370 lines
15 KiB
Plaintext
370 lines
15 KiB
Plaintext
// (C) Copyright Dustin Spicuzza 2009.
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// Adapted to vxWorks 6.9 by Peter Brockamp 2012.
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// Use, modification and distribution are subject to the
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// Boost Software License, Version 1.0. (See accompanying file
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// LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
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// See http://www.boost.org for most recent version.
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// Since WRS does not yet properly support boost under vxWorks
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// and this file was badly outdated, but I was keen on using it,
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// I patched boost myself to make things work. This has been tested
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// and adapted by me for vxWorks 6.9 *only*, as I'm lacking access
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// to earlier 6.X versions! The only thing I know for sure is that
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// very old versions of vxWorks (namely everything below 6.x) are
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// absolutely unable to use boost. This is mainly due to the completely
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// outdated libraries and ancient compiler (GCC 2.96 or worse). Do
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// not even think of getting this to work, a miserable failure will
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// be guaranteed!
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// Equally, this file has been tested for RTPs (Real Time Processes)
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// only, not for DKMs (Downloadable Kernel Modules). These two types
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// of executables differ largely in the available functionality of
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// the C-library, STL, and so on. A DKM uses a library similar to those
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// of vxWorks 5.X - with all its limitations and incompatibilities
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// with respect to ANSI C++ and STL. So probably there might be problems
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// with the usage of boost from DKMs. WRS or any voluteers are free to
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// prove the opposite!
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// ====================================================================
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//
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// Some important information regarding the usage of POSIX semaphores:
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// -------------------------------------------------------------------
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//
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// VxWorks as a real time operating system handles threads somewhat
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// different from what "normal" OSes do, regarding their scheduling!
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// This could lead to a scenario called "priority inversion" when using
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// semaphores, see http://en.wikipedia.org/wiki/Priority_inversion.
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//
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// Now, VxWorks POSIX-semaphores for DKM's default to the usage of
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// priority inverting semaphores, which is fine. On the other hand,
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// for RTP's it defaults to using non priority inverting semaphores,
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// which could easily pose a serious problem for a real time process,
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// i.e. deadlocks! To overcome this two possibilities do exist:
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//
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// a) Patch every piece of boost that uses semaphores to instanciate
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// the proper type of semaphores. This is non-intrusive with respect
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// to the OS and could relatively easy been done by giving all
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// semaphores attributes deviating from the default (for in-depth
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// information see the POSIX functions pthread_mutexattr_init()
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// and pthread_mutexattr_setprotocol()). However this breaks all
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// too easily, as with every new version some boost library could
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// all in a sudden start using semaphores, resurrecting the very
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// same, hard to locate problem over and over again!
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//
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// b) We could change the default properties for POSIX-semaphores
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// that VxWorks uses for RTP's and this is being suggested here,
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// as it will more or less seamlessly integrate with boost. I got
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// the following information from WRS how to do this, compare
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// Wind River TSR# 1209768:
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//
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// Instructions for changing the default properties of POSIX-
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// semaphores for RTP's in VxWorks 6.9:
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// - Edit the file /vxworks-6.9/target/usr/src/posix/pthreadLib.c
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// in the root of your Workbench-installation.
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// - Around line 917 there should be the definition of the default
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// mutex attributes:
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//
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// LOCAL pthread_mutexattr_t defaultMutexAttr =
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// {
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// PTHREAD_INITIALIZED_OBJ, PTHREAD_PRIO_NONE, 0,
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// PTHREAD_MUTEX_DEFAULT
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// };
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//
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// Here, replace PTHREAD_PRIO_NONE by PTHREAD_PRIO_INHERIT.
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// - Around line 1236 there should be a definition for the function
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// pthread_mutexattr_init(). A couple of lines below you should
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// find a block of code like this:
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//
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// pAttr->mutexAttrStatus = PTHREAD_INITIALIZED_OBJ;
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// pAttr->mutexAttrProtocol = PTHREAD_PRIO_NONE;
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// pAttr->mutexAttrPrioceiling = 0;
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// pAttr->mutexAttrType = PTHREAD_MUTEX_DEFAULT;
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//
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// Here again, replace PTHREAD_PRIO_NONE by PTHREAD_PRIO_INHERIT.
