// (C) Copyright Dustin Spicuzza 2009.
|
// Adapted to vxWorks 6.9 by Peter Brockamp 2012.
|
// Updated for VxWorks 7 by Brian Kuhl 2016
|
// Use, modification and distribution are subject to the
|
// Boost Software License, Version 1.0. (See accompanying file
|
// LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
|
|
// See http://www.boost.org for most recent version.
|
|
// Old versions of vxWorks (namely everything below 6.x) are
|
// absolutely unable to use boost. Old STLs and compilers
|
// like (GCC 2.96) . Do not even think of getting this to work,
|
// a miserable failure will be guaranteed!
|
//
|
// VxWorks supports C++ linkage in the kernel with
|
// DKMs (Downloadable Kernel Modules). But, until recently
|
// the kernel used a C89 library with no
|
// wide character support and no guarantee of ANSI C.
|
// Regardless of the C library the same Dinkum
|
// STL library is used in both contexts.
|
//
|
// Similarly the Dinkum abridged STL that supports the loosely specified
|
// embedded C++ standard has not been tested and is unlikely to work
|
// on anything but the simplest library.
|
// ====================================================================
|
//
|
// Some important information regarding the usage of POSIX semaphores:
|
// -------------------------------------------------------------------
|
//
|
// VxWorks as a real time operating system handles threads somewhat
|
// different from what "normal" OSes do, regarding their scheduling!
|
// This could lead to a scenario called "priority inversion" when using
|
// semaphores, see http://en.wikipedia.org/wiki/Priority_inversion.
|
//
|
// Now, VxWorks POSIX-semaphores for DKM's default to the usage of
|
// priority inverting semaphores, which is fine. On the other hand,
|
// for RTP's it defaults to using non priority inverting semaphores,
|
// which could easily pose a serious problem for a real time process.
|
//
|
// To change the default properties for POSIX-semaphores in VxWorks 7
|
// enable core > CORE_USER Menu > DEFAULT_PTHREAD_PRIO_INHERIT
|
//
|
// In VxWorks 6.x so as to integrate with boost.
|
// - Edit the file
|
// installDir/vxworks-6.x/target/usr/src/posix/pthreadLib.c
|
// - Around line 917 there should be the definition of the default
|
// mutex attributes:
|
//
|
// LOCAL pthread_mutexattr_t defaultMutexAttr =
|
// {
|
// PTHREAD_INITIALIZED_OBJ, PTHREAD_PRIO_NONE, 0,
|
// PTHREAD_MUTEX_DEFAULT
|
// };
|
//
|
// Here, replace PTHREAD_PRIO_NONE by PTHREAD_PRIO_INHERIT.
|
// - Around line 1236 there should be a definition for the function
|
// pthread_mutexattr_init(). A couple of lines below you should
|
// find a block of code like this:
|
//
|
// pAttr->mutexAttrStatus = PTHREAD_INITIALIZED_OBJ;
|
// pAttr->mutexAttrProtocol = PTHREAD_PRIO_NONE;
|
// pAttr->mutexAttrPrioceiling = 0;
|
// pAttr->mutexAttrType = PTHREAD_MUTEX_DEFAULT;
|
//
|
// Here again, replace PTHREAD_PRIO_NONE by PTHREAD_PRIO_INHERIT.
|
// - Finally, rebuild your VSB. This will rebuild the libraries
|
// with the changed properties. That's it! Now, using boost should
|
// no longer cause any problems with task deadlocks!
|
//
|
// ====================================================================
|
|
// Block out all versions before vxWorks 6.x, as these don't work:
|
// Include header with the vxWorks version information and query them
|
#include <version.h>
|
#if !defined(_WRS_VXWORKS_MAJOR) || (_WRS_VXWORKS_MAJOR < 6)
|
# error "The vxWorks version you're using is so badly outdated,\
|
it doesn't work at all with boost, sorry, no chance!"
|
#endif
|
|
// Handle versions above 5.X but below 6.9
|
#if (_WRS_VXWORKS_MAJOR == 6) && (_WRS_VXWORKS_MINOR < 9)
|
// TODO: Starting from what version does vxWorks work with boost?
|
// We can't reasonably insert a #warning "" as a user hint here,
|
// as this will show up with every file including some boost header,
|
// badly bugging the user... So for the time being we just leave it.
|
#endif
|
|
// vxWorks specific config options:
|
// --------------------------------
|
#define BOOST_PLATFORM "vxWorks"
|
|
|
// Generally available headers:
|
#define BOOST_HAS_UNISTD_H
|
#define BOOST_HAS_STDINT_H
|
#define BOOST_HAS_DIRENT_H
|
//#define BOOST_HAS_SLIST
|
|
// vxWorks does not have installed an iconv-library by default,
|
// so unfortunately no Unicode support from scratch is available!
