| // (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! |
| // |
| // Equally, this file has been tested for RTPs (Real Time Processes) |
| // only, not for DKMs (Downloadable Kernel Modules). These two types |
| // of executables differ largely in the available functionality of |
| // the C-library, STL, and so on. A DKM uses a C89 library with no |
| // wide character support and no guarantee of ANSI C. 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. |
| // ==================================================================== |
| // |
| // Additional Configuration |
| // ------------------------------------------------------------------- |
| // |
| // Because of the ordering of include files and other issues the following |
| // additional definitions worked better outside this file. |
| // |
| // When building the log library add the following to the b2 invocation |
| // define=BOOST_LOG_WITHOUT_IPC |
| // and |
| // -DBOOST_LOG_WITHOUT_DEFAULT_FACTORIES |
| // to your compile options. |
| // |
| // When building the test library add |
| // -DBOOST_TEST_LIMITED_SIGNAL_DETAILS |
| // to your compile options |
| // |
| // When building containers library add |
| // -DHAVE_MORECORE=0 |
| // to your c compile options so dlmalloc heap library is compiled |
| // without brk() calls |
| // |
| // ==================================================================== |
| // |
| // 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" |
| |
| // Special behaviour for DKMs: |
| #ifdef _WRS_KERNEL |
| // DKMs 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 |
| |
| // 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... |
| #define BOOST_LOCALE_WITH_ICU |
| |
| // 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 |
| #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> |
| |
| // 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> |
| |
| // 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) |
| #ifndef _WRS_CONFIG_LANG_LIB_CPLUS_CPLUS_USER_2011 |
| # 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 |
| |
| // 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 |
| |
| |