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// - Finally, rebuild your VSB. This will create a new VxWorks kernel
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// with the changed properties. That's it! Now, using boost should
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// no longer cause any problems with task deadlocks!
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//
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// And here's another useful piece of information concerning VxWorks'
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// POSIX-functionality in general:
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// VxWorks is not a genuine POSIX-OS in itself, rather it is using a
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// kind of compatibility layer (sort of a wrapper) to emulate the
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// POSIX-functionality by using its own resources and functions.
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// At the time a task (thread) calls it's first POSIX-function during
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// runtime it is being transformed by the OS into a POSIX-thread.
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// This transformation does include a call to malloc() to allocate the
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// memory required for the housekeeping of POSIX-threads. In a high
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// priority RTP this malloc() call may be highly undesirable, as its
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// timing is more or less unpredictable (depending on what your actual
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// heap looks like). You can circumvent this problem by calling the
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// function thread_self() at a well defined point in the code of the
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// task, e.g. shortly after the task spawns up. Thereby you are able
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// to define the time when the task-transformation will take place and
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// you could shift it to an uncritical point where a malloc() call is
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// tolerable. So, if this could pose a problem for your code, remember
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// to call thread_self() from the affected task at an early stage.
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//
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// ====================================================================
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// Block out all versions before vxWorks 6.x, as these don't work:
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// Include header with the vxWorks version information and query them
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#include <version.h>
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#if !defined(_WRS_VXWORKS_MAJOR) || (_WRS_VXWORKS_MAJOR < 6)
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# error "The vxWorks version you're using is so badly outdated,\
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it doesn't work at all with boost, sorry, no chance!"
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#endif
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// Handle versions above 5.X but below 6.9
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#if (_WRS_VXWORKS_MAJOR == 6) && (_WRS_VXWORKS_MINOR < 9)
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// TODO: Starting from what version does vxWorks work with boost?
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// We can't reasonably insert a #warning "" as a user hint here,
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// as this will show up with every file including some boost header,
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// badly bugging the user... So for the time being we just leave it.
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#endif
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// vxWorks specific config options:
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// --------------------------------
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#define BOOST_PLATFORM "vxWorks"
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// Special behaviour for DKMs:
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#ifdef _WRS_KERNEL
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// DKMs do not have the <cwchar>-header,
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// but apparently they do have an intrinsic wchar_t meanwhile!
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# define BOOST_NO_CWCHAR
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// Lots of wide-functions and -headers are unavailable for DKMs as well:
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# define BOOST_NO_CWCTYPE
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# define BOOST_NO_SWPRINTF
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# define BOOST_NO_STD_WSTRING
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# define BOOST_NO_STD_WSTREAMBUF
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#endif
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// Generally available headers:
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#define BOOST_HAS_UNISTD_H
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#define BOOST_HAS_STDINT_H
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#define BOOST_HAS_DIRENT_H
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#define BOOST_HAS_SLIST
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// vxWorks does not have installed an iconv-library by default,
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// so unfortunately no Unicode support from scratch is available!
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// Thus, instead it is suggested to switch to ICU, as this seems
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// to be the most complete and portable option...
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#define BOOST_LOCALE_WITH_ICU
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// Generally available functionality:
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#define BOOST_HAS_THREADS
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#define BOOST_HAS_NANOSLEEP
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#define BOOST_HAS_GETTIMEOFDAY
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#define BOOST_HAS_CLOCK_GETTIME
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#define BOOST_HAS_MACRO_USE_FACET
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// Generally unavailable functionality, delivered by boost's test function:
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//#define BOOST_NO_DEDUCED_TYPENAME // Commented this out, boost's test gives an errorneous result!
