Section 3.8. Terminals
3.8. TerminalsFor decades, users have communicated with computers using devices consisting of a keyboard for user input and a display for computer output. For many years, these were combined into free-standing devices called terminals, which were connected to the computer by a wire. Large mainframes used in the financial and travel industries sometimes still use these terminals, typically connected to the mainframe via a modem, especially when they are far from the mainframe. However, with the emergence of the personal computer, the keyboard and display have become separate peripherals rather than a single device, but they are so closely interrelated that we will discuss them together here under the combined name of "terminal." Historically, terminals have come in a variety of forms. It is up to the terminal driver to hide all these differences, so that the device-independent part of the operating system and the user programs do not have to be rewritten for each kind of terminal. In the following sections we will follow our now-standard approach of first discussing terminal hardware and software in general, and then discussing the MINIX 3 software. 3.8.1. Terminal HardwareFrom the operating system's point of view, terminals can be divided into three broad categories based on how the operating system communicates with them as well as their actual hardware characteristics. The first category consists of memory mapped terminals, which consist of a keyboard and a display, both of which are hardwired to the computer. This model is used in all personal computers for the keyboard and the monitor. The second category consists of terminals that interface via a serial communication line using the RS-232 standard, most frequently over a modem. This model is still used on some mainframes, but PCs also have serial line interfaces. The third category consists of terminals that are connected to the computer via a network. This taxonomy is shown in Fig. 3-24. Figure 3-24. Terminal types. Memory-Mapped TerminalsThe first broad category of terminals named in Fig. 3-24 consists of memory-mapped terminals. These are an integral part of the computers themselves, especially personal computers. They consist of a display and a keyboard. Memory-mapped displays are interfaced via a special memory called a video RAM, which forms part of the computer's address space and is addressed by the CPU the same way as the rest of memory (see Fig. 3-25). Figure 3-25. Memory-mapped terminals write directly into video RAM. Also on the video RAM card is a chip called a video controller. This chip pulls bytes out of the video RAM and generates the video signal used to drive the display. Displays are usually one of two types: CRT monitors or flat panel displays. A CRT monitor generates a beam of electrons that scans horizontally across the screen, painting lines on it. Typically the screen has 480 to 1200 lines from top to bottom, with 640 to 1920 points per line. These points are called pixels. The video controller signal modulates the intensity of the electron beam, determining whether a given pixel will be light or dark. Color monitors have three beams, for red, green, and blue, which are modulated independently. A flat panel display works very differently internally, but a CRT-compatible flat-panel display accepts the same synchronization and video signals as a CRT and uses these to control a liquid crystal element at each pixel position. A simple monochrome display might fit each character in a box 9 pixels wide by 14 pixels high (including the space between characters), and have 25 lines of 80 characters. The display would then have 350 scan lines of 720 pixels each. Each of these frames is redrawn 45 to 70 times a second. The video controller could be designed to fetch the first 80 characters from the video RAM, generate 14 scan lines, fetch the next 80 characters from the video RAM, generate the following 14 scan lines, and so on. In fact, most fetch each character once per scan line to eliminate the need for buffering in the controller. The 9-by-14 bit patterns for the characters are kept in a ROM used by the video controller. (RAM may also be used to support custom fonts.) The ROM is addressed by a 12-bit address, 8 bits from the character code and 4 bits to specify a scan line. The 8 bits in each byte of the ROM control 8 pixels; the 9th pixel between characters is always blank. Thus 14 x 80 = 1120 memory references to the video RAM are needed per line of text on the screen. The same number of references are made to the character generator ROM. The original IBM PC had several modes for the screen. In the simplest one, it used a character-mapped display for the console. In Fig. 3-26(a) we see a portion of the video RAM. Each character on the screen of Fig. 3-26(b) occupied two characters in the RAM. The low-order character was the ASCII code for the character to be displayed. The high-order character was the attribute byte, which was used to specify the color, reverse video, blinking, and so on. The full screen of 25 by 80 characters required 4000 bytes of video RAM in this mode. All modern displays still support this mode of operation. Figure 3-26. (a) A video RAM image for the IBM monochrome display. The xs are attribute bytes. (b) The corresponding screen. Contemporary bitmap displays use the same principle, except that each pixel on the screen is individually controlled. In the simplest configuration, for a monochrome display, each pixel has a corresponding bit in the video RAM. At the other extreme, each pixel is represented by a 24-bit number, with 8 bits each for red, green, and blue. A 768 x 1024 color display with 24 bits per pixel requires 2 MB of RAM to hold the image. With a memory-mapped display, the keyboard is completely decoupled from the screen. It may be interfaced via a serial or parallel port. On every key action the CPU is interrupted, and the keyboard driver extracts the character typed by reading an I/O port. On a PC, the keyboard contains an embedded microprocessor which communicates through a specialized serial port with a controller chip on the main board. An interrupt is generated whenever a key is struck and also when one is released. Furthermore, all that the keyboard hardware provides is the key number, not the ASCII code. When the A key is struck, the key code (30) is put in an I/O register. It is up to the driver to determine whether it is lower case, upper case, CTRL-A, ALT-A, CTRL-ALT-A, or some other combination. Since the driver can tell which keys have been depressed but not yet released (e.g., shift), it has enough information to do the job. Although this keyboard interface puts the full burden on the software, it is extremely flexible. For example, user programs may be interested in whether a digit just typed came from the top row of keys or the numeric key pad on the side. In principle, the driver can provide this information. RS-232 TerminalsRS-232 terminals are devices containing a keyboard and a display that communicate using a serial interface, one bit at a time (see Fig. 3-27). These terminals use a 9-pin or 25-pin connector, of which one pin is used for transmitting data, one pin is for receiving data, and one pin is ground. The other pins are for various control functions, most of which are not used. To send a character to an RS-232 terminal, the computer must transmit it 1 bit at a time, prefixed by a start bit, and followed by 1 or 2 stop bits to delimit the character. A parity bit which provides rudimentary error detection may also be inserted preceding the stop bits, although this is commonly required only for communication with mainframe systems. Common transmission rates are 14,400 and 56,000 bits/sec, the former being for fax and the latter for data. RS-232 terminals are commonly used to communicate with a remote computer using a modem and a telephone line. Figure 3-27. An RS-232 terminal communicates with a computer over a communication line, one bit at a time. The computer and the terminal are completely independent. Since both computers and terminals work internally with whole characters but must communicate over a serial line a bit at a time, chips have been developed to do the character-to-serial and serial-to-character conversions. They are called UART s (Universal Asynchronous Receiver Transmitters). UARTs are attached to the computer by plugging RS-232 interface cards into the bus as illustrated in Fig. 3-27. On modern computers the UART and RS-232 interface is frequently part of the parentboard chipset. It may be possible disable the on-board UART to allow use of a modem interface card plugged into the bus or two of them may be able to coexist. A modem also provides a UART (although it may be integrated with other functions in a multi-purpose chip), and the communication channel is a telephone line rather than a serial cable. However, to the computer the UART looks the same whether the medium is a dedicated serial cable or a telephone line. RS-232 terminals are gradually dying off, being replaced by PCs, but they are still encountered on older mainframe systems, especially in banking, airline reservation, and similar applications. Terminal programs that allow a remote computer to simulate a terminal are still widely used, however. To print a character, the terminal driver writes the character to the interface card, where it is buffered and then shifted out over the serial line one bit at a time by the UART. Even at 56,000 bps, it takes just over 140 microsec to send a character. As a result of this slow transmission rate, the driver generally outputs a character to the RS-232 card and blocks, waiting for the interrupt generated by the interface when the character has been transmitted and the UART is able to accept another character. The UART can simultaneously send and receive characters, as its name implies. An interrupt is also generated when a character is received, and usually a small number of input characters can be buffered. The terminal driver must check a register when an interrupt is received to determine the cause of the interrupt. Some interface cards have a CPU and memory and can handle multiple lines, taking over much of the I/O load from the main CPU. RS-232 terminals can be subdivided into categories, as mentioned above. The simplest ones were hardcopy (printing) terminals. Characters typed on the keyboard were transmitted to the computer. Characters sent by the computer were typed on the paper. These terminals are obsolete and rarely seen any more. Dumb CRT terminals work the same way, only with a screen instead of paper. These are frequently called "glass ttys" because they are functionally the same as hardcopy ttys. (The term "tty" is an abbreviation for Teletype,® a former company that pioneered in the computer terminal business; "tty" has come to mean any terminal.) Glass ttys are also obsolete. Intelligent CRT terminals are in fact miniature, specialized computers. They have a CPU and memory and contain software, usually in ROM. From the operating system's viewpoint, the main difference between a glass tty and an intelligent terminal is that the latter understands certain escape sequences. For example, by sending the ASCII ESC character (033), followed by various other characters, it may be possible to move the cursor to any position on the screen, insert text in the middle of the screen, and so forth. 3.8.2. Terminal SoftwareThe keyboard and display are almost independent devices, so we will treat them separately here. (They are not quite independent, since typed characters must be displayed on the screen.) In MINIX 3 the keyboard and screen drivers are part of the same process; in other systems they may be split into distinct drivers. Input SoftwareThe basic job of the keyboard driver is to collect input from the keyboard and pass it to user programs when they read from the terminal. Two possible philosophies can be adopted for the driver. In the first one, the driver's job is just to accept input and pass it upward unmodified. A program reading from the terminal gets a raw sequence of ASCII codes. (Giving user programs the key numbers is too primitive, as well as being highly machine dependent.) This philosophy is well suited to the needs of sophisticated screen editors such as emacs, which allow the user to bind an arbitrary action to any character or sequence of characters. It does, however, mean that if the user types dste instead of date and then corrects the error by typing three backspaces and ate, followed by a carriage return, the user program will be given all 11 ASCII codes typed. Most programs do not want this much detail. They just want the corrected input, not the exact sequence of how it was produced. This observation leads to the second philosophy: the driver handles all the intraline editing, and just delivers corrected lines to the user programs. The first philosophy is character-oriented; the second one is line-oriented. Originally they were referred to as raw mode and cooked mode, respectively. The POSIX standard uses the less-picturesque term canonical mode to describe line-oriented mode. On most systems canonical mode refers to a well-defined configuration. Noncanonical mode is equivalent to raw mode, although many details of terminal behavior can be changed. POSIX-compatible systems provide several library functions that support selecting either mode and changing many aspects of terminal configuration. In MINIX 3 the ioctl system call supports these functions. The first task of the keyboard driver is to collect characters. If every keystroke causes an interrupt, the driver can acquire the character during the interrupt. If interrupts are turned into messages by the low-level software, it is possible to put the newly acquired character in the message. Alternatively, it can be put in a small buffer in memory and the message used to tell the driver that something has arrived. The latter approach is actually safer if a message can be sent only to a waiting process and there is some chance that the keyboard driver might still be busy with the previous character. Once the driver has received the character, it must begin processing it. If the keyboard delivers key numbers rather than the character codes used by application software, then the driver must convert between the codes by using a table. Not all IBM "compatibles" use standard key numbering, so if the driver wants to support these machines, it must map different keyboards with different tables. A simple approach is to compile a table that maps between the codes provided by the keyboard and ASCII (American Standard Code for Information Interchange) codes into the keyboard driver, but this is unsatisfactory for users of languages other than English. Keyboards are arranged differently in different countries, and the ASCII character set is not adequate even for the majority of people in the Western Hemisphere, where speakers of Spanish, Portuguese, and French need accented characters and punctuation marks not used in English. To respond to the need for flexibility of keyboard layouts to provide for different languages, many operating systems provide for loadable keymaps or code pages, which make it possible to choose the mapping between keyboard codes and codes delivered to the application, either when the system is booted or later. If the terminal is in canonical (i.e., cooked) mode, characters must be stored until an entire line has been accumulated, because the user may subsequently decide to erase part of it. Even if the terminal is in raw mode, the program may not yet have requested input, so the characters must be buffered to allow type ahead. (System designers who do not allow users to type far ahead ought to be tarred and feathered, or worse yet, be forced to use their own system.) Two approaches to character buffering are common. In the first one, the driver contains a central pool of buffers, each buffer holding perhaps 10 characters. Associated with each terminal is a data structure, which contains, among other items, a pointer to the chain of buffers for input collected from that terminal. As more characters are typed, more buffers are acquired and hung on the chain. When the characters are passed to a user program, the buffers are removed and put back in the central pool. The other approach is to do the buffering directly in the terminal data structure itself, with no central pool of buffers. Since it is common for users to type a command that will take a little while (say, a compilation) and then type a few lines ahead, to be safe the driver should allocate something like 200 characters per terminal. In a large-scale timesharing system with 100 terminals, allocating 20K all the time for type ahead is clearly overkill, so a central buffer pool with space for perhaps 5K is probably enough. On the other hand, a dedicated buffer per terminal makes the driver simpler (no linked list management) and is to be preferred on personal computers with only one or two terminals. Figure 3-28 shows the difference between these two methods. Figure 3-28. (a) Central buffer pool. (b) Dedicated buffer for each terminal. | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
Character | POSIX name | Comment |
|---|---|---|
CTRL-D | EOF | End of file |
EOL | End of line (undefined) | |
CTRL-H | ERASE | Backspace one character |
CTRL-C | INTR | Interrupt process (SIGINT) |
CTRL-U | KILL | Erase entire line being typed |
CTRL-\ | QUIT | Force core dump (SIGQUIT) |
CTRL-Z | SUSP | Suspend (ignored by MINIX) |
CTRL-Q | START | Start output |
CTRL-S | STOP | Stop output |
CTRL-R | REPRINT | Redisplay input (MINIX extension) |
CTRL-V | LNEXT | Literal next (MINIX extension) |
CTRL-O | DISCARD | Discard output (MINIX extension) |
CTRL-M | CR | Carriage return (unchangeable) |
CTRL-J | NL | Linefeed (unchangeable) |
The ERASE character allows the user to rub out the character just typed. In MINIX 3 it is the backspace (CTRL-H). It is not added to the character queue but instead removes the previous character from the queue. It should be echoed as a sequence of three characters, backspace, space, and backspace, in order to remove the previous character from the screen. If the previous character was a tab, erasing it requires keeping track of where the cursor was prior to the tab. In most systems, backspacing will only erase characters on the current line. It will not erase a carriage return and back up into the previous line.
When the user notices an error at the start of the line being typed in, it is often convenient to erase the entire line and start again. The KILL character (in MINIX 3 CTRL-U) erases the entire line. MINIX 3 makes the erased line vanish from the screen, but some systems echo it plus a carriage return and linefeed because some users like to see the old line. Consequently, how to echo KILL is a matter of taste. As with ERASE it is usually not possible to go further back than the current line. When a block of characters is killed, it may or may not be worth the trouble for the driver to return buffers to the pool, if one is used.
Sometimes the ERASE or KILL characters must be entered as ordinary data. The LNEXT character serves as an escape character. In MINIX 3 CTRL-V is the default. As an example, older UNIX systems normally used the @ sign for KILL, but the Internet mail system uses addresses of the form linda@cs.washington.edu. Someone who feels more comfortable with older conventions might redefine KILL as @, but then need to enter an @ sign literally to address e-mail. This can be done by typing CTRL-V @. The CTRL-V itself can be entered literally by typing CTRL-V CTRL-V. After seeing a CTRL-V, the driver sets a flag saying that the next character is exempt from special processing. The LNEXT character itself is not entered in the character queue.
To allow users to stop a screen image from scrolling out of view, control codes are provided to freeze the screen and restart it later. In MINIX 3 these are STOP (CTRL-S) and START (CTRL-Q), respectively. They are not stored but are used to set and clear a flag in the terminal data structure. Whenever output is attempted, the flag is inspected. If it is set, no output occurs. Usually, echoing is also suppressed along with program output.
It is often necessary to kill a runaway program being debugged. The INTR (CTRL-C) and QUIT (CTRL-\) characters can be used for this purpose. In MINIX 3, CTRL-C sends the SIGINT signal to all the processes started up from the terminal. Implementing CTRL-C can be quite tricky. The hard part is getting the information from the driver to the part of the system that handles signals, which, after all, has not asked for this information. CTRL-\ is similar to CTRL-C, except that it sends the SIGQUIT signal, which forces a core dump if not caught or ignored.
When either of these keys is struck, the driver should echo a carriage return and linefeed and discard all accumulated input to allow for a fresh start. Historically, DEL was commonly used as the default value for INTR on many UNIX systems. Since many programs use DEL interchangeably with the backspace for editing, CTRL-C is now preferred.
Another special character is EOF (CTRL-D), which in MINIX 3 causes any pending read requests for the terminal to be satisfied with whatever is available in the buffer, even if the buffer is empty. Typing CTRL-D at the start of a line causes the program to get a read of 0 bytes, which is conventionally interpreted as end-of-file and causes most programs to act the same way as they would upon seeing end-of-file on an input file.
Some terminal drivers allow much fancier intraline editing than we have sketched here. They have special control characters to erase a word, skip backward or forward characters or words, go to the beginning or end of the line being typed, and so forth. Adding all these functions to the terminal driver makes it much larger and, furthermore, is wasted when using fancy screen editors that work in raw mode anyway.
