_nr_e == NONE) {
irq_hook_id = i;
hook_ptr = &irq_hooks[irq_hook_id]; /* free hook */
}
}
if (hook_ptr == NULL) return(ENOSPC);
/* Install the handler. */
hook_ptr->proc_nr_e = caller->p_endpoint; /* process to notify */
hook_ptr->notify_id = notify_id; /* identifier to pass */
hook_ptr->policy = m_ptr->m_lsys_krn_sys_irqctl.policy; /* policy for interrupts */
put_irq_handler(hook_ptr, irq_vec, generic_handler);
DEBUGBASIC(("IRQ %d handler registered by %s / %d\n",
irq_vec, caller->p_name, caller->p_endpoint));
/* Return index of the IRQ hook in use. */
m_ptr->m_krn_lsys_sys_irqctl.hook_id = irq_hook_id + 1;
//.........这里部分代码省略.........
/*===========================================================================*
* kmain *
*===========================================================================*/
void kmain(kinfo_t *local_cbi)
{
/* Start the ball rolling. */
struct boot_image *ip; /* boot image pointer */
register struct proc *rp; /* process pointer */
register int i, j;
/* save a global copy of the boot parameters */
memcpy(&kinfo, local_cbi, sizeof(kinfo));
memcpy(&kmess, kinfo.kmess, sizeof(kmess));
#ifdef __arm__
/* We want to initialize serial before we do any output */
omap3_ser_init();
#endif
/* We can talk now */
printf("MINIX booting\n");
/* Kernel may use bits of main memory before VM is started */
kernel_may_alloc = 1;
assert(sizeof(kinfo.boot_procs) == sizeof(image));
memcpy(kinfo.boot_procs, image, sizeof(kinfo.boot_procs));
cstart();
BKL_LOCK();
DEBUGEXTRA(("main()\n"));
proc_init();
if(NR_BOOT_MODULES != kinfo.mbi.mods_count)
panic("expecting %d boot processes/modules, found %d",
NR_BOOT_MODULES, kinfo.mbi.mods_count);
/* Set up proc table entries for processes in boot image. */
for (i=0; i < NR_BOOT_PROCS; ++i) {
int schedulable_proc;
proc_nr_t proc_nr;
int ipc_to_m, kcalls;
sys_map_t map;
ip = &image[i]; /* process' attributes */
DEBUGEXTRA(("initializing %s... ", ip->proc_name));
rp = proc_addr(ip->proc_nr); /* get process pointer */
ip->endpoint = rp->p_endpoint; /* ipc endpoint */
make_zero64(rp->p_cpu_time_left);
if(i < NR_TASKS) /* name (tasks only) */
strlcpy(rp->p_name, ip->proc_name, sizeof(rp->p_name));
if(i >= NR_TASKS) {
/* Remember this so it can be passed to VM */
multiboot_module_t *mb_mod = &kinfo.module_list[i - NR_TASKS];
ip->start_addr = mb_mod->mod_start;
ip->len = mb_mod->mod_end - mb_mod->mod_start;
}
reset_proc_accounting(rp);
/* See if this process is immediately schedulable.
* In that case, set its privileges now and allow it to run.
* Only kernel tasks and the root system process get to run immediately.
* All the other system processes are inhibited from running by the
* RTS_NO_PRIV flag. They can only be scheduled once the root system
* process has set their privileges.
*/
proc_nr = proc_nr(rp);
schedulable_proc = (iskerneln(proc_nr) || isrootsysn(proc_nr) ||
proc_nr == VM_PROC_NR);
if(schedulable_proc) {
/* Assign privilege structure. Force a static privilege id. */
(void) get_priv(rp, static_priv_id(proc_nr));
/* Priviliges for kernel tasks. */
if(proc_nr == VM_PROC_NR) {
priv(rp)->s_flags = VM_F;
priv(rp)->s_trap_mask = SRV_T;
ipc_to_m = SRV_M;
kcalls = SRV_KC;
priv(rp)->s_sig_mgr = SELF;
rp->p_priority = SRV_Q;
rp->p_quantum_size_ms = SRV_QT;
}
else if(iskerneln(proc_nr)) {
/* Privilege flags. */
priv(rp)->s_flags = (proc_nr == IDLE ? IDL_F : TSK_F);
/* Allowed traps. */
priv(rp)->s_trap_mask = (proc_nr == CLOCK
|| proc_nr == SYSTEM ? CSK_T : TSK_T);
ipc_to_m = TSK_M; /* allowed targets */
kcalls = TSK_KC; /* allowed kernel calls */
}
/* Priviliges for the root system process. */
else {
assert(isrootsysn(proc_nr));
priv(rp)->s_flags= RSYS_F; /* privilege flags */
//.........这里部分代码省略.........