|
// Thus, instead it is suggested to switch to ICU, as this seems
|
// to be the most complete and portable option...
|
#ifndef BOOST_LOCALE_WITH_ICU
|
#define BOOST_LOCALE_WITH_ICU
|
#endif
|
|
// Generally available functionality:
|
#define BOOST_HAS_THREADS
|
#define BOOST_HAS_NANOSLEEP
|
#define BOOST_HAS_GETTIMEOFDAY
|
#define BOOST_HAS_CLOCK_GETTIME
|
#define BOOST_HAS_MACRO_USE_FACET
|
|
// Generally available threading API's:
|
#define BOOST_HAS_PTHREADS
|
#define BOOST_HAS_SCHED_YIELD
|
#define BOOST_HAS_SIGACTION
|
|
// Functionality available for RTPs only:
|
#ifdef __RTP__
|
# define BOOST_HAS_PTHREAD_MUTEXATTR_SETTYPE
|
# define BOOST_HAS_LOG1P
|
# define BOOST_HAS_EXPM1
|
#endif
|
|
// Functionality available for DKMs only:
|
#ifdef _WRS_KERNEL
|
// Luckily, at the moment there seems to be none!
|
#endif
|
|
// These #defines allow detail/posix_features to work, since vxWorks doesn't
|
// #define them itself for DKMs (for RTPs on the contrary it does):
|
#ifdef _WRS_KERNEL
|
# ifndef _POSIX_TIMERS
|
# define _POSIX_TIMERS 1
|
# endif
|
# ifndef _POSIX_THREADS
|
# define _POSIX_THREADS 1
|
# endif
|
// no sysconf( _SC_PAGESIZE) in kernel
|
# define BOOST_THREAD_USES_GETPAGESIZE
|
#endif
|
|
#if (_WRS_VXWORKS_MAJOR < 7)
|
// vxWorks-around: <time.h> #defines CLOCKS_PER_SEC as sysClkRateGet() but
|
// miserably fails to #include the required <sysLib.h> to make
|
// sysClkRateGet() available! So we manually include it here.
|
# ifdef __RTP__
|
# include <time.h>
|
# include <sysLib.h>
|
# endif
|
|
// vxWorks-around: In <stdint.h> the macros INT32_C(), UINT32_C(), INT64_C() and
|
// UINT64_C() are defined erroneously, yielding not a signed/
|
// unsigned long/long long type, but a signed/unsigned int/long
|
// type. Eventually this leads to compile errors in ratio_fwd.hpp,
|
// when trying to define several constants which do not fit into a
|
// long type! We correct them here by redefining.
|
|
# include <cstdint>
|
|
// Special behaviour for DKMs:
|
|
// Some macro-magic to do the job
|
# define VX_JOIN(X, Y) VX_DO_JOIN(X, Y)
|
# define VX_DO_JOIN(X, Y) VX_DO_JOIN2(X, Y)
|
# define VX_DO_JOIN2(X, Y) X##Y
|
|
// Correctly setup the macros
|
# undef INT32_C
|
# undef UINT32_C
|
# undef INT64_C
|
# undef UINT64_C
|
# define INT32_C(x) VX_JOIN(x, L)
|
# define UINT32_C(x) VX_JOIN(x, UL)
|
# define INT64_C(x) VX_JOIN(x, LL)
|
# define UINT64_C(x) VX_JOIN(x, ULL)
|
|
// #include Libraries required for the following function adaption
|
# include <sys/time.h>
|
#endif // _WRS_VXWORKS_MAJOR < 7
|
|
#include <ioLib.h>
|
#include <tickLib.h>
|
|
#if defined(_WRS_KERNEL) && (_CPPLIB_VER < 700)
|
// recent kernels use Dinkum clib v7.00+
|
// with widechar but older kernels
|
// do not have the <cwchar>-header,
|
// but apparently they do have an intrinsic wchar_t meanwhile!
|
# define BOOST_NO_CWCHAR
|
|
// Lots of wide-functions and -headers are unavailable for DKMs as well:
|
# define BOOST_NO_CWCTYPE
|
# define BOOST_NO_SWPRINTF
|
# define BOOST_NO_STD_WSTRING
|
# define BOOST_NO_STD_WSTREAMBUF
|
#endif
|
|
|
// Use C-linkage for the following helper functions
|
#ifdef __cplusplus
|
extern "C" {
|
#endif
|
|
// vxWorks-around: The required functions getrlimit() and getrlimit() are missing.
|
// But we have the similar functions getprlimit() and setprlimit(),
|
// which may serve the purpose.