To allow programs to control terminal parameters, POSIX requires that several functions be available in the standard library, of which the most important are tcgetattr and tcsetattr. Tcgetattr retrieves a copy of the structure shown in Fig. 3-30, the termios structure, which contains all the information needed to change special characters, set modes, and modify other characteristics of a terminal. A program can examine the current settings and modify them as desired. Tcsetattr then writes the structure back to the terminal driver.
Figure 3-30. The termios structure. In MINIX 3 tc_flag_t is a short, speed_t is an int, and cc_t is a char.
struct termios { tcflag_t c_iflag; /* input modes* / tcflag_t c_oflag; /* output modes* / tcflag_t c_cflag; /* control modes* / tcflag_t c_lflag; /* local modes* / speed_t c_ispeed; /* input speed* / speed_t c_ospeed; /* output speed* / cc_t c_cc[NCCS]; /* control characters* / }; |
The POSIX standard does not specify whether its requirements should be implemented through library functions or system calls. MINIX 3 provides a system call, ioctl, called by
ioctl(file_descriptor, request, argp);
that is used to examine and modify the configurations of many I/O devices. This call is used to implement the tcgetattr and tcsetattr functions. The variable request specifies whether the termios structure is to be read or written, and in the latter case, whether the request is to take effect immediately or should be deferred until all currently queued output is complete. The variable argp is a pointer to a termios structure in the calling program. This particular choice of communication between program and driver was chosen for its UNIX compatibility, rather than for its inherent beauty.
A few notes about the termios structure are in order. The four flag words provide a great deal of flexibility. The individual bits in c_iflag control various ways input is handled. For instance, the ICRNL bit causes CR characters to be converted into NL on input. This flag is set by default in MINIX 3. The c_oflag holds bits that affect output processing. For instance, the OPOST bit enables output processing. It and the ONLCR bit, which causes NL characters in the output to be converted into a CR NL sequence, are also set by default in MINIX 3. The c_cflag is the control flags word. The default settings for MINIX 3 enable a line to receive 8-bit characters and cause a modem to hang up if a user logs out on the line. The c_lflag is the local mode flags field. One bit, ECHO, enables echoing (this can be turned off during a login to provide security for entering a password). Its most important bit is the ICANON bit, which enables canonical mode. With ICANON off, several possibilities exist. If all other settings are left at their defaults, a mode identical to the traditional cbreak mode is entered. In this mode, characters are passed to the program without waiting for a full line, but the INTR, QUIT, START, and STOP characters retain their effects. All of these can be disabled by resetting bits in the flags, however, to produce the equivalent of traditional raw mode.
The various special characters that can be changed, including those which are MINIX 3 extensions, are held in the c_cc array. This array also holds two parameters which are used in noncanonical mode. The quantity MIN, stored in c_cc[VMIN], specifies the minimum number of characters that must be received to satisfy a read call. The quantity TIME in c_cc[VTIME] sets a time limit for such calls. MIN and TIME interact as shown in Fig. 3-31. A call that asks for N bytes is illustrated. With TIME = 0 and MIN = 1, the behavior is similar to the traditional raw mode.
TIME = 0 | TIME > 0 | |
|---|---|---|
MIN = 0 | Return immediately with whatever is available, 0 to N bytes | Timer starts immediately. Return with first byte entered or with 0 bytes after timeout |
MIN > 0 | Return with at least MIN and up to N bytes. Possible indefinite block | Interbyte timer starts after first byte. Return N bytes if received by timeout, or at least 1 byte at timeout. Possible indefinite block |
Output Software
Output is simpler than input, but drivers for RS-232 terminals are radically different from drivers for memory-mapped terminals. The method that is commonly used for RS-232 terminals is to have output buffers associated with each terminal. The buffers can come from the same pool as the input buffers, or be dedicated, as with input. When programs write to the terminal, the output is first copied to the buffers. Similarly, output from echoing is also copied to the buffers. After all the output has been copied to the buffers (or the buffers are full), the first character is output, and the driver goes to sleep. When the interrupt comes in, the next character is output, and so on.
With memory-mapped terminals, a simpler scheme is possible. Characters to be printed are extracted one at a time from user space and put directly in the video RAM. With RS-232 terminals, each character to be output is just put on the line to the terminal. With memory mapping, some characters require special treatment, among them, backspace, carriage return, linefeed, and the audible bell (CTRL-G). A driver for a memory-mapped terminal must keep track in software of the current position in the video RAM, so that printable characters can be put there and the current position advanced. Backspace, carriage return, and linefeed all require this position to be updated appropriately. Tabs also require special processing.
In particular, when a linefeed is output on the bottom line of the screen, the screen must be scrolled. To see how scrolling works, look at Fig. 3-26. If the video controller always began reading the RAM at 0xB0000, the only way to scroll the screen when in character mode would be to copy 24 x 80 characters (each character requiring 2 bytes) from 0xB00A0 to 0xB0000, a time-consuming proposition. In bitmap mode, it would be even worse.
Fortunately, the hardware usually provides some help here. Most video controllers contain a register that determines where in the video RAM to begin fetching bytes for the top line on the screen. By setting this register to point to 0xB00A0 instead of 0xB0000, the line that was previously number two moves to the top, and the whole screen scrolls up one line. The only other thing the driver must do is copy whatever is needed to the new bottom line. When the video controller gets to the top of the RAM, it just wraps around and continues merrily fetching bytes starting at the lowest address. Similar hardware assistance is provided in bitmap mode.
Another issue that the driver must deal with on a memory-mapped terminal is cursor positioning. Again, the hardware usually provides some assistance in the form of a register that tells where the cursor is to go. Finally, there is the problem of the bell. It is sounded by outputting a sine or square wave to the loudspeaker, a part of the computer quite separate from the video RAM.
Screen editors and many other sophisticated programs need to be able to update the screen in more complex ways than just scrolling text onto the bottom of the display. To accommodate them, many terminal drivers support a variety of escape sequences. Although some terminals support idiosyncratic escape sesequence sets, it is advantageous to have a standard to facilitate adapting software from one system to another. The American National Standards Institute (ANSI) has defined a set of standard escape sequences, and MINIX 3 supports a subset of the ANSI sequences, shown in Fig. 3-32, that is adequate for many common operations. When the driver sees the character that starts the escape sequences, it sets a flag and waits until the rest of the escape sequence comes in. When everything has arrived, the driver must carry it out in software. Inserting and deleting text require moving blocks of characters around the video RAM. The hardware is of no help with anything except scrolling and displaying the cursor.
Escape sequence | Meaning |
|---|---|
ESC [ n A | Move up n lines |
ESC [ n B | Move down n lines |
ESC [ n C | Move right n spaces |
ESC [ n D | Move left n spaces |
ESC [ m; n H | Move cursor to (y = m, x = n) |
ESC [ s J | Clear screen from cursor (0 to end, 1 from start, 2 all) |
ESC [ s K | Clear line from cursor (0 to end, 1 from start, 2 all) |
ESC [ n L | Insert n lines at cursor |
ESC [ n M | Delete n lines at cursor |
ESC [ n P | Delete n chars at cursor |
ESC [ n @ | Insert n chars at cursor |
ESC [ n m | Enable rendition n (0=normal, 4=bold, 5=blinking, 7=reverse) |
ESC M | Scroll the screen backward if the cursor is on the top line |
3.8.3. Overview of the Terminal Driver in MINIX 3
The terminal driver is contained in four C files (six if RS-232 and pseudo terminal support are enabled) and together they far and away constitute the largest driver in MINIX 3. The size of the terminal driver is partly explained by the observation that the driver handles both the keyboard and the display, each of which is a complicated device in its own right, as well as two other optional types of terminals. Still, it comes as a surprise to most people to learn that terminal I/O requires thirty times as much code as the scheduler. (This feeling is reinforced by looking at the numerous books on operating systems that devote thirty times as much space to scheduling as to all I/O combined.)
The terminal driver accepts more than a dozen message types. The most important are:
1. | Read from the terminal (from FS on behalf of a user process). |
2. | Write to the terminal (from FS on behalf of a user process). |
3. | Set terminal parameters for ioctl (from FS on behalf of a user process). |
4. | A keyboard interrupt has occurred (key pressed or released). |
5. | Cancel previous request (from FS when a signal occurs). |
6. | Open a device. |
7. | Close a device. |
Other message types are used for special purposes such as generating diagnostic displays when function keys are pressed or triggering panic dumps.
The messages used for reading and writing have the same format as shown in Fig. 3-17, except that no POSITION field is needed. With a disk, the program has to specify which block it wants to read. With a keyboard, there is no choice: the program always gets the next character typed in. Keyboards do not support seeks.
The POSIX functions tcgetattr and tcgetattr, used to examine and modify terminal attributes (properties), are supported by the ioctl system call. Good programming practice is to use these functions and others in include/termios.h and leave it to the C library to convert library calls to ioctl system calls. There are, however, some control operations needed by MINIX 3 that are not provided for in POSIX, for example, loading an alternate keymap, and for these the programmer must use ioctl explicitly.
The message sent to the driver by an ioctl system call contains a function request code and a pointer. For the tcsetattr function, an ioctl call is made with a TCSETS, TCSETSW, or TCSETSF request type, and a pointer to a termios structure like the one shown in Fig. 3-30. All such calls replace the current set of attributes with a new set, the differences being that a TCSETS request takes effect immediately, a TCSETSW request does not take effect until all output has been transmitted, and a TCSETSF waits for output to finish and discards all input that has not yet been read. Tcgetattr is translated into an ioctl call with a TCGETS request type and returns a filled in termios structure to the caller, so the current state of a device can be examined. Ioctl calls that do not correspond to functions defined by POSIX, like the KIOCSMAP request used to load a new keymap, pass pointers to other kinds of structures, in this case to a keymap_t which is a 1536-byte structure (16-bit codes for 128 keys x 6 modifiers). Figure 3-39 summarizes how standard POSIX calls are converted into ioctl system calls.
The terminal driver uses one main data structure, tty_table, which is an array of tty structures, one per terminal. A standard PC has only one keyboard and display, but MINIX 3 can support up to eight virtual terminals, depending upon the amount of memory on the display adapter card. This permits the person at the console to log on multiple times, switching the display output and keyboard input from one "user" to another. With two virtual consoles, pressing ALT-F2 selects the second one and ALT-F1 returns to the first. ALT plus the arrow keys also can be used. In addition, serial lines can support two users at remote locations, connected by RS-232 cable or modem, and pseudo terminals can support users connected through a network. The driver has been written to make it easy to add additional terminals. The standard configuration illustrated in the source code in this text has two virtual consoles, with serial lines and pseudo terminals disabled.
Each tty structure in tty_table keeps track of both input and output. For input, it holds a queue of all characters that have been typed but not yet read by the program, information about requests to read characters that have not yet been received, and timeout information, so input can be requested without the driver blocking permanently if no character is typed. For output, it holds the parameters of write requests that are not yet finished. Other fields hold various general variables, such as the termios structure discussed above, which affects many properties of both input and output. There is also a field in the tty structure to point to information which is needed for a particular class of devices but is not needed in the tty_table entry for every device. For instance, the hardware-dependent part of the console driver needs the current position on the screen and in the video RAM, and the current attribute byte for the display, but this information is not needed to support an RS-232 line. The private data structures for each device type are also where the buffers that receive input from the interrupt service routines are located. Slow devices, such as the keyboard, do not need buffers as large as those needed by fast devices.
Terminal Input
To better understand how the driver works, let us first look at how characters typed in on the keyboard work their way through the system to the program that wants them. Although this section is intended as an overview we will use line number references to help the reader find each function used. You may find this a wild ride, getting input exercises code in tty.c, keyboard.c, and console.c, all of which are large files,
When a user logs in on the system console, a shell is created for him with /dev/console as standard input, standard output, and standard error. The shell starts up and tries to read from standard input by calling the library procedure read. This procedure sends a message that contains the file descriptor, buffer address, and count to the file system. This message is shown as (1) in Fig. 3-33. After sending the message, the shell blocks, waiting for the reply. (User processes execute only the sendrec primitive, which combines a send with a receive from the process sent to.)
Figure 3-33. Read request from the keyboard when no characters are pending. FS is the file system. TTY is the terminal driver. The TTY receives a message for every keypress and queues scan codes as they are entered. Later these are interpreted and assembled into a buffer of ASCII codes which is copied to the user process. (This item is displayed on page 319 in the print version)
The file system gets the message and locates the i-node corresponding to the specified file descriptor. This i-node is for the character special file /dev/console and contains the major and minor device numbers for the terminal. The major device type for terminals is 4; for the console the minor device number is 0.
The file system indexes into its device map, dmap, to find the number of the terminal driver, TTY. Then it sends a message to TTY, shown as (2) in Fig. 3-33. Normally, the user will not have typed anything yet, so the terminal driver will be unable to satisfy the request. It sends a reply back immediately to unblock the file system and report that no characters are available, shown as (3). The file system records the fact that a process is waiting for terminal (i.e., keyboard) input in the console's structure in tty_table and then goes off to get the next request for work. The user's shell remains blocked until the requested characters arrive, of course.
When a character is finally typed on the keyboard, it causes two interrupts, one when the key is depressed and one when it is released. An important point is that a PC keyboard does not generate ASCII codes; each key generates a scan code when pressed, and a different code when released. The lower 7 bits of the "press" and "release" codes are identical. The difference is the most significant bit, which is a 0 when the key is pressed and a 1 when it is released. This also applies to modifier keys such as CTRL and SHIFT. Although ultimately these keys do not cause ASCII codes to be returned to the user process, they generate scan codes indicating which key was pressed (the driver can distinguish between the left and right shift keys if desired), and they still cause two interrupts per key.
The keyboard interrupt is IRQ 1. This interrupt line is not accessible on the system bus, and can not be shared by any other I/O adapter. When _hwint01 (line 6535) calls intr_handle (line 8221) there will not be a long list of hooks to traverse to find that the TTY should be notified. In Fig. 3-33 we show the system task originating the notification message (4) because it is generated by generic_handler in system/do_irqctl.c (not listed), but this routine is called directly by the low-level interrupt processing routines. The system task process is not activated. Upon receiving a HARD_INT message tty_task (line 13740) dispatches to kbd_interrupt (line 15335) which in turn calls scan_keyboard (line 15800). Scan_keyboard makes three kernel calls (5, 6, 7) to cause the system task to read from and write to several I/O ports, which ultimately returns the scan code, then is added to a circular buffer. A tty_events flag is then set to indicate this buffer contains characters and is not empty.
No message is needed as of this point. Every time the main loop of tty_task starts another cycle it inspects the tty_events flag for each terminal device, and, for each device which has the flag set, calls handle_events (line 14358). The tty_events flag can signal various kinds of activity (although input is the most likely), so handle_events always calls the device-specific functions for both input and output. For input from the keyboard this results in a call to kb_read (line 15360), which keeps track of keyboard codes that indicate pressing or releasing of the CTRL, SHIFT, and ALT keys and converts scan codes into ASCII codes. Kb_read in turn calls in_process (line 14486), which processes the ASCII codes, taking into account special characters and different flags that may be set, including whether or not canonical mode is in effect. The effect is normally to add characters to the console's input queue in tty_table, although some codes, for instance BACKSPACE, have other effects. Normally, also, in_process initiates echoing of the ASCII codes to the display.
When enough characters have come in, the terminal driver makes another kernel call (8) to ask the system task to copy the data to the address requested by the shell. The copying of the data is not message passing and for that reason is shown by dashed lines (9) in Fig. 3-33. More than one such line is shown because there may be more than one such operation before the user's request has been completely fulfilled. When the operation is finally complete, the terminal driver sends a message to the file system telling it that the work has been done (10), and the file system reacts to this message by sending a message back to the shell to unblock it (11).
The definition of when enough characters have come in depends upon the terminal mode. In canonical mode a request is complete when a linefeed, end-of-line, or end-of-file code is received, and, in order for proper input processing to be done, a line of input cannot exceed the size of the input queue. In noncanonical mode a read can request a much larger number of characters, and in_process may have to transfer characters more than once before a message is returned to the file system to indicate the operation is complete.
Note that the system task copies the actual characters directly from the TTY's address space to that of the shell. They do not go through the file system. With block I/O, data pass through the file system to allow it to maintain a buffer cache of the most recently used blocks. If a requested block happens to be in the cache, the request can be satisfied directly by the file system, without doing any actual disk I/O.
For keyboard I/O, a cache makes no sense. Furthermore, a request from the file system to a disk driver can always be satisfied in at most a few hundred milliseconds, so there is no harm in having the file system wait. Keyboard I/O may take hours to complete, or may never be complete (in canonical mode the terminal driver waits for a complete line, and it may also wait a long time in noncanonical mode, depending upon the settings of MIN and TIME). Thus, it is unacceptable to have the file system block until a terminal input request is satisfied.
Later on, it may happen that the user has typed ahead, and that characters are available before they have been requested, from previous interrupts and event 4. In that case, events 1, 2, and 5 through 11 all happen in quick succession after the read request; 3 does not occur at all.