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#define BOOST_NO_CXX11_EXTERN_TEMPLATE
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#define BOOST_NO_CXX11_VARIADIC_MACROS
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// Generally available threading API's:
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#define BOOST_HAS_PTHREADS
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#define BOOST_HAS_SCHED_YIELD
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#define BOOST_HAS_SIGACTION
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// Functionality available for RTPs only:
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#ifdef __RTP__
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# define BOOST_HAS_PTHREAD_MUTEXATTR_SETTYPE
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# define BOOST_HAS_LOG1P
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# define BOOST_HAS_EXPM1
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#endif
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// Functionality available for DKMs only:
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#ifdef _WRS_KERNEL
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// Luckily, at the moment there seems to be none!
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#endif
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// These #defines allow posix_features to work, since vxWorks doesn't
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// #define them itself for DKMs (for RTPs on the contrary it does):
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#ifdef _WRS_KERNEL
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# ifndef _POSIX_TIMERS
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# define _POSIX_TIMERS 1
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# endif
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# ifndef _POSIX_THREADS
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# define _POSIX_THREADS 1
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# endif
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#endif
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// vxWorks doesn't work with asio serial ports:
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#define BOOST_ASIO_DISABLE_SERIAL_PORT
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// TODO: The problem here seems to bee that vxWorks uses its own, very specific
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// ways to handle serial ports, incompatible with POSIX or anything...
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// Maybe a specific implementation would be possible, but until the
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// straight need arises... This implementation would presumably consist
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// of some vxWorks specific ioctl-calls, etc. Any voluteers?
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// vxWorks-around: <time.h> #defines CLOCKS_PER_SEC as sysClkRateGet() but
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// miserably fails to #include the required <sysLib.h> to make
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// sysClkRateGet() available! So we manually include it here.
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#ifdef __RTP__
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# include <time.h>
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# include <sysLib.h>
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#endif
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// vxWorks-around: In <stdint.h> the macros INT32_C(), UINT32_C(), INT64_C() and
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// UINT64_C() are defined errorneously, yielding not a signed/
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// unsigned long/long long type, but a signed/unsigned int/long
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// type. Eventually this leads to compile errors in ratio_fwd.hpp,
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// when trying to define several constants which do not fit into a
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// long type! We correct them here by redefining.
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#include <cstdint>
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// Some macro-magic to do the job
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#define VX_JOIN(X, Y) VX_DO_JOIN(X, Y)
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#define VX_DO_JOIN(X, Y) VX_DO_JOIN2(X, Y)
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#define VX_DO_JOIN2(X, Y) X##Y
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// Correctly setup the macros
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#undef INT32_C
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#undef UINT32_C
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#undef INT64_C
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#undef UINT64_C
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#define INT32_C(x) VX_JOIN(x, L)
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#define UINT32_C(x) VX_JOIN(x, UL)
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#define INT64_C(x) VX_JOIN(x, LL)
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#define UINT64_C(x) VX_JOIN(x, ULL)
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// #include Libraries required for the following function adaption
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#include <ioLib.h>
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#include <tickLib.h>
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#include <sys/time.h>
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// Use C-linkage for the following helper functions
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extern "C" {
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// vxWorks-around: The required functions getrlimit() and getrlimit() are missing.
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// But we have the similar functions getprlimit() and setprlimit(),
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// which may serve the purpose.
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// Problem: The vxWorks-documentation regarding these functions
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// doesn't deserve its name! It isn't documented what the first two
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// parameters idtype and id mean, so we must fall back to an educated
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// guess - null, argh... :-/
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// TODO: getprlimit() and setprlimit() do exist for RTPs only, for whatever reason.
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// Thus for DKMs there would have to be another implementation.
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#ifdef __RTP__
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inline int getrlimit(int resource, struct rlimit *rlp){
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return getprlimit(0, 0, resource, rlp);
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}
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inline int setrlimit(int resource, const struct rlimit *rlp){
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return setprlimit(0, 0, resource, const_cast<struct rlimit*>(rlp));
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}
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#endif
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// vxWorks has ftruncate() only, so we do simulate truncate():
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inline int truncate(const char *p, off_t l){
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int fd = open(p, O_WRONLY);
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if (fd == -1){
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errno = EACCES;
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return -1;
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}
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if (ftruncate(fd, l) == -1){
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close(fd);
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errno = EACCES;
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return -1;
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}
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return close(fd);
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}
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// Fake symlink handling by dummy functions:
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inline int symlink(const char*, const char*){
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// vxWorks has no symlinks -> always return an error!