|
// Problem: The vxWorks-documentation regarding these functions
|
// doesn't deserve its name! It isn't documented what the first two
|
// parameters idtype and id mean, so we must fall back to an educated
|
// guess - null, argh... :-/
|
|
// TODO: getprlimit() and setprlimit() do exist for RTPs only, for whatever reason.
|
// Thus for DKMs there would have to be another implementation.
|
#if defined ( __RTP__) && (_WRS_VXWORKS_MAJOR < 7)
|
inline int getrlimit(int resource, struct rlimit *rlp){
|
return getprlimit(0, 0, resource, rlp);
|
}
|
|
inline int setrlimit(int resource, const struct rlimit *rlp){
|
return setprlimit(0, 0, resource, const_cast<struct rlimit*>(rlp));
|
}
|
#endif
|
|
// vxWorks has ftruncate() only, so we do simulate truncate():
|
inline int truncate(const char *p, off_t l){
|
int fd = open(p, O_WRONLY);
|
if (fd == -1){
|
errno = EACCES;
|
return -1;
|
}
|
if (ftruncate(fd, l) == -1){
|
close(fd);
|
errno = EACCES;
|
return -1;
|
}
|
return close(fd);
|
}
|
|
#ifdef __GNUC__
|
# define ___unused __attribute__((unused))
|
#else
|
# define ___unused
|
#endif
|
|
// Fake symlink handling by dummy functions:
|
inline int symlink(const char* path1 ___unused, const char* path2 ___unused){
|
// vxWorks has no symlinks -> always return an error!
|
errno = EACCES;
|
return -1;
|
}
|
|
inline ssize_t readlink(const char* path1 ___unused, char* path2 ___unused, size_t size ___unused){
|
// vxWorks has no symlinks -> always return an error!
|
errno = EACCES;
|
return -1;
|
}
|
|
#if (_WRS_VXWORKS_MAJOR < 7)
|
|
inline int gettimeofday(struct timeval *tv, void * /*tzv*/) {
|
struct timespec ts;
|
clock_gettime(CLOCK_MONOTONIC, &ts);
|
tv->tv_sec = ts.tv_sec;
|
tv->tv_usec = ts.tv_nsec / 1000;
|
return 0;
|
}
|
#endif
|
|
#ifdef __cplusplus
|
} // extern "C"
|
#endif
|
|
/*
|
* moved to os/utils/unix/freind_h/times.h in VxWorks 7
|
* to avoid conflict with MPL operator times
|
*/
|
#if (_WRS_VXWORKS_MAJOR < 7)
|
# ifdef __cplusplus
|
|
// vxWorks provides neither struct tms nor function times()!
|
// We implement an empty dummy-function, simply setting the user
|
// and system time to the half of thew actual system ticks-value
|
// and the child user and system time to 0.
|
// Rather ugly but at least it suppresses compiler errors...
|
// Unfortunately, this of course *does* have an severe impact on
|
// dependant libraries, actually this is chrono only! Here it will
|
// not be possible to correctly use user and system times! But
|
// as vxWorks is lacking the ability to calculate user and system
|
// process times there seems to be no other possible solution.
|
struct tms{
|
clock_t tms_utime; // User CPU time
|
clock_t tms_stime; // System CPU time
|
clock_t tms_cutime; // User CPU time of terminated child processes
|
clock_t tms_cstime; // System CPU time of terminated child processes
|
};
|
|
|
inline clock_t times(struct tms *t){
|
struct timespec ts;
|
clock_gettime(CLOCK_THREAD_CPUTIME_ID, &ts);
|
clock_t ticks(static_cast<clock_t>(static_cast<double>(ts.tv_sec) * CLOCKS_PER_SEC +
|
static_cast<double>(ts.tv_nsec) * CLOCKS_PER_SEC / 1000000.0));
|
t->tms_utime = ticks/2U;
|
t->tms_stime = ticks/2U;
|
t->tms_cutime = 0; // vxWorks is lacking the concept of a child process!
|
t->tms_cstime = 0; // -> Set the wait times for childs to 0
|
return ticks;
|
}
|
|
|
namespace std {
|
using ::times;
|
}
|
# endif // __cplusplus
|
#endif // _WRS_VXWORKS_MAJOR < 7
|
|
|
#ifdef __cplusplus
|
extern "C" void bzero (void *, size_t); // FD_ZERO uses bzero() but doesn't include strings.h
|
|
// Put the selfmade functions into the std-namespace, just in case
|
namespace std {
|
# ifdef __RTP__
|
using ::getrlimit;
|
using ::setrlimit;
|
# endif
|
using ::truncate;
|
using ::symlink;
|
using ::readlink;
|
# if (_WRS_VXWORKS_MAJOR < 7)
|
using ::gettimeofday;
|
# endif
|
}
|
#endif // __cplusplus
|
|
// Some more macro-magic:
|
// vxWorks-around: Some functions are not present or broken in vxWorks
|
// but may be patched to life via helper macros...