Readers who are familiar with earlier versions of MINIX may remember that in these versions the TTY driver (and all other drivers) were compiled together with the kernel. Each driver had its own interrupt handler in kernel space. In the case of the keyboard driver, the interrupt handler itself could buffer a certain number of scan codes, and also do some preliminary processing (scan codes for most key releases could be dropped, only for modifier keys like the shift key is it necessary to buffer the release codes). The interrupt handler itself did not send messages to the TTY driver, because the probability was high that the TTY would not be blocked on a receive and able to receive a message at any given time. Instead, the clock interrupt handler awakened the TTY driver periodically. These techniques were adopted to avoid losing keyboard input.
Earlier we made something of a point of the differences between handling expected interrupts, such as those generated by a disk controller, and handling unpredictable interrupts like those from a keyboard. But in MINIX 3 nothing special seems to have been done to deal with the problems of unpredictable interrupts. How is this possible? One thing to keep in mind is the enormous difference in performance between the computers for which the earliest versions of MINIX were written and current designs. CPU clock speeds have increased, and the number of clock cycles needed to execute an instruction has decreased. The minimum processor recommended for use with MINIX 3 is an 80386. A slow 80386 will execute instructions approximately 20 times as fast as the original IBM PC.A 100 MHz Pentium will execute perhaps 25 times as fast as the slow 80386. So perhaps CPU speed is enough.
Another thing to keep in mind is that keyboard input is very slow by computer standards. At 100 words per minute a typist enters fewer than 10 characters per second. Even with a fast typist the terminal driver will probably be sent an interrupt message for each character typed at the keyboard. However, in the case of other input devices higher data rates are probablerates 1000 or more times faster than those of a typist are possible from a serial port connected to a 56,000-bps modem. At that speed approximately 120 characters may be received by the modem between clock ticks, but to allow for data compression on the modem link the serial port connected to the modem must be able to handle at least twice as many.
One thing to consider with a serial port, however, is that characters, not scan codes, are transmitted, so even with an old UART that does no buffering, there will be only one interrupt per keypress instead of two. And newer PCs are equipped with UARTs that typically buffer at least 16, and perhaps as many 128 characters. So one interrupt per character is not required. For instance, a UART with a 16-character buffer might be configured to interrupt when 14 characters are in the buffer. Ethernet-based networks can deliver characters at a rate much faster than a serial line, but ethernet adapters buffer entire packets, and only one interrupt is necessary per packet.
We will complete our overview of terminal input by summarizing the events that occur when the terminal driver is first activated by a read request and when it is reactivated after receipt of keyboard input (see Fig. 3-34). In the first case, when a message comes in to the terminal driver requesting characters from the keyboard, the main procedure, tty_task (line 13740) calls do_read (line 13953) to handle the request. Do_read stores the parameters of the call in the keyboard's entry in tty_table, in case there are insufficient characters buffered to satisfy the request.
Figure 3-34. Input handling in the terminal driver. The left branch of the tree is taken to process a request to read characters. The right branch is taken when a keyboard message is sent to the driver before a user has requested input. [figure 3-X to be revised]
Then it calls in_transfer (line 14416) to get any input already waiting, and then handle_events (line 14358) which in turn calls (via the function pointer (*tp->tty_devread)) kb_read (line 15360) and then in_transfer once again, in order to try to milk the input stream for a few more characters. Kb_read calls several other procedures not shown in Fig. 3-34 to accomplish its work. The result is that whatever is immediately available is copied to the user. If nothing is available then, nothing is copied. If the read is completed by in_transfer or by handle_events, a message is sent to the file system when all characters have been transferred, so the file system can unblock the caller. If the read was not completed (no characters, or not enough characters) do_read reports back to the file system, telling it whether it should suspend the original caller, or, if a nonblocking read was requested, cancel the read.
The right side of Fig. 3-34 summarizes the events that occur when the terminal driver is awakened subsequent to an interrupt from the keyboard. When a character is typed, the interrupt "handler" kbd_interrupt (line 15335) calls scan_keyboard which calls the system task to do the I/O. (We put "handler" in quotes because it is not a real handler called when an interrupt occurs, it is activated by a message sent to tty_task from generic_handler in the system task.) Then kbd_interrupt puts the scan code into the keyboard buffer, ibuf, and sets a flag to identify that the console device has experienced an event. When kbd_interrupt returns control to tty_task a continue statement results in starting another iteration of the main loop. The event flags of all terminal devices are checked and handle_events is called for each device with a raised flag. In the case of the keyboard, handle_events calls kb_read and in_transfer, just as was done on receipt of the original read request. The events shown on the right side of the figure may occur several times, until enough characters are received to fulfill the request accepted by do_read after the first message from the FS. If the FS tries to initiate a request for more characters from the same device before the first request is complete, an error is returned. Of course, each device is independent; a read request on behalf of a user at a remote terminal is processed separately from one for a user at the console.
The functions not shown in Fig. 3-34 that are called by kb_read include map_key, (line 15303) which converts the key codes (scan codes) generated by the hardware into ASCII codes, make_break, (line 15431) which keeps track of the state of modifier keys such as the SHIFT key, and in_process, (line 14486) which handles complications such as attempts by the user to backspace over input entered by mistake, other special characters, and options available in different input modes. In_process also calls tty_echo (line 14647), so the typed characters will be displayed on the screen.
Terminal Output
In general, console output is simpler than terminal input, because the operating system is in control and does not need to be concerned with requests for output arriving at inconvenient times. Also, because the MINIX 3 console is a memory-mapped display, output to the console is particularly simple. No interrupts are needed; the basic operation is to copy data from one memory region to another. On the other hand, all the details of managing the display, including handling escape sequences, must be handled by the driver software. As we did with keyboard input in the previous section, we will trace through the steps involved in sending characters to the console display. We will assume in this example that the active display is being written; minor complications caused by virtual consoles will be discussed later.
When a process wants to print something, it generally calls printf. Printf calls write to send a message to the file system. The message contains a pointer to the characters that are to be printed (not the characters themselves). The file system then sends a message to the terminal driver, which fetches them and copies them to the video RAM. Figure 3-35 shows the main procedures involved in output.
Figure 3-35. Major procedures used in terminal output. The dashed line indicates characters copied directly to ramqueue by cons_write.
When a message comes in to the terminal driver requesting it to write on the screen, do_write (line 14029) is called to store the parameters in the console's tty struct in the tty_table. Then handle_events (the same function called whenever the tty_events flag is found set) is called. On every call this function calls both the input and output routines for the device selected in its argument. In the case of the console display this means that any keyboard input that is waiting is processed first. If there is input waiting, characters to be echoed are added to whatever characters are already awaiting output. Then a call is made to cons_write (line 16036), the output procedure for memory-mapped displays. This procedure uses phys_copy to copy blocks of characters from the user process to a local buffer, possibly repeating this and the following steps a number of times, since the local buffer holds only 64 bytes. When the local buffer is full, each 8-bit byte is transferred to another buffer, ramqueue. This is an array of 16-bit words. Alternate bytes are filled in with the current value of the screen attribute byte, which determines foreground and background colors and other attributes. When possible, characters are transferred directly into ramqueue, but certain characters, such as control characters or characters that are parts of escape sequences, need special handling. Special handling is also required when a character's screen position would exceed the width of the screen, or when ramqueue becomes full. In these cases out_char (line 16119) is called to transfer the characters and take whatever additional action is called for. For instance, scroll_screen (line 16205) is called when a linefeed character is received while addressing the last line of the screen, and parse_escape handles characters during an escape sequence. Usually out_char calls flush (line 16259) which copies the contents of ramqueue to the video display memory, using the assembly language routine mem_vid_copy. Flush is also called after the last character is transferred into ramqueue to be sure all output is displayed. The final result of flush is to command the 6845 video controller chip to display the cursor in the correct position.
Logically, the bytes fetched from the user process could be written into the video RAM one per loop iteration. However, accumulating the characters in ramqueue and then copying the block with a call to mem_vid_copy are more efficient in the protected memory environment of Pentium-class processors. Interestingly, this technique was introduced in early versions of MINIX 3 that ran on older processors without protected memory. The precursor of mem_vid_copy dealt with a timing problemwith older video displays the copy into the video memory had to be done when the screen was blanked during vertical retrace of the CRT beam to avoid generating visual garbage all over the screen. MINIX 3 no longer provides this support for obsolete equipment as the performance penalty is too great. However, the modern version of MINIX 3 benefits in other ways from copying ramqueue as a block.
The video RAM available to a console is delimited in the console structure by the fields c_start and c_limit. The current cursor position is stored in the c_column and c_row fields. The coordinate (0, 0) is in the upper left corner of the screen, which is where the hardware starts to fill the screen. Each video scan begins at the address given by c_org and continues for 80x 25 characters (4000 bytes). In other words, the 6845 chip pulls the word at offset c_org from the video RAM and displays the character byte in the upper left-hand corner, using the attribute byte to control color, blinking, and so forth. Then it fetches the next word and displays the character at (1, 0). This process continues until it gets to (79, 0), at which time it begins the second line on the screen, at coordinate (0, 1).
When the computer is first started, the screen is cleared, output is written into the video RAM starting at location c_start, and c_org is assigned the same value as c_start. Thus the first line appears on the top line of the screen. When output must go to a new line, either because the first line is full or because a newline character is detected by out_char, output is written into the location given by c_start plus 80. Eventually, all 25 lines are filled, and scrolling of the screen is required. Some programs, editors, for example, require scrolling in the downward direction too, when the cursor is on the top line and further movement upward within the text is required.
There are two ways scrolling the screen can be managed. In software scrolling, the character to be displayed at position (0, 0) is always in the first location in video memory, word 0 relative to the position pointed to by c_start, and the video controller chip is commanded to display this location first by keeping the same address in c_org. When the screen is to be scrolled, the contents of relative location 80 in the video RAM, the beginning of the second line on the screen, is copied to relative location 0, word 81 is copied to relative location 1, and so on. The scan sequence is unchanged, putting the data at location 0 in the memory at screen position (0, 0) and the image on the screen appears to have moved up one line. The cost is that the CPU has moved 80 x 24 = 1920 words. In hardware scrolling, the data are not moved in the memory; instead the video controller chip is instructed to start the display at a different point, for instance, with the data at word 80. The bookkeeping is done by adding 80 to the contents of c_org, saving it for future reference, and writing this value into the correct register of the video controller chip. This requires either that the controller be smart enough to wrap around the video RAM, taking data from the beginning of the RAM (the address in c_start) when it reaches the end (the address in c_limit), or that the video RAM have more capacity than just the 80 x 2000 words necessary to store a single screen of display.
Older display adapters generally have smaller memory but are able to wrap around and do hardware scrolling. Newer adapters generally have much more memory than needed to display a single screen of text, but the controllers are not able to wrap. Thus an adapter with 32,768 bytes of display memory can hold 204 complete lines of 160 bytes each, and can do hardware scrolling 179 times before the inability to wrap becomes a problem. But, eventually a memory copy operation will be needed to move the data for the last 24 lines back to location 0 in the video memory. Whichever method is used, a row of blanks is copied to the video RAM to ensure that the new line at the bottom of the screen is empty.
When virtual consoles are enabled, the available memory within a video adapteris divided equally between the number of consoles desired by properly initializing the c_start and c_limit fields for each console. This has an effect on scrolling. On any adapter large enough to support virtual consoles, software scrolling takes place every so often, even though hardware scrolling is nominally in effect. The smaller the amount of memory available to each console display, the more frequently software scrolling must be used. The limit is reached when the maximum possible number of consoles is configured. Then every scroll operation will be a software scroll operation.
The position of the cursor relative to the start of the video RAM can be derived from c_column and c_row, but it is faster to store it explicitly (in c_cur). When a character is to be printed, it is put into the video RAM at location c_cur, which is then updated, as is c_column. Figure 3-36 summarizes the fields of the console structure that affect the current position and the display origin.
Field | Meaning |
|---|---|
c_start | Start of video memory for this console |
c_limit | Limit of video memory for this console |
c_column | Current column (0-79) with 0 at left |
c_row | Current row (0-24) with 0 at top |
c_cur | Offset into video RAM for cursor |
c_org | Location in RAM pointed to by 6845 base register |
The characters that affect the cursor position (e.g., linefeed, backspace) are handled by adjusting the values of c_column, c_row, and c_cur. This work is done at the end of flush by a call to set_6845 which sets the registers in the video controller chip.
The terminal driver supports escape sequences to allow screen editors and other interactive programs to update the screen in a flexible way. The sequences supported are a subset of an ANSI standard and should be adequate to allow many programs written for other hardware and other operating systems to be easily ported to MINIX 3. There are two categories of escape sequences: those that never contain a variable parameter, and those that may contain parameters. In the first category the only representative supported by MINIX 3 is ESC M, which reverse indexes the screen, moving the cursor up one line and scrolling the screen downward if the cursor is already on the first line. The other category can have one or two numeric parameters. Sequences in this group all begin with ESC [. The "['' is the control sequence introducer. A table of escape sequences defined by the ANSI standard and recognized by MINIX 3 was shown in Fig. 3-32.
Parsing escape sequences is not trivial. Valid escape sequences in MINIX 3 can be as short as two characters, as in ESC M, or up to 8 characters long in the case of a sequence that accepts two numeric parameters that each can have a two-digit values as in ESC [20;60H, which moves the cursor to line 20, column 60. In a sequence that accepts a parameter, the parameter may be omitted, and in a sequence that accepts two parameters either or both of them may be omitted. When a parameter is omitted or one that is outside the valid range is used, a default is substituted. The default is the lowest valid value.
Consider the following ways a program could construct a sequence to move to the upper-left corner of the screen:
1. | ESC [H is acceptable, because if no parameters are entered the lowest valid parameters are assumed. |
2. | ESC [1;1H will correctly send the cursor to row 1 and column 1 (with ANSI, the row and column numbers start at 1). |
3. | Both ESC [1;H and ESC [;1H have an omitted parameter, which defaults to 1 as in the first example. |
4. | ESC [0;0H will do the same, since each parameter is less than the minimum valid value the minimum is substituted. |
These examples are presented not to suggest one should deliberately use invalid parameters but to show that the code that parses such sequences is nontrivial.
MINIX 3 implements a finite state automaton to do this parsing. The variable c_esc_state in the console structure normally has a value of 0. When out_char detects an ESC character, it changes c_esc_state to 1, and subsequent characters are processed by parse_escape (line 16293). If the next character is the control sequence introducer, state 2 is entered; otherwise the sequence is considered complete, and do_escape (line 16352) is called. In state 2, as long as incoming characters are numeric, a parameter is calculated by multiplying the previous value of the parameter (initially 0) by 10 and adding the numeric value of the current character. The parameter values are kept in an array and when a semicolon is detected the processing shifts to the next cell in the array. (The array in MINIX 3 has only two elements, but the principle is the same). When a nonnumeric character that is not a semicolon is encountered the sequence is considered complete, and again do_escape is called. The current character on entry to do_escape then is used to select exactly what action to take and how to interpret the parameters, either the defaults or those entered in the character stream. This is illustrated in Fig. 3-44.
Loadable Keymaps
The IBM PC keyboard does not generate ASCII codes directly. The keys are each identified with a number, starting with the keys that are located in the upper left of the original PC keyboard1 for the "ESC'' key, 2 for the "1'', and so on. Each key is assigned a number, including modifier keys like the left SHIFT and right SHIFT keys, numbers 42 and 54. When a key is pressed, MINIX 3 receives the key number as a scan code. A scan code is also generated when a key is released, but the code generated upon release has the most significant bit set (equivalent to adding 128 to the key number). Thus a key press and a key release can be distinguished. By keeping track of which modifier keys have been pressed and not yet released, a large number of combinations are possible. For ordinary purposes, of course, two-finger combinations, such as SHIFT-A or CTRL-D, are most manageable for two-handed typists, but for special occasions three-key (or more) combinations are possible, for instance, CTRL-SHIFT-A, or the wellknown CTRL-ALT-DEL combination that PC users recognize as the way to reset and reboot the system.
The complexity of the PC keyboard allows for a great deal of flexibility in how it used. A standard keyboard has 47 ordinary character keys defined (26 alphabetic, 10 numeric, and 11 punctuation). If we are willing to use threefingered modifier key combinations, such as CTRL-ALT-SHIFT, we can support a character set of 376 (8 x 47) members. This is by no means the limit of what is possible, but for now let us assume we do not want to distinguish between the left- and right-hand modifier keys, or use any of the numeric keypad or function keys. Indeed, we are not limited to using just the CTRL, ALT, and SHIFT keys as modifiers; we could retire some keys from the set of ordinary keys and use them as modifiers if we desired to write a driver that supported such a system.
