I150/srcs/RobotNet10/Commons/RobotNet10.Realtime/LinuxNative.cs

using System;
using System.Runtime.InteropServices;
using System.Runtime.CompilerServices;

namespace RobotNet10.Realtime;

/// <summary>
/// Native Linux system calls and constants for realtime operations.
/// </summary>
internal static partial class LinuxNative
{
    // Scheduling policies
    public const int SCHED_NORMAL = 0;
    public const int SCHED_FIFO = 1;
    public const int SCHED_RR = 2;
    public const int SCHED_BATCH = 3;
    public const int SCHED_IDLE = 5;
    public const int SCHED_DEADLINE = 6;

    // Clock IDs
    public const int CLOCK_REALTIME = 0;
    public const int CLOCK_MONOTONIC = 1;
    public const int CLOCK_PROCESS_CPUTIME_ID = 2;
    public const int CLOCK_THREAD_CPUTIME_ID = 3;
    public const int CLOCK_MONOTONIC_RAW = 4;
    public const int CLOCK_REALTIME_COARSE = 5;
    public const int CLOCK_MONOTONIC_COARSE = 6;
    public const int CLOCK_BOOTTIME = 7;
    public const int CLOCK_REALTIME_ALARM = 8;
    public const int CLOCK_BOOTTIME_ALARM = 9;

    // Timerfd flags
    public const int TFD_NONBLOCK = 0x800;
    public const int TFD_CLOEXEC = 0x80000;

    // Timerfd timer types
    public const int TFD_TIMER_ABSTIME = 0x1;

    // CPU set size (for CPU affinity)
    public const int CPU_SETSIZE = 1024;
    public const int __NCPUBITS = 64;

    // Memory lock flags
    public const int MCL_CURRENT = 1;
    public const int MCL_FUTURE = 2;
    public const int MCL_ONFAULT = 4;

    // Signal numbers for real-time signals (SIGRTMIN to SIGRTMAX)
    public const int SIGRTMIN = 34;
    public const int SIGRTMAX = 64;

    // Priority ranges
    public const int MIN_PRIORITY = 1;
    public const int MAX_PRIORITY = 99;

    [StructLayout(LayoutKind.Sequential)]
    public struct sched_param
    {
        public int sched_priority;
    }

    [StructLayout(LayoutKind.Sequential)]
    public struct timespec
    {
        public long tv_sec;   // seconds
        public long tv_nsec;  // nanoseconds
    }

    [StructLayout(LayoutKind.Sequential)]
    public struct itimerspec
    {
        public timespec it_interval;  // timer interval
        public timespec it_value;      // timer expiration
    }

    [StructLayout(LayoutKind.Sequential)]
    public unsafe struct cpu_set_t
    {
        // Using fixed buffer instead of array with MarshalAs for LibraryImport compatibility
        // 16 * 64 = 1024 bits
        public fixed ulong __bits[16];
    }

    // Scheduling functions
    [LibraryImport("libc", SetLastError = true)]
    public static partial int sched_setscheduler(int pid, int policy, ref sched_param param);

    [LibraryImport("libc", SetLastError = true)]
    public static partial int sched_getscheduler(int pid);

    [LibraryImport("libc", SetLastError = true)]
    public static partial int sched_getparam(int pid, ref sched_param param);

    [LibraryImport("libc", SetLastError = true)]
    public static partial int sched_setparam(int pid, ref sched_param param);

    [LibraryImport("libc", SetLastError = true)]
    public static partial int sched_get_priority_min(int policy);

    [LibraryImport("libc", SetLastError = true)]
    public static partial int sched_get_priority_max(int policy);

    [LibraryImport("libc", SetLastError = true)]
    public static partial int sched_yield();

    // CPU affinity functions
    [LibraryImport("libc", SetLastError = true)]
    public static partial int sched_setaffinity(int pid, IntPtr cpusetsize, ref cpu_set_t mask);