|
|
// Include signal.h which might contain a typo to be corrected here
|
#include <signal.h>
|
|
#if (_WRS_VXWORKS_MAJOR < 7)
|
# define getpagesize() sysconf(_SC_PAGESIZE) // getpagesize is deprecated anyway!
|
inline int lstat(p, b) { return stat(p, b); } // lstat() == stat(), as vxWorks has no symlinks!
|
#endif
|
|
#ifndef S_ISSOCK
|
# define S_ISSOCK(mode) ((mode & S_IFMT) == S_IFSOCK) // Is file a socket?
|
#endif
|
#ifndef FPE_FLTINV
|
# define FPE_FLTINV (FPE_FLTSUB+1) // vxWorks has no FPE_FLTINV, so define one as a dummy
|
#endif
|
#if !defined(BUS_ADRALN) && defined(BUS_ADRALNR)
|
# define BUS_ADRALN BUS_ADRALNR // Correct a supposed typo in vxWorks' <signal.h>
|
#endif
|
typedef int locale_t; // locale_t is a POSIX-extension, currently not present in vxWorks!
|
|
// #include boilerplate code:
|
#include <boost/config/detail/posix_features.hpp>
|
|
// vxWorks lies about XSI conformance, there is no nl_types.h:
|
#undef BOOST_HAS_NL_TYPES_H
|
|
// vxWorks 7 adds C++11 support
|
// however it is optional, and does not match exactly the support determined
|
// by examining the Dinkum STL version and GCC version (or ICC and DCC)
|
#if !( defined( _WRS_CONFIG_LANG_LIB_CPLUS_CPLUS_USER_2011) || defined(_WRS_CONFIG_LIBCPLUS_STD))
|
# define BOOST_NO_CXX11_ADDRESSOF // C11 addressof operator on memory location
|
# define BOOST_NO_CXX11_ALLOCATOR
|
# define BOOST_NO_CXX11_ATOMIC_SMART_PTR
|
# define BOOST_NO_CXX11_NUMERIC_LIMITS // max_digits10 in test/../print_helper.hpp
|
# define BOOST_NO_CXX11_SMART_PTR
|
# define BOOST_NO_CXX11_STD_ALIGN
|
|
|
# define BOOST_NO_CXX11_HDR_ARRAY
|
# define BOOST_NO_CXX11_HDR_ATOMIC
|
# define BOOST_NO_CXX11_HDR_CHRONO
|
# define BOOST_NO_CXX11_HDR_CONDITION_VARIABLE
|
# define BOOST_NO_CXX11_HDR_FORWARD_LIST //serialization/test/test_list.cpp
|
# define BOOST_NO_CXX11_HDR_FUNCTIONAL
|
# define BOOST_NO_CXX11_HDR_FUTURE
|
# define BOOST_NO_CXX11_HDR_MUTEX
|
# define BOOST_NO_CXX11_HDR_RANDOM //math/../test_data.hpp
|
# define BOOST_NO_CXX11_HDR_RATIO
|
# define BOOST_NO_CXX11_HDR_REGEX
|
# define BOOST_NO_CXX14_HDR_SHARED_MUTEX
|
# define BOOST_NO_CXX11_HDR_SYSTEM_ERROR
|
# define BOOST_NO_CXX11_HDR_THREAD
|
# define BOOST_NO_CXX11_HDR_TYPEINDEX
|
# define BOOST_NO_CXX11_HDR_TYPE_TRAITS
|
# define BOOST_NO_CXX11_HDR_TUPLE
|
# define BOOST_NO_CXX11_HDR_UNORDERED_MAP
|
# define BOOST_NO_CXX11_HDR_UNORDERED_SET
|
#else
|
# ifndef BOOST_SYSTEM_NO_DEPRECATED
|
# define BOOST_SYSTEM_NO_DEPRECATED // workaround link error in spirit
|
# endif
|
#endif
|
|
|
// NONE is used in enums in lamda and other libraries
|
#undef NONE
|
// restrict is an iostreams class
|
#undef restrict
|
// affects some typeof tests
|
#undef V7
|
|
// use fake poll() from Unix layer in ASIO to get full functionality
|
// most libraries will use select() but this define allows 'iostream' functionality
|
// which is based on poll() only
|
#if (_WRS_VXWORKS_MAJOR > 6)
|
# ifndef BOOST_ASIO_HAS_POSIX_STREAM_DESCRIPTOR
|
# define BOOST_ASIO_HAS_POSIX_STREAM_DESCRIPTOR
|
# endif
|
#else
|
# define BOOST_ASIO_DISABLE_SERIAL_PORT
|
#endif
|