Operating systems that use such keyboards use a keymap to determine what character code to pass to a program based upon the key being pressed and the modifiers in effect. The MINIX 3 keymap logically is an array of 128 rows, representing possible scan code values (this size was chosen to accommodate Japanese keyboards; U.S. and European keyboards do not have this many keys) and 6 columns. The columns represent no modifier, the SHIFT key, the Control key, the left ALT key, the right ALT key, and a combination of either ALT key plus the SHIFT key. There are thus 720 ((128 6) x 6) character codes that can be generated by this scheme, given an adequate keyboard. This requires that each entry in the table be a 16-bit quantity. For U.S. keyboards the ALT and ALT2 columns are identical. ALT2 is named ALTGR on keyboards for other languages, and many of these keymaps support keys with three symbols by using this key as a modifier.
A standard keymap (determined by the line
#include keymaps/us-std.src
in keyboard.c) is compiled into the MINIX 3 kernel at compilation time, but an
ioctl(0, KIOCSMAP, keymap)
call can be used to load a different map into the kernel at address keymap. A full keymap occupies 1536 bytes (128 x 6 x 2). Extra keymaps are stored in compressed form. A program called genmap is used to make a new compressed keymap. When compiled, genmap includes the keymap.src code for a particular keymap, so the map is compiled within genmap. Normally, genmap is executed immediately after being compiled, at which time it outputs the compressed version to a file, and then the genmap binary is deleted. The command loadkeys reads a compressed keymap, expands it internally, and then calls ioctl to transfer the keymap into the kernel memory. MINIX 3 can execute loadkeys automatically upon starting, and the program can also be invoked by the user at any time.
The source code for a keymap defines a large initialized array, and in the interest of saving space a keymap file is not printed in Appendix B. Figure 3-37 shows in tabular form the contents of a few lines of src/kernel/keymaps/us-std.src which illustrate several aspects of keymaps. There is no key on the IBM-PC keyboard that generates a scan code of 0. The entry for code 1, the ESC key, shows that the value returned is unchanged when the SHIFT key or CTRL key are pressed, but that a different code is returned when an ALT key is pressed simultaneously with the ESC key. The values compiled into the various columns are determined by macros defined in include/minix/keymap.h:
#define C(c) ((c) & 0x1F) /* Map to control code*/ #define A(c) ((c) | 0x80) /* Set eight bit (ALT)*/ #define CA(c) A(C(c)) /* CTRL-ALT*/ #define L(c) ((c) | HASCAPS) /* Add "Caps Lock has effect" attribute*/
Figure 3-37. A few entries from a keymap source file.
The first three of these macros manipulate bits in the code for the quoted character to produce the necessary code to be returned to the application. The last one sets the HASCAPS bit in the high byte of the 16-bit value. This is a flag that indicates that the state of the capslock variable has to be checked and the code possibly modified before being returned. In the figure, the entries for scan codes 2, 13, and 16 show how typical numeric, punctuation, and alphabetic keys are handled. For code 28 a special feature is seennormally the ENTER key produces a CR (0x0D) code, represented here as C('M'). Because the newline character in UNIX files is the LF (0x0A) code, and it is sometimes necessary to enter this directly, this keyboard map provides for a CTRL-ENTER combination, which produces this code, C('J').
Scan code 29 is one of the modifier codes and must be recognized no matter what other key is pressed, so the CTRL value is returned regardless of any other key that may be pressed. The function keys do not return ordinary ASCII values, and the row for scan code 59 shows symbolically the values (defined in include/minix/keymap.h) that are returned for the F1 key in combination with other modifiers. These values are F1: 0x0110, SF1: 0x1010, AF1: 0x0810, ASF1: 0x0C10, and CF1: 0x0210. The last entry shown in the figure, for scan code 127, is typical of many entries near the end of the array. For many keyboards, certainly most of those used in Europe and the Americas, there are not enough keys to generate all the possible codes, and these entries in the table are filled with zeroes.
Loadable Fonts
Early PCs had the patterns for generating characters on a video screen stored only in ROM, but the displays used on modern systems provide RAM on the video display adapters into which custom character generator patterns can be loaded. This is supported by MINIX 3 with a
ioctl(0, TIOCSFON, font)
ioctl operation. MINIX 3 supports an 80 lines x 25 rows video mode, and font files contain 4096 bytes. Each byte represents a line of 8 pixels that are illuminated if the bit value is 1, and 16 such lines are needed to map each character. However the video display adapter uses 32 bytes to map each character, to provide higher resolution in modes not currently supported by MINIX 3. The loadfont command is provided to convert these files into the 8192-byte font structure referenced by the ioctl call and to use that call to load the font. As with the keymaps, a font can be loaded at startup time, or at any time during normal operation. However, every video adapter has a standard font built into its ROM that is available by default. There is no need to compile a font into MINIX 3 itself, and the only font support necessary in the kernel is the code to carry out the TIOCSFON ioctl operation.
3.8.4. Implementation of the Device-Independent Terminal Driver
In this section we will begin to look at the source code of the terminal driver in detail. We saw when we studied the block devices that multiple drivers supporting several different devices could share a common base of software. The case with the terminal devices is similar, but with the difference that there is one terminal driver that supports several different kinds of terminal device. Here we will start with the device-independent code. In later sections we will look at the device-dependent code for the keyboard and the memory-mapped console display.
Terminal Driver Data Structures
The file tty.h contains definitions used by the C files which implement the terminal drivers. Since this driver supports many different devices, the minor device numbers must be used to distinguish which device is being supported on a particular call, and they are defined on lines 13405 to 13409.
Within tty.h, the definitions of the O_NOCTTY and O_NONBLOCK flags (which are optional arguments to the open call) are duplicates of definitions in include/fcntl.h but they are repeated here so as not to require including another file. The devfun_t and devfunarg_t types (lines 13423 and 13424) are used to define pointers to functions, in order to provide for indirect calls using a mechanism similar to what we saw in the code for the main loop of the disk drivers.
Many variables declared in this file are identified by the prefix tty_. The most important definition in tty.h is the tty structure (lines 13426 to 13488). There is one such structure for each terminal device (the console display and keyboard together count as a single terminal). The first variable in the tty structure, tty_events, is the flag that is set when an interrupt causes a change that requires the terminal driver to attend to the device.
The rest of the tty structure is organized to group together variables that deal with input, output, status, and information about incomplete operations. In the input section, tty_inhead and tty_intail define the queue where received characters are buffered. Tty_incount counts the number of characters in this queue, and tty_eotct counts lines or characters, as explained below. All device-specific calls are done indirectly, with the exception of the routines that initialize the terminals, which are called to set up the pointers used for the indirect calls. The tty_devread and tty_icancel fields hold pointers to device-specific code to perform the read and input cancel operations. Tty_min is used in comparisons with tty_eotct. When the latter becomes equal to the former, a read operation is complete. During canonical input, tty_min is set to 1 and tty_eotct counts lines entered. During noncanonical input, tty_eotct counts characters and tty_min is set from the MIN field of the termios structure. The comparison of the two variables thus tells when a line is ready or when the minimum character count is reached, depending upon the mode. Tty_tmr is a timer for this tty, used for the TIME field of termios.
Since queueing of output is handled by the device-specific code, the output section of tty declares no variables and consists entirely of pointers to devicespecific functions that write, echo, send a break signal, and cancel output. In the status section the flags tty_reprint, tty_escaped, and tty_inhibited indicate that the last character seen has a special meaning; for instance, when a CTRL-V (LNEXT) character is seen, tty_escaped is set to 1 to indicate that any special meaning of the next character is to be ignored.
The next part of the structure holds data about DEV_READ, DEV_WRITE, and DEV_IOCTL operations in progress. There are two processes involved in each of these operations. The server managing the system call (normally FS) is identified in tty_incaller (line 13458). The server calls the tty driver on behalf of another process that needs to do an I/O operation, and this client is identified in tty_inproc (line 13459). As described in Fig. 3-33, during a read, characters are transferred directly from the terminal driver to a buffer within the memory space of the original caller. Tty_inproc and tty_in_vir locate this buffer. The next two variables, tty_inleft and tty_incum, count the characters still needed and those already transferred. Similar sets of variables are needed for a write system call. For ioctl there may be an immediate transfer of data between the requesting process and the driver, so a virtual address is needed, but there is no need for variables to mark the progress of an operation. An ioctl request may be postponed, for instance, until current output is complete, but when the time is right the request is carried out in a single operation.
Finally, the tty structure includes some variables that fall into no other category, including pointers to the functions to handle the DEV_IOCTL and DEV_CLOSE operations at the device level, a POSIX-style termios structure, and a winsize structure that provides support for window-oriented screen displays. The last part of the structure provides storage for the input queue itself in the array tty_inbuf. Note that this is an array of u16_t, not of 8-bit char characters. Although applications and devices use 8-bit codes for characters, the C language requires the input function getchar to work with a larger data type so it can return a symbolic EOF value in addition to all 256 possible byte values.
The tty_table, an array of tty structures, is declared as extern on line 13491. There is one array element for each terminal enabled by the NR_CONS, NR_RS_LINES, and NR_PTYS definitions in include/minix/config.h. For the configuration discussed in this book, two consoles are enabled, but MINIX 3 may be recompiled to add additional virtual consoles, one or two 2 serial lines, and up to 64 pseudo terminals.
There is one other extern definition in tty.h. Tty_timers (line 13516) is a pointer used by the timer to hold the head of a linked list of timer_t fields. The tty.h header file is included in many files and storage for tty_table and tty_timers is allocated during compilation of tty.c.
Two macros, buflen and bufend, are defined on lines 13520 and 13521. These are used frequently in the terminal driver code, which does much copying of data into and out of buffers.
The Device-Independent Terminal Driver
The main terminal driver and the device-independent supporting functions are all in tty.c. Following this there are a number of macro definitions. If a device is not initialized, the pointers to that device's device-specific functions will contain zeroes put there by the C compiler. This makes it possible to define the tty_active macro (line 13687) which returns FALSE if a null pointer is found. Of course, the initialization code for a device cannot be accessed indirectly if part of its job is to initialize the pointers that make indirect access possible. On lines 13690 to 13696 are conditional macro definitions to equate initialization calls for RS-232 or pseudo terminal devices to calls to a null function when these devices are not configured. Do_pty may be similarly disabled in this section. This makes it possible to omit the code for these devices entirely if it is not needed.
Since there are so many configurable parameters for each terminal, and there may be quite a few terminals on a networked system, a termios_defaults structure is declared and initialized with default values (all of which are defined in include/termios.h) on lines 13720 to 13727. This structure is copied into the tty_table entry for a terminal whenever it is necessary to initialize or reinitialize it. The defaults for the special characters were shown in Fig. 3-29. Figure 3-38 shows the default values for the various flags used. On the following line the winsize_defaults structure is similarly declared. It is left to be initialized to all zeroes by the C compiler. This is the proper default action; it means "window size is unknown, use /etc/termcap.''
Field | Default values |
|---|---|
c_iflag | BRKINT ICRNL IXON IXANY |
c_oflag | OPOST ONLCR |
c_cflag | CREAD CS8 HUPCL |
c_lflag | ISIG IEXTEN ICANON ECHO ECHOE |
The final set of definitions before executable code begins are the PUBLIC declarations of global variables previously declared as extern in tty.h (lines 13731 to 13735).
The entry point for the terminal driver is tty_task (line 13740). Before entering the main loop, a call is made to tty_init (line 13752). Information about the host machine that will be needed to initialize the keyboard and the console is obtained by a sys_getmachine kernel call, and then the keyboard hardware is initialized. The routine called for this is kb_init_once. It is so named to distinguish it from another initialization routine which is called as part of initialization of each virtual console later on. Finally, a single 0 is printed to exercise the output system and kick anything that does not get initialized until first use. The source code shows a call to printf, but this is not the same printf used by user programs, it is a special version that calls a local function in the console driver called putk.
The main loop on lines 13764 to 13876 is, in principle, like the main loop of any driverit receives a message, executes a switch on the message type to call the appropriate function, and then generates a return message. However, there are some complications. The first one is that since the last interrupt additional characters may have been read or characters to be written to an output device may be ready. Before attempting to receive a message, the main loop always checks the tp->tty_events flags for all terminals and handle_events is called as necessary to take care of unfinished business. Only when nothing demands immediate attention is a call made to receive.
The diagram showing message types in the comments near the beginning of tty.c shows the most often used types. A number of message types requesting specialized services from the terminal driver are not shown. These are not specific to any one device. The tty_task main loop checks for these and handles them before checking for device-specific messages. First a check is made for a SYN_ALARM message, and, if this is the message type a call is made to expire_timers to cause a watchdog routine to execute. Then comes a continue statement. In fact all of the next few cases we will look at are followed by continue. We will say more about this soon.
The next message type tested for is HARD_INT. This is most likely the result of a key being pressed or released on the local keyboard. It could also mean bytes have been received by a serial port, if serial ports are enabledin the configuration we are studying they are not, but we left conditional code in the file here to illustrate how serial port input would be handled. A bit field in the message is used to determine the source of the interrupt.
Next a check is made for SYS_SIG. System processes (drivers and servers) are expected to block waiting for messages. Ordinary signals are received only by active processes, so the standard UNIX signaling method does not work with system processes.A SYS_SIG message is used to signal a system process. A signal to the terminal driver can mean the kernel is shutting down (SIGKSTOP), the terminal driver is being shut down (SIGTERM), or the kernel needs to print a message to the console (SIGKMESS), and appropriate routines are called for these cases.
The last group of non-device-specific messages are PANIC_DUMPS, DIAGNOSTICS, and FKEY_CONTROL. We will say more about these when we get to the functions that service them.
Now, about the continue statements: in the C language, a continue statement short-circuits a loop, and returns control to the top of the loop. So if any one of the message types mentioned so far is detected, as soon as it is serviced control returns to the top of the main loop, at line 13764, the check for events is repeated, and receive is called again to await a new message. Particularly in the case of input it is important to be ready to respond again as quickly as possible. Also, if any of the message-type tests in the first part of the loop succeeded there is no point in making any of the tests that come after the first switch.
Above we mentioned complications that the terminal driver must deal with. The second complication is that this driver services several devices. If the interrupt is not a hardware interrupt the TTY_LINE field in the message is used to determine which device should respond to the message. The minor device number is decoded by a series of comparisons, by means of which tp is pointed to the correct entry in the tty_table (lines 13834 to 13847). If the device is a pseudo terminal, do_pty (in pty.c) is called and the main loop is restarted. In this case do_pty generates the reply message. Of course, if pseudo terminals are not enabled, the call to do_pty uses the dummy macro defined earlier. One would hope that attempts to access nonexistent devices would not occur, but it is always easier to add another check than to verify that there are no errors elsewhere in the system. In case the device does not exist or is not configured, a reply message with an ENXIO error message is generated and, again, control returns to the top of the loop.
The rest of this driver resembles what we have seen in the main loop of other drivers, a switch on the message type (lines 13862 to 13875). The appropriate function for the type of request, do_read, do_write, and so on, is called. In each case the called function generates the reply message, rather than pass the information needed to construct the message back to the main loop. A reply message is generated at the end of the main loop only if a valid message type was not received, in which case an EINVAL error message is sent. Because reply messages are sent from many different places within the terminal driver a common routine, tty_reply, is called to handle the details of constructing reply messages.
If the message received by tty_task is a valid message type, not the result of an interrupt, and does not come from a pseudo terminal, the switch at the end of the main loop will dispatch to one of the functions do_read, do_write, do_ioctl, do_open, do_close, do_select, or do_cancel. The arguments to each of these calls are tp, a pointer to a tty structure, and the address of the message. Before looking at each of them in detail, we will mention a few general considerations. Since tty_task may service multiple terminal devices, these functions must return quickly so the main loop can continue.
However, do_read, do_write, and do_ioctl may not be able to complete all the requested work immediately. In order to allow FS to service other calls, an immediate reply is required. If the request cannot be completed immediately, the SUSPEND code is returned in the status field of the reply message. This corresponds to the message marked (3) in Fig. 3-33 and suspends the process that initiated the call, while unblocking the FS. Messages corresponding to (10) and (11) in the figure will be sent later when the operation can be completed. If the request can be fully satisfied, or an error occurs, either the count of bytes transferred or the error code is returned in the status field of the return message to the FS. In this case a message will be sent immediately from the FS back to the process that made the original call, to wake it up.
Reading from a terminal is fundamentally different from reading from a disk device. The disk driver issues a command to the disk hardware and eventually data will be returned, barring a mechanical or electrical failure. The computer can display a prompt upon the screen, but there is no way for it to force a person sitting at the keyboard to start typing. For that matter, there is no guarantee that anybody will be sitting there at all. In order to make the speedy return that is required, do_read (line 13953) starts by storing information that will enable the request to be completed later, when and if input arrives. There are a few error checks to be made first. It is an error if the device is still expecting input to fulfill a previous request, or if the parameters in the message are invalid (lines 13964 to 13972). If these tests are passed, information about the request is copied into the proper fields in the device's tp->tty_table entry on lines 13975 to 13979. The last step, setting tp->tty_inleft to the number of characters requested, is important. This variable is used to determine when the read request is satisfied. In canonical mode tp->tty_inleft is decremented by one for each character returned, until an end of line is received, at which point it is suddenly reduced to zero. In noncanonical mode it is handled differently, but in any case it is reset to zero whenever the call is satisfied, whether by a timeout or by receiving at least the minimum number of bytes requested. When tp->tty_inleft reaches zero, a reply message is sent. As we will see, reply messages can be generated in several places. It is sometimes necessary to check whether a reading process still expects a reply; a nonzero value of tp->tty_inleft serves as a flag for that purpose.
