[Xenomai] missing hook callback for task switching after gatekeeper

[Xenomai] missing hook callback for task switching after gatekeeper

[Johann Obermayr]

Hello,

Kernel: 3.10.53 ARM
Xenomai: 2.6.4

We have a own tool to make task switching, IRQ, TracePoints, ... visible. (TracePoint is a single marker in our tool )
So we have a hook in the Linux scheduler and we are using rt_task_add_hook(T_HOOK_SWITCH, taskSwitchXenomai)
So we can see all linux / xenomai task switching.
But we are missing one xenomai callback.

We don't see the task switch , that gatekeeper have switch to xenomai, while gatekepper is running.

L-Usertask          UserTask in second domain
X-Usertask         UserTask in primary domain

Now we see follow

L-Usertask is running and call a function to switch to primary domain.
taskSwitchLinux( L-UserTask -> L-gatekeeper )
L-gatekeeper is running
------ >>> missing taskSwitchXenomai( xnthread_t *curr )             curr = UserTask in primary domain
Now we see, a TracePoint from the L-Usertask
taskSwitchXenomai( xnthread_t *curr ) curr = gatekeeper task
taskSwitchLinux( L-gatekeeper -> L-UserTask)

L-UserTask description
UserFunktion
{
                TracePointMake()
                switchToSecondDomain();
                do_something(30us)
                switchToPromariyDomain();
}

L-UserTask
  While(1)
  {
    For(I = 0; I < 10; i++)
       UserFunction();
    Usleep(1000)
  }

I hope it is understandable.

Best regards
  Johann