/**
* iwl_rx_handle - Main entry function for receiving responses from uCode
*
* Uses the priv->rx_handlers callback function array to invoke
* the appropriate handlers, including command responses,
* frame-received notifications, and other notifications.
*/
static void iwl_rx_handle(struct iwl_trans *trans)
{
struct iwl_rx_mem_buffer *rxb;
struct iwl_rx_packet *pkt;
struct iwl_trans_pcie *trans_pcie =
IWL_TRANS_GET_PCIE_TRANS(trans);
struct iwl_rx_queue *rxq = &trans_pcie->rxq;
struct iwl_tx_queue *txq = &trans_pcie->txq[trans->shrd->cmd_queue];
struct iwl_device_cmd *cmd;
u32 r, i;
int reclaim;
unsigned long flags;
u8 fill_rx = 0;
u32 count = 8;
int total_empty;
int index, cmd_index;
/* uCode's read index (stored in shared DRAM) indicates the last Rx
* buffer that the driver may process (last buffer filled by ucode). */
r = le16_to_cpu(rxq->rb_stts->closed_rb_num) & 0x0FFF;
i = rxq->read;
/* Rx interrupt, but nothing sent from uCode */
if (i == r)
IWL_DEBUG_RX(trans, "r = %d, i = %d\n", r, i);
/* calculate total frames need to be restock after handling RX */
total_empty = r - rxq->write_actual;
if (total_empty < 0)
total_empty += RX_QUEUE_SIZE;
if (total_empty > (RX_QUEUE_SIZE / 2))
fill_rx = 1;
while (i != r) {
int len, err;
u16 sequence;
rxb = rxq->queue[i];
/* If an RXB doesn't have a Rx queue slot associated with it,
* then a bug has been introduced in the queue refilling
* routines -- catch it here */
if (WARN_ON(rxb == NULL)) {
i = (i + 1) & RX_QUEUE_MASK;
continue;
}
rxq->queue[i] = NULL;
dma_unmap_page(bus(trans)->dev, rxb->page_dma,
PAGE_SIZE << hw_params(trans).rx_page_order,
DMA_FROM_DEVICE);
pkt = rxb_addr(rxb);
IWL_DEBUG_RX(trans, "r = %d, i = %d, %s, 0x%02x\n", r,
i, get_cmd_string(pkt->hdr.cmd), pkt->hdr.cmd);
len = le32_to_cpu(pkt->len_n_flags) & FH_RSCSR_FRAME_SIZE_MSK;
len += sizeof(u32); /* account for status word */
trace_iwlwifi_dev_rx(priv(trans), pkt, len);
/* Reclaim a command buffer only if this packet is a response
* to a (driver-originated) command.
* If the packet (e.g. Rx frame) originated from uCode,
* there is no command buffer to reclaim.
* Ucode should set SEQ_RX_FRAME bit if ucode-originated,
* but apparently a few don't get set; catch them here. */
reclaim = !(pkt->hdr.sequence & SEQ_RX_FRAME) &&
(pkt->hdr.cmd != REPLY_RX_PHY_CMD) &&
(pkt->hdr.cmd != REPLY_RX) &&
(pkt->hdr.cmd != REPLY_RX_MPDU_CMD) &&
(pkt->hdr.cmd != REPLY_COMPRESSED_BA) &&
(pkt->hdr.cmd != STATISTICS_NOTIFICATION) &&
(pkt->hdr.cmd != REPLY_TX);
sequence = le16_to_cpu(pkt->hdr.sequence);
index = SEQ_TO_INDEX(sequence);
cmd_index = get_cmd_index(&txq->q, index);
if (reclaim)
cmd = txq->cmd[cmd_index];
else
cmd = NULL;
/* warn if this is cmd response / notification and the uCode
* didn't set the SEQ_RX_FRAME for a frame that is
* uCode-originated
* If you saw this code after the second half of 2012, then
* please remove it
*/
WARN(pkt->hdr.cmd != REPLY_TX && reclaim == false &&
(!(pkt->hdr.sequence & SEQ_RX_FRAME)),
//.........这里部分代码省略.........