In canonical mode a terminal device waits for input until either the number of characters asked for in the call has been received, or the end of a line or the end of the file is reached. The ICANON bit in the termios structure is tested on line 13981 to see if canonical mode is in effect for the terminal. If it is not set, the termios MIN and TIME values are checked to determine what action to take.
In Fig. 3-31 we saw how MIN and TIME interact to provide different ways a read call can behave. TIME is tested on line 13983. A value of zero corresponds to the left-hand column in Fig. 3-31, and in this case no further tests are needed at this point. If TIME is nonzero, then MIN is tested. If it is zero, settimer is called to start the timer that will terminate the DEV_READ request after a delay, even if no bytes have been received. Tp->tty_min is set to 1 here, so the call will terminate immediately if one or more bytes are received before the timeout. At this point no check for possible input has yet been made, so more than one character may already be waiting to satisfy the request. In that case, as many characters as are ready, up to the number specified in the read call, will be returned as soon as the input is found. If both TIME and MIN are nonzero, the timer has a different meaning. The timer is used as an inter-character timer in this case. It is started only after the first character is received and is restarted after each successive character. Tp->tty_eotct counts characters in noncanonical mode, and if it is zero at line 13993, no characters have been received yet and the inter-byte timer is inhibited.
In any case, at line 14001, in_transfer is called to transfer any bytes already in the input queue directly to the reading process. Next there is a call to handle_events, which may put more data into the input queue and which calls in_transfer again. This apparent duplication of calls requires some explanation. Although the discussion so far has been in terms of keyboard input, do_read is in the device-independent part of the code and also services input from remote terminals connected by serial lines. It is possible that previous input has filled the RS-232 input buffer to the point where input has been inhibited. The first call to in_transfer does not start the flow again, but the call to handle_events can have this effect. The fact that it then causes a second call to in_transfer is just a bonus. The important thing is to be sure the remote terminal is allowed to send again. Either of these calls may result in satisfaction of the request and sending of the reply message to the FS. Tp->tty_inleft is used as a flag to see if the reply has been sent; if it is still nonzero at line 14004, do_read generates and sends the reply message itself. This is done on lines 14013 to 14021. (We assume here that no use has been made of the select system call, and therefore there will be no call to select_retry on line 14006).
If the original request specified a nonblocking read, the FS is told to pass an EAGAIN error code back to original caller. If the call is an ordinary blocking read, the FS receives a SUSPEND code, unblocking it but telling it to leave the original caller blocked. In this case the terminal's tp->tty_inrepcode field is set to REVIVE. When and if the read is later satisfied, this code will be placed in the reply message to the FS to indicate that the original caller was put to sleep and needs to be revived.
Do_write (line 14029) is similar to do_read, but simpler, because there are fewer options to be concerned about in handling a write system call. Checks similar to those made by do_read are made to see that a previous write is not still in progress and that the message parameters are valid, and then the parameters of the request are copied into the tty structure. Handle_events is then called, and tp->tty_outleft is checked to see if the work was done (lines 14058 to 14060). If so, a reply message already has been sent by handle_events and there is nothing left to do. If not, a reply message is generated. with the message parameters depending upon whether or not the original write call was called in nonblocking mode.
The next function, do_ioctl (line 14079), is a long one, but not difficult to understand. The body of do_ioctl is two switch statements. The first determines the size of the parameter pointed to by the pointer in the request message (lines 14094 to 14125). If the size is not zero, the parameter's validity is tested. The contents cannot be tested here, but what can be tested is whether a structure of the required size beginning at the specified address fits within the segment it is specified to be in. The rest of the function is another switch on the type of ioctl operation requested (lines 14128 to 14225).
Unfortunately, supporting the POSIX-required operations with the ioctl call meant that names for ioctl operations had to be invented that suggest, but do not duplicate, names required by POSIX. Figure 3-39 shows the relationship between the POSIX request names and the names used by the MINIX 3 ioctl call.A TCGETS operation services a tcgetattr call by the user and simply returns a copy of the terminal device's tp->tty_termios structure. The next four request types share code. The TCSETSW, TCSETSF, and TCSETS request types correspond to user calls to the POSIX-defined function tcsetattr, and all have the basic action of copying a new termios structure into a terminal's tty structure. The copying is done immediately for TCSETS calls and may be done for TCSETSW and TCSETSF calls if output is complete, by a sys_vircopy kernel call to get the data from the user, followed by a call to setattr, on lines 14153 to 14156. If tcsetattr was called with a modifier requesting postponement of the action until completion of current output, the parameters for the request are placed in the terminal's tty structure for later processing if the test of tp->tty_outleft on line 14139 reveals output is not complete. Tcdrain suspends a program until output is complete and is translated into an ioct l call of type TCDRAIN. If output is already complete, it has nothing more to do. If output is not complete, it also must leave information in the tty structure.
POSIX function | POSIX operation | IOCTL type | IOCTL parameter |
|---|---|---|---|
tcdrain | (none) | TCDRAIN | (none) |
tcflow | TCOOFF | TCFLOW | int=TCOOFF |
tcflow | TCOON | TCFLOW | int=TCOON |
tcflow | TCIOFF | TCFLOW | int=TCIOFF |
tcflow | TCION | TCFLOW | int=TCION |
tcflush | TCIFLUSH | TCFLSH | int=TCIFLUSH |
tcflush | TCOFLUSH | TCFLSH | int=TCOFLUSH |
tcflush | TCIOFLUSH | TCFLSH | int=TCIOFLUSH |
tcgetattr | (none) | TCGETS | termios |
tcsetattr | TCSANOW | TCSETS | termios |
tcsetattr | TCSADRAIN | TCSETSW | termios |
tcsetattr | TCSAFLUSH | TCSETSF | termios |
tcsendbreak | (none) | TCSBRK | int=duration |
The POSIX tcflush function discards unread input and/or unsent output data, according to its argument, and the ioctl translation is straightforward, consisting of a call to the tty_icancel function that services all terminals, and/or the devicespecific function pointed to by tp->tty_ocancel (lines 14159 to 14167). Tcflow is similarly translated in a straightforward way into an ioctl call. To suspend or restart output, it sets a TRUE or FALSE value into tp->tty_inhibited and then sets the tp->tty_events flag. To suspend or restart input, it sends the appropriate STOP (normally CTRL-S) or START (CTRL-Q) code to the remote terminal, using the device-specific echo routine pointed to by tp->tty_echo (lines 14181 to 14186).
Most of the rest of the operations handled by do_ioctl are handled in one line of code, by calling an appropriate function. In the cases of the KIOCSMAP (load keymap) and TIOCSFON (load font) operations, a test is made to be sure the device really is a console, since these operations do not apply to other terminals. If virtual terminals are in use the same keymap and font apply to all consoles, the hardware does not permit any easy way of doing otherwise. The window size operations copy a winsize structure between the user process and the terminal driver. Note, however, the comment under the code for the TIOCSWINSZ operation. When a process changes its window size, the kernel is expected to send a SIGWINCH signal to the process group under some versions of UNIX. The signal is not required by the POSIX standard and is not implemented in MINIX 3. However, anyone thinking of using these structures should consider adding code here to initiate this signal.
The last two cases in do_ioctl support the POSIX required tcgetpgrp and tcsetpgrp functions. There is no action associated with these cases, and they always return an error. There is nothing wrong with this. These functions support job control, the ability to suspend and restart a process from the keyboard. Job control is not required by POSIX and is not supported by MINIX 3. However, POSIX requires these functions, even when job control is not supported, to ensure portability of programs.
Do_open (line 14234) has a simple basic action to performit increments the variable tp->tty_openct for the device so it can be verified that it is open. However, there are some tests to be done first. POSIX specifies that for ordinary terminalsthe first process to open a terminal is the session leader, and when a session leader dies, access to the terminal is revoked from other processes in its group. Daemons need to be able to write error messages, and if their error output is not redirected to a file, it should go to a display that cannot be closed.
For this purpose a device called /dev/log exists in MINIX 3. Physically it is the same device as /dev/console, but it is addressed by a separate minor device number and is treated differently. It is a write-only device, and thus do_open returns an EACCESS error if an attempt is made to open it for reading (line 14246). The other test done by do_open is to test the O_NOCTTY flag. If it is not set and the device is not /dev/log, the terminal becomes the controlling terminal for a process group. This is done by putting the process number of the caller into the tp->tty_pgrp field of the tty_table entry. Following this, the tp->tty_openct variable is incremented and the reply message is sent.
A terminal device may be opened more than once, and the next function, do_close (line 14260), has nothing to do except decrement tp->tty_openct. The test on line 14266 foils an attempt to close the device if it happens to be /dev/log. If this operation is the last close, input is canceled by calling tp->tty_icancel. Device-specific routines pointed to by tp->tty_ocancel and tp->tty_close are also called. Then various fields in the tty structure for the device are set back to their default values and the reply message is sent.
The last message type handler we will consider is do_cancel (line 14281). This is invoked when a signal is received for a process that is blocked trying to read or write. There are three states that must be checked:
1. | The process may have been reading when killed. |
2. | The process may have been writing when killed. |
3. | The process may have been suspended by tcdrain until its output was complete. |
A test is made for each case, and the general tp->tty_icancel, or the devicespecific routine pointed to by tp->tty_ocancel, is called as necessary. In the last case the only action required is to reset the flag tp->tty_ioreq, to indicate the ioctl operation is now complete. Finally, the tp->tty_events flag is set and a reply message is sent.
Terminal Driver Support Code
Now that we have looked at the top-level functions called in the main loop of tty_task, it is time to look at the code that supports them. We will start with handle_events (line 14358). As mentioned earlier, on each pass through the main loop of the terminal driver, the tp->tty_events flag for each terminal device is checked and handle_events is called if it shows that attention is required for a particular terminal. Do_read and do_write also call handle_events. This routine must work fast. It resets the tp->tty_events flag and then calls device-specific routines to read and write, using the pointers to the functions tp->tty_devread and tp->tty devwrite (lines 14382 to 14385).
These functions are called unconditionally, because there is no way to test whether a read or a write caused the raising of the flaga design choice was made here, that checking two flags for each device would be more expensive than making two calls each time a device was active. Also, most of the time a character received from a terminal must be echoed, so both calls will be necessary. As noted in the discussion of the handling of tcsetattr calls by do_ioctl, POSIX may postpone control operations on devices until current output is complete, so immediately after calling the device-specific tty_devwrite function is a good time take care of ioctl operations. This is done on line 14388, where dev_ioctl is called if there is a pending control request.
Since the tp->tty_events flag is raised by interrupts, and characters may arrive in a rapid stream from a fast device, there is a chance that by the time the calls to the device-specific read and write routines and dev_ioctl are completed, another interrupt will have raised the flag again. A high priority is placed on getting input moved along from the buffer where the interrupt routine places it initially. Thus handle_events repeats the calls to the device-specific routines as long as the tp->tty_events flag is found raised at the end of the loop (line 14389). When the flow of input stops (it also could be output, but input is more likely to make such repeated demands), in_transfer is called to transfer characters from the input queue to the buffer within the process that called for the read operation. In_transfer itself sends a reply message if the transfer completes the request, either by transferring the maximum number of characters requested or by reaching the end of a line (in canonical mode). If it does so, tp->tty_left will be zero upon the return to handle_events. Here a further test is made and a reply message is sent if the number of characters transferred has reached the minimum number requested. Testing tp->tty_inleft prevents sending a duplicate message.
Next we will look at in_transfer (line 14416), which is responsible for moving data from the input queue in the driver's memory space to the buffer of the user process that requested the input. However, a straightforward block copy is not possible here. The input queue is a circular buffer and characters have to be checked to see that the end of the file has not been reached, or, if canonical mode is in effect, that the transfer only continues up through the end of a line. Also, the input queue is a queue of 16-bit quantities, but the recipient's buffer is an array of 8-bit characters. Thus an intermediate local buffer is used. Characters are checked one by one as they are placed in the local buffer, and when it fills up or when the input queue has been emptied, sys_vircopy is called to move the contents of the local buffer to the receiving process' buffer (lines 14432 to 14459).
Three variables in the tty structure, tp->tty_inleft, tp->tty_eotct, and tp->tty_min, are used to decide whether in_transfer has any work to do, and the first two of these control its main loop. As mentioned earlier, tp->tty_inleft is set initially to the number of characters requested by a read call. Normally, it is decremented by one whenever a character is transferred but it may be abruptly decreased to zero when a condition signaling the end of input is reached. Whenever it becomes zero, a reply message to the reader is generated, so it also serves as a flag to indicate whether or not a message has been sent. Thus in the test on line 14429, finding that tp->tty_inleft is already zero is a sufficient reason to abort execution of in_transfer without sending a reply.
In the next part of the test, tp->tty_eotct and tp->tty_min are compared. In canonical mode both of these variables refer to complete lines of input, and in noncanonical mode they refer to characters. Tp->tty_eotct is incremented whenever a "line break'' or a byte is placed in the input queue and is decremented by in_transfer whenever a line or byte is removed from the queue. In other words, it counts the number of lines or bytes that have been received by the terminal driver but not yet passed on to a reader. Tp->tty_min indicates the minimum number of lines (in canonical mode) or characters (in noncanonical mode) that must be transferred to complete a read request. Its value is always 1 in canonical mode and may be any value from 0 up to MAX_INPUT (255 in MINIX 3) in noncanonical mode. The second half of the test on line 14429 causes in_transfer to return immediately in canonical mode if a full line has not yet been received. The transfer is not done until a line is complete so the queue contents can be modified if, for instance, an ERASE or KILL character is subsequently typed in by the user before the ENTER key is pressed. In noncanonical mode an immediate return occurs if the minimum number of characters is not yet available.
A few lines later, tp->tty_inleft and tp->tty_eotct are used to control the main loop of in_transfer. In canonical mode the transfer continues until there is no longer a complete line left in the queue. In noncanonical mode tp->tty_eotct is a count of pending characters. Tp->tty_min controls whether the loop is entered but is not used in determining when to stop. Once the loop is entered, either all available characters or the number of characters requested in the original call will be transferred, whichever is smaller.
Characters are 16-bit quantities in the input queue. The actual character code to be transferred to the user process is in the low 8 bits. Fig. 3-40 shows how the high bits are used. Three are used to flag whether the character is being escaped (by CTRL-V), whether it signifies end-of-file, or whether it represents one of several codes that signify a line is complete. Four bits are used for a count to show how much screen space is used when the character is echoed. The test on line 14435 checks whether the IN_EOF bit (D in the figure) is set. This is tested at the top of the inner loop because an end-of-file (CTRL-D) is not itself transferred to a reader, nor is it counted in the character count. As each character is transferred, a mask is applied to zero the upper 8 bits, and only the ASCII value in the low 8 bits is transferred into the local buffer (line 14437).
Figure 3-40. The fields in a character code as it is placed into the input queue.
| ||||||||||||||||||||||||||||||||||
There is more than one way to signal the end of input, but the device-specific input routine is expected to determine whether a character received is a linefeed, CTRL-D, or other such character and to mark each such character. In_transfer only needs to test for this mark, the IN_EOT bit (N in Fig. 3-40), on line 14454. If this is detected, tp->tty_eotct is decremented. In noncanonical mode every character is counted this way as it is put into the input queue, and every character is also marked with the IN_EOT bit at that time, so tp->tty_eotct counts characters not yet removed from the queue. The only difference in the operation of the main loop of in_transfer in the two different modes is found on line 14457. Here tp->tty_inleft is zeroed in response to finding a character marked as a line break, but only if canonical mode is in effect. Thus when control returns to the top of the loop, the loop terminates properly after a line break in canonical mode, but in noncanonical line breaks are ignored.
When the loop terminates there is usually a partially full local buffer to be transferred (lines 14461 to 14468). Then a reply message is sent if tp->tty_inleft has reached zero. This is always the case in canonical mode, but if noncanonical mode is in effect and the number of characters transferred is less than the full request, the reply is not sent. This may be puzzling if you have a good enough memory for details to remember that where we have seen calls to in_transfer (in do_read and handle_events), the code following the call to in_transfer sends a reply message if in_transfer returns having transferred more than the amount specified in tp->tty_min, which will certainly be the case here. The reason why a reply is not made unconditionally from in_transfer will be seen when we discuss the next function, which calls in_transfer under a different set of circumstances.
That next function is in_process (line 14486). It is called from the devicespecific software to handle the common processing that must be done on all input. Its parameters are a pointer to the tty structure for the source device, a pointer to the array of 8-bit characters to be processed, and a count. The count is returned to the caller. In_process is a long function, but its actions are not complicated. It adds 16-bit characters to the input queue that is later processed by in_transfer.
There are several categories of treatment provided by in_transfer.