    [LibraryImport("libc", SetLastError = true)]
    public static partial int sched_getaffinity(int pid, IntPtr cpusetsize, ref cpu_set_t mask);

    // CPU set manipulation macros (implemented as functions)
    public static unsafe void CPU_ZERO(ref cpu_set_t set)
    {
        for (int i = 0; i < 16; i++)
        {
            set.__bits[i] = 0;
        }
    }

    public static unsafe void CPU_SET(int cpu, ref cpu_set_t set)
    {
        int index = cpu / __NCPUBITS;
        int bit = cpu % __NCPUBITS;
        if (index < 16)
        {
            set.__bits[index] |= (1UL << bit);
        }
    }

    public static unsafe void CPU_CLR(int cpu, ref cpu_set_t set)
    {
        int index = cpu / __NCPUBITS;
        int bit = cpu % __NCPUBITS;
        if (index < 16)
        {
            set.__bits[index] &= ~(1UL << bit);
        }
    }

    public static unsafe int CPU_ISSET(int cpu, ref cpu_set_t set)
    {
        int index = cpu / __NCPUBITS;
        int bit = cpu % __NCPUBITS;
        if (index >= 16)
        {
            return 0;
        }
        return (set.__bits[index] & (1UL << bit)) != 0 ? 1 : 0;
    }

    public static unsafe int CPU_COUNT(ref cpu_set_t set)
    {
        int count = 0;
        for (int i = 0; i < 16; i++)
        {
            count += System.Numerics.BitOperations.PopCount(set.__bits[i]);
        }
        return count;
    }

    // Memory locking functions
    [LibraryImport("libc", SetLastError = true)]
    public static partial int mlock(IntPtr addr, IntPtr len);

    [LibraryImport("libc", SetLastError = true)]
    public static partial int munlock(IntPtr addr, IntPtr len);

    [LibraryImport("libc", SetLastError = true)]
    public static partial int mlockall(int flags);

    [LibraryImport("libc", SetLastError = true)]
    public static partial int munlockall();

    // Clock functions
    [LibraryImport("libc", SetLastError = true)]
    public static partial int clock_gettime(int clockid, ref timespec tp);

    [LibraryImport("libc", SetLastError = true)]
    public static partial int clock_settime(int clockid, ref timespec tp);

    [LibraryImport("libc", SetLastError = true)]
    public static partial int clock_getres(int clockid, ref timespec res);

    // Timerfd functions
    [LibraryImport("libc", SetLastError = true)]
    public static partial int timerfd_create(int clockid, int flags);

    [LibraryImport("libc", SetLastError = true)]
    public static partial int timerfd_settime(int fd, int flags, ref itimerspec new_value, ref itimerspec old_value);

    [LibraryImport("libc", SetLastError = true)]
    public static partial int timerfd_gettime(int fd, ref itimerspec curr_value);

    // Process/Thread functions
    [LibraryImport("libc", SetLastError = true)]
    public static partial int getpid();

    [LibraryImport("libc", SetLastError = true)]
    public static partial uint gettid();

    // Error handling
    [LibraryImport("libc")]
    public static partial IntPtr __errno_location();

    public static int GetLastError()
    {
        IntPtr errnoPtr = __errno_location();
        if (errnoPtr == IntPtr.Zero)
        {
            return 0;
        }
        return Marshal.ReadInt32(errnoPtr);
    }

    public static void ThrowLastError(string operation)
    {
        int errno = GetLastError();
        IntPtr errorMsgPtr = strerror(errno);
        string errorMsg = errorMsgPtr != IntPtr.Zero ? Marshal.PtrToStringAnsi(errorMsgPtr) ?? "Unknown error" : "Unknown error";
        throw new RealtimeException($"{operation} failed with errno {errno}: {errorMsg}", errno);
    }

    [LibraryImport("libc")]
    private static partial IntPtr strerror(int errno);
}