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errno = EACCES;
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return -1;
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}
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inline ssize_t readlink(const char*, char*, size_t){
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// vxWorks has no symlinks -> always return an error!
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errno = EACCES;
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return -1;
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}
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// vxWorks claims to implement gettimeofday in sys/time.h
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// but nevertheless does not provide it! See
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// https://support.windriver.com/olsPortal/faces/maintenance/techtipDetail_noHeader.jspx?docId=16442&contentId=WR_TECHTIP_006256
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// We implement a surrogate version here via clock_gettime:
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inline int gettimeofday(struct timeval *tv, void * /*tzv*/) {
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struct timespec ts;
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clock_gettime(CLOCK_MONOTONIC, &ts);
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tv->tv_sec = ts.tv_sec;
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tv->tv_usec = ts.tv_nsec / 1000;
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return 0;
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}
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// vxWorks does provide neither struct tms nor function times()!
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// We implement an empty dummy-function, simply setting the user
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// and system time to the half of thew actual system ticks-value
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// and the child user and system time to 0.
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// Rather ugly but at least it suppresses compiler errors...
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// Unfortunately, this of course *does* have an severe impact on
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// dependant libraries, actually this is chrono only! Here it will
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// not be possible to correctly use user and system times! But
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// as vxWorks is lacking the ability to calculate user and system
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// process times there seems to be no other possible solution.
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struct tms{
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clock_t tms_utime; // User CPU time
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clock_t tms_stime; // System CPU time
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clock_t tms_cutime; // User CPU time of terminated child processes
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clock_t tms_cstime; // System CPU time of terminated child processes
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};
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inline clock_t times(struct tms *t){
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struct timespec ts;
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clock_gettime(CLOCK_THREAD_CPUTIME_ID, &ts);
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clock_t ticks(static_cast<clock_t>(static_cast<double>(ts.tv_sec) * CLOCKS_PER_SEC +
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static_cast<double>(ts.tv_nsec) * CLOCKS_PER_SEC / 1000000.0));
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t->tms_utime = ticks/2U;
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t->tms_stime = ticks/2U;
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t->tms_cutime = 0; // vxWorks is lacking the concept of a child process!
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t->tms_cstime = 0; // -> Set the wait times for childs to 0
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return ticks;
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}
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} // extern "C"
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// Put the selfmade functions into the std-namespace, just in case
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namespace std {
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# ifdef __RTP__
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using ::getrlimit;
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using ::setrlimit;
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# endif
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using ::truncate;
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using ::symlink;
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using ::readlink;
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using ::times;
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using ::gettimeofday;
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}
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// Some more macro-magic:
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// vxWorks-around: Some functions are not present or broken in vxWorks
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// but may be patched to life via helper macros...
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// Include signal.h which might contain a typo to be corrected here
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#include <signal.h>
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#define getpagesize() sysconf(_SC_PAGESIZE) // getpagesize is deprecated anyway!
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#ifndef S_ISSOCK
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# define S_ISSOCK(mode) ((mode & S_IFMT) == S_IFSOCK) // Is file a socket?
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#endif
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#define lstat(p, b) stat(p, b) // lstat() == stat(), as vxWorks has no symlinks!
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#ifndef FPE_FLTINV
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# define FPE_FLTINV (FPE_FLTSUB+1) // vxWorks has no FPE_FLTINV, so define one as a dummy
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#endif
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#if !defined(BUS_ADRALN) && defined(BUS_ADRALNR)
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# define BUS_ADRALN BUS_ADRALNR // Correct a supposed typo in vxWorks' <signal.h>
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#endif
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//typedef int locale_t; // locale_t is a POSIX-extension, currently unpresent in vxWorks!
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// #include boilerplate code:
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#include <boost/config/posix_features.hpp>
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// vxWorks lies about XSI conformance, there is no nl_types.h:
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#undef BOOST_HAS_NL_TYPES_H
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