1. | Normal characters are added to the input queue, extended to 16 bits. |
2. | Characters which affect later processing modify flags to signal the effect but are not placed in the queue. |
3. | Characters which control echoing are acted upon immediately without being placed in the queue. |
4. | Characters with special significance have codes such as the EOT bit added to their high byte as they are placed in the input queue. |
Let us look first at a completely normal situation: an ordinary character, such as "x'' (ASCII code 0x78), typed in the middle of a short line, with no escape sequence in effect, on a terminal that is set up with the standard MINIX 3 default properties. As received from the input device this character occupies bits 0 through 7 in Fig. 3-40. On line 14504 it would have its most significant bit, bit 7, reset to zero if the ISTRIP bit were set, but the default in MINIX 3 is not to strip the bit, allowing full 8-bit codes to be entered. This would not affect our "x'' anyway. The MINIX 3 default is to allow extended processing of input, so the test of the IEXTEN bit in tp->tty_termios.c_lflag (line 14507) passes, but the succeeding tests fail under the conditions we postulate: no character escape is in effect (line 14510), this input is not itself the character escape character (line 14517), and this input is not the REPRINT character (line 14524).
Tests on the next several lines find that the input character is not the special_POSIX_VDISABLE character, nor is it a CR or an NL. Finally, a positive result: canonical mode is in effect, this is the normal default (line 14324). However our "x'' is not the ERASE character, nor is it any of the KILL, EOF (CTRL-D), NL, or EOL characters, so by line 14576 still nothing will have happened to it. Here it is found that the IXON bit is set, by default, allowing use of the STOP (CTRL-S) and START (CTRL-Q) characters, but in the ensuing tests for these no match is found. On line 14597 it is found that the ISIG bit, enabling the use of the INTR and QUIT characters, is set by default, but again no match is found.
In fact, the first interesting thing that might happen to an ordinary character occurs on line 14610, where a test is made to see if the input queue is already full. If this were the case, the character would be discarded at this point, since canonical mode is in effect, and the user would not see it echoed on the screen. (The continue statement discards the character, since it causes the outer loop to restart). However, since we postulate completely normal conditions for this illustration, let us assume the buffer is not full yet. The next test, to see if special noncanonical mode processing is needed (line 14616), fails, causing a jump forward to line 14629. Here echo is called to display the character to the user, since the ECHO bit in tp->tty_termios.c_lflag is set by default.
Finally, on lines 14632 to 14636 the character is disposed of by being put into the input queue. At this time tp->tty_incount is incremented, but since this is an ordinary character, not marked by the EOT bit, tp->tty_eotct is not changed.
The last line in the loop calls in_transfer if the character just transferred into the queue fills it. However, under the ordinary conditions we postulate for this example, in_transfer would do nothing, even if called, since (assuming the queue has been serviced normally and previous input was accepted when the previous line of input was complete) tp->tty_eotct is zero, tp->tty_min is one, and the test at the start of in_transfer (line 14429) causes an immediate return.
Having passed through in_process with an ordinary character under ordinary conditions, let us now go back to the start of in_process and look at what happens in less ordinary circumstances. First, we will look at the character escape, which allows a character which ordinarily has a special effect to be passed on to the user process. If a character escape is in effect, the tp->tty_escaped flag is set, and when this is detected (on line 14510) the flag is reset immediately and the IN_ESC bit, bit V in Fig. 3-40, is added to the current character. This causes special processing when the character is echoedescaped control characters are displayed as "^" plus the character to make them visible. The IN_ESC bit also prevents the character from being recognized by tests for special characters.
The next few lines process the escape character itself, the LNEXT character (CTRL-V by default). When the LNEXT code is detected the tp->tty_escaped flag is set, and rawecho is called twice to output a "^'' followed by a backspace. This reminds the user at the keyboard that an escape is in effect, and when the following character is echoed, it overwrites the "^''. The LNEXT character is an example of one that affects later characters (in this case, only the very next character). It is not placed in the queue, and the loop restarts after the two calls to rawecho. The order of these two tests is important, making it possible to enter the LNEXT character itself twice in a row, in order to pass the second copy on to a process as actual data.
The next special character processed by in_process is the REPRINT character (CTRL-R). When it is found a call to reprint ensues (line 14525), causing the current echoed output to be redisplayed. The REPRINT itself is then discarded with no effect upon the input queue.
Going into detail on the handling of every special character would be tedious, and the source code of in_process is straightforward. We will mention just a few more points. One is that the use of special bits in the high byte of the 16-bit value placed in the input queue makes it easy to identify a class of characters that have similar effects. Thus, EOT (CTRL-D), LF, and the alternate EOL character (undefined by default) are all marked by the EOT bit, bit D in Fig. 3-40 (lines 14566 to 14573), making later recognition easy.
Finally, we will justify the peculiar behavior of in_transfer noted earlier.A reply is not generated each time it terminates, although in the calls to in_transfer we have seen previously, it seemed that a reply would always be generated upon return. Recall that the call to in_transfer made by in_process when the input queue is full (line 14639) has no effect when canonical mode is in effect. But if noncanonical processing is desired, every character is marked with the EOT bit on line 14618, and thus every character is counted by tp->tty_eotct on line 14636. In turn, this causes entry into the main loop of in_transfer when it is called because of a full input queue in noncanonical mode. On such occasions no message should be sent at the termination of in_transfer, because there are likely to be more characters read after returning to in_process. Indeed, although in canonical mode input to a single read is limited by the size of the input queue (255 characters in MINIX 3), in noncanonical mode a read call must be able to deliver the POSIX-required constant _POSIX_SSIZE_MAX number of characters. Its value in MINIX 3 is 32767.
The next few functions in tty.c support character input. Tty_echo (line 14647) treats a few characters in a special way, but most just get displayed on the output side of the same device being used for input. Output from a process may be going to a device at the same time input is being echoed, which makes things messy if the user at the keyboard tries to backspace. To deal with this, the tp->tty_reprint flag is always set to TRUE by the device-specific output routines when normal output is produced, so the function called to handle a backspace can tell that mixed output has been produced. Since tty_echo also uses the deviceoutput routines, the current value of tp->tty_reprint is preserved while echoing, using the local variable rp (lines 14668 to 14701). However, if a new line of input has just begun, rp is set to FALSE instead of taking on the old value, thus assuring that tp->tty_reprint will be reset when echo terminates.
You may have noticed that tty_echo returns a value, for instance, in the call on line 14629 in in_process:
ch = tty_echo(tp, ch)
The value returned by echo contains the number of spaces used on the screen for the echo display, which may be up to eight if the character is a TAB. This count is placed in the cccc field in Fig. 3-40. Ordinary characters occupy one space on the screen, but if a control character (other than TAB, NL, or CR or a DEL (0x7F) is echoed, it is displayed as a "^" plus a printable ASCII character and occupies two positions on the screen. On the other hand an NL or CR occupies zero spaces. The actual echoing must be done by a device-specific routine, of course, and whenever a character must be passed to the device, an indirect call is made using tp->tty_echo, as, for instance, on line 14696, for ordinary characters.
The next function, rawecho, is used to bypass the special handling done by echo. It checks to see if the ECHO flag is set, and if it is, sends the character along to the device-specific tp->tty_echo routine without any special processing. A local variable rp is used here to prevent rawecho's own call to the output routine from changing the value of tp->tty_reprint.
When a backspace is found by in_process, the next function, back_over (line 14721), is called. It manipulates the input queue to remove the previous head of the queue if backing up is possibleif the queue is empty or if the last character is a line break, then backing up is not possible. Here the tp->tty_reprint flag mentioned in the discussions of echo and rawecho is tested. If it is TRUE, then reprint is called (line 14732) to put a clean copy of the output line on the screen. Then the len field of the last character displayed (the cccc field of Fig. 3-40) is consulted to find out how many characters have to be deleted on the display, and for each character a sequence of backspace-space-backspace characters is sent through rawecho to remove the unwanted character from the screen and have it replaced by a space.
Reprint is the next function. In addition to being called by back_over, it may be invoked by the user pressing the REPRINT key (CTRL-R). The loop on lines 14764 to 14769 searches backward through the input queue for the last line break. If it is found in the last position filled, there is nothing to do and reprint returns. Otherwise, it echos the CTRL-R, which appears on the display as the two character sequence "^R", and then moves to the next line and redisplays the queue from the last line break to the end.
Now we have arrived at out_process (line 14789). Like in_process, it is calledby device-specific output routines, but it is simpler. It is called by the RS-232 and pseudo terminal device-specific output routines, but not by the console routine. Out_process works upon a circular buffer of bytes but does not remove them from the buffer. The only change it makes to the array is to insert a CR character ahead of an NL character in the buffer if the OPOST (enable output processing) and ONLCR (map NL to CR-NL) bits in tp->tty_termios.oflag are both set. Both bits are set by default in MINIX 3. Its job is to keep the tp->tty_position variable in the device's tty structure up to date. Tabs and backspaces complicate life.
The next routine is dev_ioctl (line 14874). It supports do_ioctl in carrying out the tcdrain function and the tcsetattr function when it is called with either the TCSADRAIN or TCSAFLUSH options. In these cases, do_ioctl cannot complete the action immediately if output is incomplete, so information about the request is stored in the parts of the tty structure reserved for delayed ioctl operations. Whenever handle_events runs, it first checks the tp->tty_ioreq field after calling the device-specific output routine and calls dev_ioctl if an operation is pending. Dev_ioctl tests tp->tty_outleft to see if output is complete, and if so, carries out the same actions that do_ioctl would have carried out immediately if there had been no delay. To service tcdrain, the only action is to reset the tp->tty_ioreq field and send the reply message to the FS, telling it to wake up the process that made the original call. The TCSAFLUSH variant of tcsetattr calls tty_icancel to cancel input. For both variants of tcsetattr, the termios structure whose address was passed in the original call to ioctl is copied to the device's tp->tty_termios structure. Setattr is then called, followed, as with tcdrain, by sending a reply message to wake up the blocked original caller.
Setattr (line 14899) is the next procedure. As we have seen, it is called by do_ioctl or dev_ioctl to change the attributes of a terminal device, and by do_close to reset the attributes back to the default settings. Setattr is always called after copying a new termio s structure into a device's tty structure, because merely copying the parameters is not enough. If the device being controlled is now in noncanonical mode, the first action is to mark all characters currently in the input queue with the IN_EOT bit, as would have been done when these characters were originally entered in the queue if noncanonical mode had been in effect then. It is easier just to go ahead and do this (lines 14913 to 14919) than to test whether the characters already have the bit set. There is no way to know which attributes have just been changed and which still retain their old values.
The next action is to check the MIN and TIME values. In canonical mode tp->tty_min is always 1; that is set on line 14926. In noncanonical mode the combination of the two values allows for four different modes of operation, as we saw in Fig. 3-31. On lines 14931 to 14933 tp->tty_min is first set up with the value passed in tp->tty_termios.cc[VMIN], which is then modified if it is zero and tp->tty_termios.cc[VTIME] is not zero.
Finally, setattr makes sure output is not stopped if XON/XOFF control is disabled, sends a SIGHUP signal if the output speed is set to zero, and makes an indirect call to the device-specific routine pointed to by tp->tty_ioctl to do what can only be done at the device level.
The next function, tty_reply (line 14952) has been mentioned many times in the preceding discussion. Its action is entirely straightforward, constructing a message and sending it. If for some reason the reply fails, a panic ensues. The following functions are equally simple. Sigchar (line 14973) asks MM to send a signal. If the NOFLSH flag is not set, queued input is removedthe count of characters or lines received is zeroed and the pointers to the tail and head of the queue are equated. This is the default action. When a SIGHUP signal is to be caught, NOFLSH can be set, to allow input and output to resume after catching the signal. Tty_icancel (line 15000) unconditionally discards pending input in the way described for sigchar, and in addition calls the device-specific function pointed to by tp->tty_icancel, to cancel input that may exist in the device itself or be buffered in the low-level code.
Tty_init (line 15013) is called when tty_task first starts. It loops through all possible terminals and sets up defaults. Initially, a pointer to tty_devnop, a dummy function that does nothing, is set into the tp->tty_icancel, tp->tty_ocancel, tp->tty_ioctl, and tp->tty_close variables. Tty_init then calls a device-specific initialization functions for the appropriate category of terminal (console, serial line, or pseudo terminal). These set up the real pointers to indirectly called device-specific functions. Recall that if there are no devices at all configured in a particular device category, a macro that returns immediately is created, so no part of the code for a nonconfigured device need be compiled. The call to scr_init initializes the console driver and also calls the initialization routine for the keyboard.
The next three functions support timers. A watchdog timer is initialized with a pointer to a function to run when the timer expires. Tty_timed_out is that function for most timers set by the terminal task. It sets the events flag to force processing of input and output. Expire_timers handles the terminal driver's timer queue. Recall that this is the function called from the main loop of tty_task when a SYN_ALARM message is received. A library routine, tmrs_exptimers, is used to traverse the linked list of timers, expiring and calling the watchdog functions of any that have timed out. On returning from the library function, if the queue is still active a sys_setalarm kernel call is made to ask for another SYN_ALARM. Finally, settimer (line 15089), sets timers for determining when to return from a read call in noncanonical mode. It is called with parameters of tty_ptr, a pointer to a tty structure, and enable, an integer which represents TRUE or FALSE. Library functions tmrs_settimer and tmrs_clrtimer are used to enable or disable a timer as determined by the enable argument. When a timer is enabled, the watchdog function is always tty_timed_out, described previously.
A description of tty_devnop (line 15125) is necessarily longer than its executable code, since it has none. It is a "no-operation" function to be indirectly addressed where a device does not require a service. We have seen tty_devnop used in tty_init as the default value entered into various function pointers before calling the initialization routine for a device.
The final item in tty.c needs some explanation. Select is a system call used when multiple I/O devices may require service at unpredictable times by a single process. A classic example is a communications program which needs to pay attention to a local keyboard and a remote system, perhaps connected by a modem. The select call allows opening several device files and monitoring all of them to see when they can be read from or written to without blocking. Without select it is necessary to use two processes to handle two-way communication, one acting as a master and handling communication in one direction, the other a slave handling communication in the other direction. Select is an example of a feature that is very nice to have, but which substantially complicates the system. One of the design goals of MINIX 3 is to be simple enough to be understood with reasonable effort in a reasonable time, and we have to set some limits. For that reason we will not discuss do_select (line 15135) and the support routines select_try (line 14313) and select_retry (line 14348) here.
3.8.5. Implementation of the Keyboard Driver
Now we turn to the device-dependent code that supports the MINIX 3 console, which consists of an IBM PC keyboard and a memory-mapped display. The physical devices that support these are entirely separate: on a standard desktop system the display uses an adapter card (of which there are at least a half-dozen basic types) plugged into the backplane, while the keyboard is supported by circuitry built into the parentboard which interfaces with an 8-bit single-chip computer inside the keyboard unit. The two subdevices require entirely separate software support, which is found in the files keyboard.c and console.c.
The operating system sees the keyboard and console as parts of the same device, /dev/console. If there is enough memory available on the display adapter, virtual console support may be compiled, and in addition to /dev/console there may be additional logical devices, /dev/ttyc1, /dev/ttyc2, and so on. Output from only one goes to the display at any given time, and there is only one keyboard to use for input to whichever console is active. Logically the keyboard is subservient to the console, but this is manifested in only two relatively minor ways. First, tty_table contains a tty structure for the console, and where separate fields are provided for input and output, for instance, the tty_devread and tty_devwrite fields, pointers to functions in keyboard.c and console.c are filled in at startup time. However, there is only one tty_priv field, and this points to the console's data structures only. Second, before entering its main loop, tty_task calls each logical device once to initialize it. The routine called for /dev/console is in console.c, and the initialization code for the keyboard is called from there. The implied hierarchy could just as well have been reversed, however. We have always looked at input before output in dealing with I/O devices and we will continue that pattern, discussing keyboard.c in this section and leaving the discussion of console.c for the following section.
Keyboard.c begins, like most source files we have seen, with several #include statements. One of these is unusual, however. The file keymaps/us-std.src (included on line 15218) is not an ordinary header; it is a C source file that results in compilation of the default keymap within keyboard.o as an initialized array. The keymap source file is not included in Appendix B because of its size, but some representative entries are illustrated in Fig. 3-37. Following the #include statements are macros to define various constants. The first group are used in low-level interaction with the keyboard controller. Many of these are I/O port addresses or bit combinations that have meaning in these interactions. The next group includes symbolic names for special keys. On line 15249 the size of the circular keyboard input buffer is symbolically defined as KB_IN_BYTES, with a value of 32, and the buffer itself and variables to manage it are defined next. Since there is only one of these buffers care must be taken to make sure all of its contents are processed before virtual consoles are changed.
The next group of variables are used to hold various states that must be remembered to properly interpret a key press. They are used in different ways. For instance, the value of the caps_down flag (line 15266) is toggled between TRUE and FALSE each time the Caps Lock key is pressed. The shift flag (line 15264) is set to TRUE when either Shift key is pressed and to FALSE when both Shift keys are released. The esc variable is set when a scan code escape is received. It is always reset upon receipt of the following character.