/*===========================================================================*
* do_privctl *
*===========================================================================*/
PUBLIC int do_privctl(struct proc * caller, message * m_ptr)
{
/* Handle sys_privctl(). Update a process' privileges. If the process is not
* yet a system process, make sure it gets its own privilege structure.
*/
struct proc *rp;
proc_nr_t proc_nr;
sys_id_t priv_id;
int ipc_to_m, kcalls;
int i, r;
struct io_range io_range;
struct mem_range mem_range;
struct priv priv;
int irq;
/* Check whether caller is allowed to make this call. Privileged proceses
* can only update the privileges of processes that are inhibited from
* running by the RTS_NO_PRIV flag. This flag is set when a privileged process
* forks.
*/
if (! (priv(caller)->s_flags & SYS_PROC)) return(EPERM);
if(m_ptr->CTL_ENDPT == SELF) proc_nr = _ENDPOINT_P(caller->p_endpoint);
else if(!isokendpt(m_ptr->CTL_ENDPT, &proc_nr)) return(EINVAL);
rp = proc_addr(proc_nr);
switch(m_ptr->CTL_REQUEST)
{
case SYS_PRIV_ALLOW:
/* Allow process to run. Make sure its privilege structure has already
* been set.
*/
if (!RTS_ISSET(rp, RTS_NO_PRIV) || priv(rp)->s_proc_nr == NONE) {
return(EPERM);
}
RTS_UNSET(rp, RTS_NO_PRIV);
return(OK);
case SYS_PRIV_YIELD:
/* Allow process to run and suspend the caller. */
if (!RTS_ISSET(rp, RTS_NO_PRIV) || priv(rp)->s_proc_nr == NONE) {
return(EPERM);
}
RTS_SET(caller, RTS_NO_PRIV);
RTS_UNSET(rp, RTS_NO_PRIV);
return(OK);
case SYS_PRIV_DISALLOW:
/* Disallow process from running. */
if (RTS_ISSET(rp, RTS_NO_PRIV)) return(EPERM);
RTS_SET(rp, RTS_NO_PRIV);
return(OK);
case SYS_PRIV_SET_SYS:
/* Set a privilege structure of a blocked system process. */
if (! RTS_ISSET(rp, RTS_NO_PRIV)) return(EPERM);
/* Check whether a static or dynamic privilege id must be allocated. */
priv_id = NULL_PRIV_ID;
if (m_ptr->CTL_ARG_PTR)
{
/* Copy privilege structure from caller */
if((r=data_copy(caller->p_endpoint, (vir_bytes) m_ptr->CTL_ARG_PTR,
KERNEL, (vir_bytes) &priv, sizeof(priv))) != OK)
return r;
/* See if the caller wants to assign a static privilege id. */
if(!(priv.s_flags & DYN_PRIV_ID)) {
priv_id = priv.s_id;
}
}
/* Make sure this process has its own privileges structure. This may
* fail, since there are only a limited number of system processes.
* Then copy privileges from the caller and restore some defaults.
*/
if ((i=get_priv(rp, priv_id)) != OK)
{
printf("do_privctl: unable to allocate priv_id %d: %d\n",
priv_id, i);
return(i);
}
priv_id = priv(rp)->s_id; /* backup privilege id */
*priv(rp) = *priv(caller); /* copy from caller */
priv(rp)->s_id = priv_id; /* restore privilege id */
priv(rp)->s_proc_nr = proc_nr; /* reassociate process nr */
for (i=0; i< NR_SYS_CHUNKS; i++) /* remove pending: */
priv(rp)->s_notify_pending.chunk[i] = 0; /* - notifications */
priv(rp)->s_int_pending = 0; /* - interrupts */
(void) sigemptyset(&priv(rp)->s_sig_pending); /* - signals */
reset_timer(&priv(rp)->s_alarm_timer); /* - alarm */
priv(rp)->s_asyntab= -1; /* - asynsends */
priv(rp)->s_asynsize= 0;
/* Set defaults for privilege bitmaps. */
priv(rp)->s_flags= DSRV_F; /* privilege flags */
priv(rp)->s_trap_mask= DSRV_T; /* allowed traps */
//.........这里部分代码省略.........
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