Map_key0 (line 15297) is defined as a macro. It returns the ASCII code that corresponds to a scan code, ignoring modifiers. This is equivalent to the first column (unshifted) in the keymap array. Its big brother is map_key (line 15303), which performs the complete mapping of a scan code to an ASCII code, including accounting for (multiple) modifier keys that are depressed at the same time as ordinary keys.
The keyboard interrupt service routine is kbd_interrupt (line 15335), called whenever a key is pressed or released. It calls scode to get the scan code from the keyboard controller chip. The most significant bit of the scan code is set when a key release causes the interrupt, such codes could be ignored unless they were one of the modifier keys. However, in the interest of doing as little as possible in order to service an interrupt as quickly as possible, all raw scan codes are placed in the circular buffer and the tp->tty_events flag for the current console is raised (line 15350). For purposes of this discussion we will assume, as we did earlier, that no select calls have been made, and that kbd_interrupt returns immediately after this. Figure 3-41 shows scan codes in the buffer for a short line of input that contains two upper case characters, each preceded by the scan code for depression of a shift key and followed by the code for the release of the shift key. Initially codes for both key presses and releases are stored.
Figure 3-41. Scan codes in the input buffer, with corresponding key actions below, for a line of text entered at the keyboard. L and R represent the left and right Shift keys. + and - indicate a key press and a key release. The code for a release is 128 more than the code for a press of the same key. (This item is displayed on page 352 in the print version)
When a HARD_INT from the keyboard is received by tty_task, the complete main loop is not executed. A continue statement at line 13795 causes a new iteration of the main loop to begin immediately, at line 13764. (This is slightly simplified, we left some conditional code in the listing to show that if the serial line driver is enabled its user-space interrupt handler could also be called.) When execution transfers to the top of the loop the tp->tty_events flag for the console device is now found to be set, and kb_read (line 15360), the device-specific routine, is called using the pointer in the tp->tty_devread field of the console's tty structure.
Kb_read takes scan codes from the keyboard's circular buffer and places ASCII codes in its local buffer, which is large enough to hold the escape sequences that must be generated in response to some scan codes from the numeric keypad. Then it calls in_process in the hardware-independent code to put the characters into the input queue. On line 15379 icount is decremented. The call to make_break returns the ASCII code as an integer. Special keys, such as keypad and function keys, have values greater than 0xFF at this point. Codes in the range from HOME to INSRT (0x101 to 0x10C, defined in file include/minix/keymap.h) result from pressing the numeric keypad, and are converted into 3-character escape sequences shown in Fig. 3-42 using the numpad_map array.
Key | Scan code | "ASCII" | Escape sequence |
|---|---|---|---|
Home | 71 | 0x101 | ESC[H |
Up Arrow | 72 | 0x103 | ESC[A |
Pg Up | 73 | 0x107 | ESC[V |
- | 74 | 0x10A | ESC[S |
Left Arrow | 75 | 0x105 | ESC[D |
5 | 76 | 0x109 | ESC[G |
Right Arrow | 77 | 0x106 | ESC[C |
+ | 78 | 0x10B | ESC[T |
End | 79 | 0x102 | ESC[Y |
Down Arrow | 80 | 0x104 | ESC[B |
Pg Dn | 81 | 0x108 | ESC[U |
Ins | 82 | 0x10C | ESC[@ |
The sequences are then passed to in_process (lines 15392 to 15397). Higher codes are not passed on to in_process. Instead, a check is made for the codes for ALT-LEFT-ARROW, ALT-RIGHT-ARROW, and ALT-F1 through ALT-F12, and if one of these is found, select_console is called to switch virtual consoles. CTRL-F1 through CTRL-F12 are similarly given special handling. CTRL-F1 shows the mappings of function keys (more on this later). CTRL-F3 toggles between hardware scrolling and software scrolling of the console screen. CTRL-F7, CTRL-F8, and CTRL-F9 generate signals with the same effects as CTRL-\, CTRL-C, and CTRL-U, respectively, except these cannot be changed by the stty command.
Make_break (line 15431) converts scan codes into ASCII and then updates the variables that keep track of the state of modifier keys. First, however, it checks for the magic CTRL-ALT-DEL combination that PC users all know as the way to force a reboot under MS-DOS. Note the comment that it would be better to do this at a lower level. However, the simplicity of MINIX 3 interrupt handling in kernel space makes detecting CTRL-ALT-DEL impossible there, when an interrupt notification is sent the scan code has not yet been read.
An orderly shutdown is desirable, so rather than try to start the PC BIOS routines, a sys_kill kernel call is made to initiate sending a SIGKILL signal TO init, the parent process of all other processes (line 15448). Init is expected to catch this signal and interpret it as a command to begin an orderly process of shutting down, prior to causing a return to the boot monitor, from which a full restart of the system or a reboot of MINIX 3 can be commanded.
Of course, it is not realistic to expect this to work every time. Most users understand the dangers of an abrupt shutdown and do not press CTRL-ALT-DEL until something is really going wrong and normal control of the system has become impossible. At this point it is likely that the system may be so disrupted that signaling another process may be impossible. This is why there is a static variable CAD_count in make_break. Most system crashes leave the interrupt system still functioning, so keyboard input can still be received and the terminal driver will remain active. Here MINIX 3 takes advantage of the expected behavior of computer users, who are likely to bang on the keys repeatedly when something does not seem to work correctly (possibly evidence our ancestors really were apes). If the attempt to kill init fails and the user presses CTRL-ALT-DEL twice more, a sys_abort kernel call is made, causing a return to the monitor without going through the call to init.
The main part of make_break is not hard to follow. The variable make records whether the scan code was generated by a key press or a key release, and then the call to map_key returns the ASCII code to ch. Next is a switch on ch (lines 15460 to 15499). Let us consider two cases, an ordinary key and a special key. For an ordinary key, none of the cases match, and in the default case (line 15498), the key code is returned if make is true. If somehow an ordinary key code is accepted at key release, a value of 1 is substituted here, and this is ignored by the caller, kb_read. A special key, for example CTRL, is identified at the appropriate place in the switch, in this case on line 15461. The corresponding variable, in this case ctrl, records the state of make, and 1 is substituted for the character code to be returned (and ignored). The handling of the ALT, CALOCK, NLOCK, and SLOCK keys is more complicated, but for all of these special keys the effect is similar: a variable records either the current state (for keys that are only effective while pressed) or toggles the previous state (for the lock keys).
There is one more case to consider, that of the EXTKEY code and the esc variable. This is not to be confused with the ESC key on the keyboard, which returns the ASCII code 0x1B. There is no way to generate the EXTKEY code alone by pressing any key or combination of keys; it is the PC keyboard's extended key prefix, the first byte of a 2-byte scan code that signifies that a key that was not part of the original PC's complement of keys but that has the same scan code, has been pressed. In many cases software treats the two keys identically. For instance, this is almost always the case for the normal "/" key and the gray "/" key on the numeric keyboard. In other cases, one would like to distinguish between such keys. For instance, many keyboard layouts for languages other than English treat the left and right ALT keys differently, to support keys that must generate three different character codes. Both ALT keys generate the same scan code (56), but the EXTKEY code precedes this when the right-hand ALT is pressed. When the EXTKEY code is returned, the esc flag is set. In this case, make_break returns from within the switch, thus bypassing the last step before a normal return, which sets esc to zero in every other case (line 15458). This has the effect of making the esc effective only for the very next code received. If you are familiar with the intricacies of the PC keyboard as it is ordinarily used, this will be both familiar and yet a little strange, because the PC BIOS does not allow one to read the scan code for an ALT key and returns a different value for the extended code than does MINIX 3.
Set_leds (line 15508) turns on and off the lights that indicate whether the Num Lock, Caps Lock, or Scroll Lock keys on a PC keyboard have been pressed. A control byte, LED_CODE, is written to an output port to instruct the keyboard that the next byte written to that port is for control of the lights, and the status of the three lights is encoded in 3 bits of that next byte. These operations are, of course, carried out by kernel calls which ask the system task write to the outport ports. The next two functions support this operation. Kb_wait (line 15530) is called to determine that the keyboard is ready to receive a command sequence, and kb_ack (line 15552) is called to verify that the command has been acknowledged. Both of these commands use busy waiting, continually reading until a desired code is seen. This is not a recommended technique for handling most I/O operations, but turning lights on and off on the keyboard is not going to be done very often and doing it inefficiently does not waste much time. Note also that both kb_wait and kb_ack could fail, and one can determine from the return code if this happens. Timeouts are handled by limiting the number of retries by means of a counter in the loop. But setting the light on the keyboard is not important enough to merit checking the value returned by either call, and set_leds just proceeds blindly.
Since the keyboard is part of the console, its initialization routine, kb_init (line 15572), is called from scr_init in console.c, not directly from tty_init in tty.c. If virtual consoles are enabled, (i.e., NR_CONS in include/minix/config.h is greater than 1), kb_init is called once for each logical console. The next function, kb_init_once (line 15583), is called just once, as its name implies. It sets the lights on the keyboard, and scans the keyboard to be sure no leftover keystroke is read. Then it initializes two arrays, fkey_obs and sfkey_obs which are used to bind function keys to the processes that must respond to them. When all is ready, it makes two kernel calls, sys_irqsetpolicy and sys_irqenable to set up the IRQ for the keyboard and configure it to automatically reenable, so a notification message will be sent to tty_task whenever a key is pressed or released.
Although we will soon have more opportunities to discuss how function keys work, this is a good place to describe the fkey_obs and sfkey_obs arrays. Each has twelve elements, since modern PC keyboards have twelve F-keys. The first array is for unmodified F-keys, the second is used when a shifted F-key is detected. They are composed of elements of type obs_t, which is a structure that can hold a process number and an integer. This structure and these arrays are declared in keyboard.c on lines 15279 to 15281. Initialization stores a special value, symbolically represented as NONE, in the proc_nr component of the structure to indicate it is not in use. NONE is a value outside the range of valid process numbers. Note that the process number is not a pid, it identifies a slot in the process table. This terminology may be confusing. But to send a notification a process number rather than a pid is used, because process numbers are used to index the priv table which determines whether a process is allowed to receive notifications. The integer events is also initially set to zero. It will be used to count events.
The next three functions are all rather simple. Kbd_loadmap (line 15610) is almost trivial. It is called by do_ioctl in tty.c to do the copying of a keymap from user space to overwrite the default keymap. The default is compiled by the inclusion of a keymap source file at the start of keyboard.c.
From its first release, MINIX has always provided for dumps of various kinds of system information or other special actions in response to pressing the function keys F1, F2, etc., on the system console. This is not a service generally provided in other operating systems, but MINIX was always intended to be a teaching tool. Users are encouraged to tinker with it, which means users may need extra help for debugging. In many cases the output produced by pressing one of the F-keys will be available even when the system has crashed. Figure 3-43 summarizes these keys and their effects.
Key | Purpose |
|---|---|
F1 | Kernel process table |
F2 | Process memory maps |
F3 | Boot image |
F4 | Process privileges |
F5 | Boot monitor parameters |
F6 | IRQ hooks and policies |
F7 | Kernel messages |
F10 | Kernel parameters |
F11 | Timing details (if enabled) |
F12 | Scheduling queues |
SF1 | Process manager process table |
SF2 | Signals |
SF3 | File system process table |
SF4 | Device/driver mapping |
SF5 | Print key mappings |
SF9 | Ethernet statistics (RTL8139 only) |
CF1 | Show key mappings |
CF3 | Toggle software/hardware console scrolling |
CF7 | Send SIGQUIT, same effect as CTRL-\ |
CF8 | Send SIGINT, same effect as CTRL-C |
CF9 | Send SIGKILL, same effect as CTRL-U |
These keys fall into two categories. As noted earlier, the CTRL-F1 through CTRL-F12 key combinations are detected by kb_read. These trigger events that can be handled by the terminal driver. These events are not necessarily display dumps. In fact, currently only CTRL-F1 provides an information display; it lists function key bindings. CTRL-F3 toggles hardware and software scrolling of the console screen, and the others cause signals.
Function keys pressed by themselves or together with the shift key are used to trigger events that cannot be handled by the terminal driver. They may result in notification messages to a server or driver. Because servers and drivers can be loaded, enabled, and disabled after MINIX 3 is already running, static binding of these keys at compilation time is not satisfactory. To enable run-time changes tty_task accepts messages of type FKEY_CONTROL. Do_fkey_ctl (line 15624) services such requests. Request types are FKEY_MAP, FKEY_UNMAP, or FKEY_EVENTS. The first two register or unregister a process with a key specified in a bitmap in the message, and the third message type returns a bitmap of keys belonging to the caller which have been pressed and resets the events field for these keys. A server process, the information server, (or IS) initializes the settings for processes in the boot image and also mediates generating responses. But individual drivers can also register to respond to a function key. Ethernet drivers typically do this, as a dump that shows packet statistics can be helpful in solving network problems.
Func_key (line 15715) is called from kb_read to see if a special key meant for local processing has been pressed. This is done for every scan code received, prior to any other processing. If it is not a function key at most three comparisons are made before control is returned to kb_read. If a function key is registered a notification message is sent to the appropriate process. If the process is one that has registered only one key the notification by itself is adequate for the process to know what to do. If a process is the information server or another that has registered several keys, a dialogue is requiredthe process must send an FKEY_EVENTS request to the terminal driver, to be processed by do_fkey_ctl which will inform the caller which keys have been active. The caller can then dispatch to the routine for each key that has been pressed.
Scan_keyboard (line 15800) works at the hardware interface level, by reading and writing bytes from I/O ports. The keyboard controller is informed that a character has been read by the sequence on lines 15809 and 15810, which reads a byte, writes it again with the most significant bit set to 1, and then rewrites it with the same bit rest to 0. This prevents the same data from being read on a subsequent read. There is no status checking in reading the keyboard, but there should be no problems in any case, since scan_keyboard is only called in response to an interrupt.
The last function in keyboard.c is do_panic_dumps (line 15819). If invoked as a result of a system panic, it provides an opportunity for the user to use the function keys to display debugging information. The loop on lines 15830 to 15854 is another example of busy waiting. The keyboard is read repeatedly until an ESC is typed. Certainly no one can claim that a more efficient technique is needed after a crash, while awaiting a command to reboot. Within the loop, the rarely-used nonblocking receive operation, nb_receive, is used to permit alternately accepting messages, if available, and testing the keyboard for input, which can be expected to be one of the options suggested in the message
Hit ESC to reboot, DEL to shutdown, F-keys for debug dumps
printed on entering this function. In the next section we will see the code that implements do_newkmess and do_diagnostics.
3.8.6. Implementation of the Display Driver
The IBM PC display may be configured as several virtual terminals, if sufficient memory is available. We will examine the console's device-dependent code in this section. We will also look at the debug dump routines that use low-level services of the keyboard and display. These provide support for limited interaction with the user at the console, even when other parts of the MINIX 3 system are not functioning and can provide useful information even following a near-total system crash.
Hardware-specific support for console output to the PC memory-mapped screen is in console.c. The console structure is defined on lines 15981 to 15998. In a sense this structure is an extension of the tty structure defined in tty.c. At initialization the tp->tty_priv field of a console's tty structure is assigned a pointer to its own console structure. The first item in the console structure is a pointer back to the corresponding tty structure. The components of a console structure are what one would expect for a video display: variables to record the row and column of the cursor location, the memory addresses of the start and limit of memory used for the display, the memory address pointed to by the controller chip's base pointer, and the current address of the cursor. Other variables are used for managing escape sequences. Since characters are initially received as 8-bit bytes and must be combined with attribute bytes and transferred as 16-bit words to video memory, a block to be transferred is built up in c_ramqueue, an array big enough to hold an entire 80-column row of 16-bit character-attribute pairs. Each virtual console needs one console structure, and the storage is allocated in the array cons_table (line 16001). As we have done with the tt y and other structures, we will usually refer to the elements of a console structure using a pointer, for example, cons->c_tty.
The function whose address is stored in each console's tp->tty_devwrite entry is cons_write (line 16036). It is called from only one place, handle_events in tty.c. Most of the other functions in console.c exist to support this function. When it is called for the first time after a client process makes a write call, the data to be output are in the client's buffer, which can be found using the tp->tty_outproc and tp->out_vir fields in the tty structure. The tp->tty_outleft field tells how many characters are to be transferred, and the tp->tty_outcum field is initially zero, indicating none have yet been transferred. This is the usual situation upon entry to cons_write, because normally, once called, it transfers all the data requested in the original call. However, if the user wants to slow the process in order to review the data on the screen, he may enter a STOP (CTRL-S) character at the keyboard, resulting in raising of the tp->tty_inhibited flag. Cons_write returns immediately when this flag is raised, even though the write has not been completed. In such a case handle_events will continue to call cons_write, and when tp->tty_inhibited is finally reset, by the user entering a START (CTRL-Q) character, cons_write continues with the interrupted transfer.
Cons_write's first argument is a pointer to the particular console's tty structure, so the first thing that must be done is to initialize cons, the pointer to this console's console structure (line 16049). Then, because handle_events calls cons_write whenever it runs, the first action is a test to see if there really is work to be done. A quick return is made if not (line 16056). Following this the main loop on lines 16061 to 16089 is entered. This loop is similar in structure to the main loop of in_transfer in tty.c. A local buffer that can hold 64 characters is filled by using the sys_vircopy kernel call to get the data from the client's buffer. Following this, the pointer to the source and the counts are updated, and then each character in the local buffer is transferred to the cons->c_ramqueue array, along with an attribute byte, for later transfer to the screen by flush.
The transfer of characters from cons->c_ramqueue can be done in more than one way, as we saw in Fig. 3-35. Out_char can be called to do this for each character, but it is predictable that none of the special services of out_char will be needed if the character is a visible character, an escape sequence is not in progress, the screen width has not been exceeded, and cons->c_ramqueue is not full. If the full service of out_char is not needed, the character is placed directly into cons->c_ramqueue, along with the attribute byte (which is retrieved from cons->c_attr), and cons->c_rwords (which is the index into the queue), cons->c_column (which keeps track of the column on the screen), and tbuf, the pointer into the buffer, are all incremented. This direct placement of characters into cons->c_ramqueue corresponds to the dashed line on the left side of Fig. 3-35. If needed, out_char is called (line 16082). It does all of the bookkeeping, and additionally calls flush, which does the final transfer to screen memory, when necessary.
The transfer from the user buffer to the local buffer to the queue is repeated as long as tp->tty_outleft indicates there are still characters to be transferred and the flag tp->tty_inhibited has not been raised. When the transfer stops, whether because the write operation is complete or because tp->tty_inhibited has been raised, flush is called again to transfer the last characters in the queue to screen memory. If the operation is complete (tested by seeing if tp->tty_outleft is zero), a reply message is sent by calling tty_reply lines 16096 and 16097).
In addition to calls to cons_write from handle_events, characters to be displayed are also sent to the console by echo and rawecho in the hardware independent part of the terminal driver. If the console is the current output device, calls via the tp->tty_echo pointer are directed to the next function, cons_echo (line 16105). Cons_echo does all of its work by calling out_char and then flush. Input from the keyboard arrives character by character and the person doing the typing wants to see the echo with no perceptible delay, so putting characters into the output queue would be unsatisfactory.
Out_char (line 16119). does a test to see if an escape sequence is in progress, calling parse_escape and then returning immediately if so (lines 16124 to 16126). Otherwise, a switch is entered to check for special cases: null, backspace, the bell character, and so on. The handling of most of these is easy to follow. The linefeed and the tab are the most complicated, since they involve complicated changes to the position of the cursor on the screen and may require scrolling as well. The last test is for the ESC code. If it is found, the cons->c_esc_state flag is set (line 16181), and future calls to out_char are diverted to parse_escape until the sequence is complete. At the end, the default is taken for printable characters. If the screen width has been exceeded, the screen may need to be scrolled, and flush is called. Before a character is placed in the output queue a test is made to see that the queue is not full, and flush is called if it is. Putting a character into the queue requires the same bookkeeping we saw earlier in cons_write.
The next function is scroll_screen (line 16205). Scroll_screen handles both scrolling up, the normal situation that must be dealt with whenever the bottom line on the screen is full, and scrolling down, which occurs when cursor positioning commands attempt to move the cursor beyond the top line of the screen. For each direction of scroll there are three possible methods. These are required to support different kinds of video cards.
We will look at the scrolling up case. To begin, chars is assigned the size of the screen minus one line. Softscrolling is accomplished by a single call to vid_vid_copy to move chars characters lower in memory, the size of the move being the number of characters in a line. Vid_vid_copy can wrap, that is, if asked to move a block of memory that overflows the upper end of the block assigned to the video display, it fetches the overflow portion from the low end of the memory block and moves it to an address higher than the part that is moved lower, treating the entire block as a circular array. The simplicity of the call hides a fairly slow operation, even though vid_vid_copy is an assembly language routine (defined in drivers/tty/vidcopy.s, not listed in Appendix B). This call requires the CPU to move 3840 bytes, which is a large job even in assembly language.
The softscroll method is never the default; the operator is supposed to select it only if hardware scrolling does not work or is not desired for some reason. One reason might be a desire to use the screendump command, either to save the screen memory in a file or to view the main console display when working from a remote terminal. When hardware scrolling is in effect, screendump is likely to give unexpected results, because the start of the screen memory is likely not to coincide with the start of the visible display.
On line 16226 the wrap variable is tested as the first part of a compound test. Wrap is true for older displays that can support hardware scrolling, and if the test fails, simple hardware scrolling occurs on line 16230, where the origin pointer used by the video controller chip, cons->c_org, is updated to point to the first character to be displayed at the upper-left corner of the display. If wrap is FALSE, the compound test continues with a test of whether the block to be moved up in the scroll operation overflows the bounds of the memory block designated for this console. If this is so, vid_vid_copy is called again to make a wrapped move of the block to the start of the console's allocated memory, and the origin pointer is updated. If there is no overlap, control passes to the simple hardware scrolling method always used by older video controllers. This consists of adjusting cons->c_org and then putting the new origin in the correct register of the controller chip. The call to do this is executed later, as is a call to blank the bottom line on the screen to achieve the "scrolling" effect.
The code for scrolling down is very similar to that for scrolling up. Finally, mem_vid_copy is called to blank out the line at the bottom (or top) addressed by new_line. Then set_6845 is called to write the new origin from cons->c_org into the appropriate registers, and flush makes sure all changes become visible on the screen.
We have mentioned flush (line 16259) several times. It transfers the characters in the queue to the video memory using mem_vid_copy, updates some variables, and then makes sure the row and column numbers are reasonable, adjusting them if, for instance, an escape sequence has tried to move the cursor to a negative column position. Finally, a calculation of where the cursor ought to be is made and is compared with cons->c_cur. If they do not agree, and if the video memory that is currently being handled belongs to the current virtual console, a call to set_6845 is made to set the correct value in the controller's cursor register.
Figure 3-44 shows how escape sequence handling can be represented as a finite state machine. This is implemented by parse_escape (line 16293) which is called at the start of out_char if cons->c_esc_state is nonzero. An ESC itself is detected by out_char and makes cons->c_esc_state equal to 1. When the next character is received, parse_escape prepares for further processing by putting a "\0" in cons->c_esc_intro, a pointer to the start of the array of parameters, cons->c_esc_parmv[0] into cons->c_esc_parmp, and zeroes into the parameter array itself. Then the first character directly following the ESC is examinedvalid values are either "[" or "M". In the first case the "[" is copied to cons->c_esc_intro and the state is advanced to 2. In the second case, do_escape is called to carry out the action, and the escape state is reset to zero. If the first character after the ESC is not one of the valid ones, it is ignored and succeeding characters are once again displayed normally.
Figure 3-44. Finite state machine for processing escape sequences.
When an ESC [ sequence has been seen, the next character entered is processed by the escape state 2 code. There are three possibilities at this point. If the character is a numeric character, its value is extracted and added to 10 times the existing value in the position currently pointed to by cons->c_esc_parmp, initially cons->c_esc_parmv[0] (which was initialized to zero). The escape state does not change. This makes it possible to enter a series of decimal digits and accumulate a large numeric parameter, although the maximum value currently recognized by MINIX 3 is 80, used by the sequence that moves the cursor to an arbitrary position (lines 16335 to 16337). If the character is a semicolon there is another parameter, so the pointer to the parameter string is advanced, allowing succeeding numeric values to be accumulated in the second parameter (lines 16339 to 16341). If MAX_ESC_PARMS were to be changed to allocate a larger array for the parameters, this code would not have to be altered to accumulate additional numeric values after entry of additional parameters. Finally, if the character is neither a numeric digit nor a semicolon, do_escape is called.
Do_escape (line 16352) is one of the longer functions in the MINIX 3 system source code, even though MINIX 3's complement of recognized escape sequences is relatively modest. For all its length, however, the code should be easy to follow. After an initial call to flush to make sure the video display is fully updated, there is a simple if choice, depending upon whether the character immediately following the ESC character was a special control sequence introducer or not. If not, there is only one valid action, moving the cursor up one line if the sequence was ESC M. Note that the test for the "M" is done within a switch with a default action, as a validity check and in anticipation of addition of other sequences that do not use the ESC [ format. The action is typical of many escape sequences: the cons->c_row variable is inspected to determine if scrolling is required. If the cursor is already on row 0, a SCROLL_DOWN call is made to scroll_screen; otherwise the cursor is moved up one line. The latter is accomplished just by decrementing cons->c_row and then calling flush. If a control sequence introducer is found, the code following the else on line 16377 is taken. A test is made for "[", the only control sequence introducer currently recognized by MINIX 3. If the sequence is valid, the first parameter found in the escape sequence, or zero if no numeric parameter was entered, is assigned to value (line 16380). If the sequence is invalid, nothing happens except that the large switch that ensues (lines 16381 to 16586) is skipped and the escape state is reset to zero before returning from do_escape. In the more interesting case that the sequence is valid, the switch is entered. We will not discuss all the cases; we will just note several that are representative of the types of actions governed by escape sequences.
The first five sequences are generated, with no numeric arguments, by the four "arrow" keys and the Home key on the IBM PC keyboard. The first two, ESC [A and ESC [B, are similar to ESC M, except they can accept a numeric parameter and move up and down by more than one line, and they do not scroll the screen if the parameter specifies a move that exceeds the bounds of the screen. In such cases, flush catches requests to move out of bounds and limits the move to the last row or the first row, as appropriate. The next two sequences, ESC [C and ESC [D, which move the cursor right and left, are similarly limited by flush. When generated by the "arrow" keys there is no numeric argument, and thus the default movement of one line or column occurs.
ESC [H can take two numeric parameters, for instance, ESC [20;60H. The parameters specify an absolute position rather than one relative to the current position and are converted from 1-based numbers to 0-based numbers for proper interpretation. The Home key generates the default (no parameters) sequence which moves the cursor to position (1, 1).
ESC [s J and ESC [s K clear a part of either the entire screen or the current line, depending upon the parameter that is entered. In each case a count of characters is calculated. For instance, for ESC [1J, count gets the number of characters from the start of the screen to the cursor position, and the count and a position parameter, dst, which may be the start of the screen, cons->c_org, or the current cursor position, cons->c_cur, are used as parameters to a call to mem_vid_copy. This procedure is called with a parameter that causes it to fill the specified region with the current background color.
The next four sequences insert and delete lines and spaces at the cursor position, and their actions do not require detailed explanation. The last case, ESC [n m (note the n represents a numeric parameter, but the "m" is a literal character) has its effect upon cons->c_attr, the attribute byte that is interleaved between the character codes when they are written to video memory.
The next function, set_6845 (line 16594), is used whenever it is necessary to update the video controller chip. The 6845 has internal 16-bit registers that are programmed 8 bits at a time, and writing a single register requires four I/O port write operations. These are carried out by setting up an array (vector) of (port, value) pairs and invoking a sys_voutb kernel call to get the system task to do the I/O. Some of the registers of the 6845 video controller chip are shown in Fig. 3-45
Registers | Function |
|---|---|
10 11 | Cursor size |
12 13 | Start address for drawing screen |
14 15 | Cursor position |
The next function is get_6845 (line 16613), which returns the values of readable video controller registers. It also uses kernel calls to accomplish its job. It does not appear to be called from anywhere in the current MINIX 3 code, but it may be useful for future enhancements such as adding graphics support.
The beep function (line 16629) is called when a CTRL-G character must be output. It takes advantage of the built-in support provided by the PC for making sounds by sending a square wave to the speaker. The sound is initiated by more of the kind of magic manipulation of I/O ports that only assembly language programmers can love. The more interesting part of the code is using the ability to set an alarm to turn off the beep. As a process with system privileges (i.e., a slot in the priv table), the terminal driver is allowed to set a timer using the library function tmrs_settimers. On line 16655 this is done, with the next function, stop_beep, specified as the function to run when the timer expires. This timer is put into the terminal task's own timer queue. The sys_setalarm kernel call that follows asks the system task to set a timer in the kernel. When that expires, a SYN_ALARM message is detected by the main loop of the terminal driver, tty_task, which calls expire_timers to deal with all timers belonging to the terminal driver, one of which is the one set by beep.
The next routine, stop_beep (line 16666), is the one whose address is put into the tmr_func field of the timer initiated by beep. It stops the beep after the designated time has elapsed and also resets the beeping flag. This prevents superfluous calls to the beep routine from having any effect.
Scr_init (line 16679) is called by tty_init NR_CONS times. Each time its argument is a pointer to a tty structure, one element of the tty_table. On lines 16693 and 16694 line, to be used as the index into the cons_table array, is calculated, tested for validity, and, if valid, used to initialize cons, the pointer to the current console table entry. At this point the cons->c_tty field can be initialized with the pointer to the main tty structure for the device, and, in turn, tp->tty_priv can be pointed to this device's console_t structure. Next, kb_init is called to initialize the keyboard, and then the pointers to device specific routines are set up, tp->tty_devwrite pointing to cons_write, tp->tty_echo pointing to cons_echo, and tp->tty_ioctl pointing to cons_ioctl. The I/O address of the base register of the CRT controller is fetched from the BIOS, the address and size of the video memory are determined on lines 16708 to 16731, and the wrap flag (used to determine how to scroll) is set according to the class of video controller in use. On line 16735 the segment descriptor for the video memory is initialized in the global descriptor table by the system task.
Next comes the initialization of virtual consoles. Each time scr_init is called, the argument is a different value of tp, and thus a different line and cons are used on lines 16750 to 16753 to provide each virtual console with its own share of the available video memory. Each screen is then blanked, ready to start, and finally console 0 is selected to be the first active one.
Several routines display output on behalf of the terminal driver itself, the kernel, or another system component. The first one, kputc (line 16775) just calls putk, a routine to output text a byte at a time, to be described below. This routine is here because the library routine that provides the printf function used within system components is written to be linked to a character printing routine with this name, but other functions in the terminal driver expect one named putk.
Do_new_kmess (line 16784) is used to print messages from the kernel. Actually, "messages" is not the best word to use here; we do not mean messages as used for interprocess communication. This function is for displaying text on the console to report information, warnings, or errors to the user.
The kernel needs a special mechanism to display information. It needs to be robust, too, so it can be used during startup, before all components of MINIX 3 are running, or during a panic, another time when major parts of the system may be unavailable. The kernel writes text into a circular character buffer, part of a structure that also contains pointers to the next byte to write and the size of the yet-to-be processed text. The kernel sends a SYS_SIG message to the terminal driver when there is new text, and do_new_kmess is called when the main loop in tty_task is running. When things are not going so smoothly, (i.e., when the system crashes) the SYS_SIG will be detected by the loop that includes a nonblocking read operation in do_panic_dumps, which we saw in keyboard.c, and do_new_kmess will be called from there. In either case, the kernel call sys_getkmessages retrieves a copy of the kernel structure, and the bytes are displayed, one by one, by passing them to putk, followed by a final call to putk with a null byte to force it to flush the output. A local static variable is used to keep track of the position in the buffer between messages.
Do_diagnostics (line 16823) has a function similar to that of do_new_kmess, but do_diagnostics is used to display messages from system processes, rather than the kernel. A DIAGNOSTICS message can be received either by the tty_task main loop or the loop in do_panic_dumps, and in either case a call is made to do_diagnostics. The message contains a pointer to a buffer in the calling process and a count of the size of the message. No local buffer is used; instead repeated sys_vircopy kernel calls are made to get the text one byte at a time. This protects the terminal driver; if something goes wrong and a process starts generates an excessive amount of output there is no buffer to overrun. The characters are output one by one by calling putk, followed by a null byte.
Putk (line 16850) can print characters on behalf of any code linked into the terminal driver, and is used by the functions just described to output text on behalf of the kernel or other system components. It just calls out_char for each non-null byte received, and then calls flush for the null byte at the end of the string.
The remaining routines in console.c are short and simple and we will review them quickly. Toggle_scroll (line 16869) does what its name says, it toggles the flag that determines whether hardware or software scrolling is used. It also displays a message at the current cursor position to identify the selected mode. Cons_stop (line 16881) reinitializes the console to the state that the boot monitor expects, prior to a shutdown or reboot. Cons_org0 (line 16893) is used only when a change of scrolling mode is forced by the F3 key, or when preparing to shut down. Select_console (line 16917) selects a virtual console. It is called with the new index and calls set_6845 twice to get the video controller to display the proper part of the video memory.
The next two routines are highly hardware-specific. Con_loadfont (line 16931) loads a font into a graphics adapter, in support of the ioctl TIOCSFON operation. It calls ga_program (line 16971) to do a series of magical writes to an I/O port that cause the video adapter's font memory, which is normally not addressable by the CPU, to be visible. Then phys_copy is called to copy the font data to this area of memory, and another magic sequence is invoked to return the graphics adapter to its normal mode of operation.
The last function is cons_ioctl (line 16987). It performs only one function, setting the screen size, and is called only by scr_init, which uses values obtained from the BIOS. If there were a need for a real ioctl call to change the sizeMINIX 3screen code to provide the new dimensions would have to be written.
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Pages: 102