Chris@16: //  (C) Copyright Dustin Spicuzza 2009.
Chris@16: //      Adapted to vxWorks 6.9 by Peter Brockamp 2012.
Chris@16: //  Use, modification and distribution are subject to the
Chris@16: //  Boost Software License, Version 1.0. (See accompanying file
Chris@16: //  LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
Chris@16: 
Chris@16: //  See http://www.boost.org for most recent version.
Chris@16: 
Chris@16: //  Since WRS does not yet properly support boost under vxWorks
Chris@16: //  and this file was badly outdated, but I was keen on using it,
Chris@16: //  I patched boost myself to make things work. This has been tested
Chris@16: //  and adapted by me for vxWorks 6.9 *only*, as I'm lacking access
Chris@16: //  to earlier 6.X versions! The only thing I know for sure is that
Chris@16: //  very old versions of vxWorks (namely everything below 6.x) are
Chris@16: //  absolutely unable to use boost. This is mainly due to the completely
Chris@16: //  outdated libraries and ancient compiler (GCC 2.96 or worse). Do
Chris@16: //  not even think of getting this to work, a miserable failure will
Chris@16: //  be guaranteed!
Chris@16: //  Equally, this file has been tested for RTPs (Real Time Processes)
Chris@16: //  only, not for DKMs (Downloadable Kernel Modules). These two types
Chris@16: //  of executables differ largely in the available functionality of
Chris@16: //  the C-library, STL, and so on. A DKM uses a library similar to those
Chris@16: //  of vxWorks 5.X - with all its limitations and incompatibilities
Chris@16: //  with respect to ANSI C++ and STL. So probably there might be problems
Chris@16: //  with the usage of boost from DKMs. WRS or any voluteers are free to
Chris@16: //  prove the opposite!
Chris@16: 
Chris@16: // ====================================================================
Chris@16: //
Chris@16: // Some important information regarding the usage of POSIX semaphores:
Chris@16: // -------------------------------------------------------------------
Chris@16: //
Chris@16: // VxWorks as a real time operating system handles threads somewhat
Chris@16: // different from what "normal" OSes do, regarding their scheduling!
Chris@16: // This could lead to a scenario called "priority inversion" when using
Chris@16: // semaphores, see http://en.wikipedia.org/wiki/Priority_inversion.
Chris@16: //
Chris@16: // Now, VxWorks POSIX-semaphores for DKM's default to the usage of
Chris@16: // priority inverting semaphores, which is fine. On the other hand,
Chris@16: // for RTP's it defaults to using non priority inverting semaphores,
Chris@16: // which could easily pose a serious problem for a real time process,
Chris@16: // i.e. deadlocks! To overcome this two possibilities do exist:
Chris@16: //
Chris@16: // a) Patch every piece of boost that uses semaphores to instanciate
Chris@16: //    the proper type of semaphores. This is non-intrusive with respect
Chris@16: //    to the OS and could relatively easy been done by giving all
Chris@16: //    semaphores attributes deviating from the default (for in-depth
Chris@16: //    information see the POSIX functions pthread_mutexattr_init()
Chris@16: //    and pthread_mutexattr_setprotocol()). However this breaks all
Chris@16: //    too easily, as with every new version some boost library could
Chris@16: //    all in a sudden start using semaphores, resurrecting the very
Chris@16: //    same, hard to locate problem over and over again!
Chris@16: //
Chris@16: // b) We could change the default properties for POSIX-semaphores
Chris@16: //    that VxWorks uses for RTP's and this is being suggested here,
Chris@16: //    as it will more or less seamlessly integrate with boost. I got
Chris@16: //    the following information from WRS how to do this, compare
Chris@16: //    Wind River TSR# 1209768:
Chris@16: //
Chris@16: // Instructions for changing the default properties of POSIX-
Chris@16: // semaphores for RTP's in VxWorks 6.9:
Chris@16: // - Edit the file /vxworks-6.9/target/usr/src/posix/pthreadLib.c
Chris@16: //   in the root of your Workbench-installation.
Chris@16: // - Around line 917 there should be the definition of the default
Chris@16: //   mutex attributes:
Chris@16: //
Chris@16: //   LOCAL pthread_mutexattr_t defaultMutexAttr =
Chris@16: //       {
Chris@16: //       PTHREAD_INITIALIZED_OBJ, PTHREAD_PRIO_NONE, 0,
Chris@16: //       PTHREAD_MUTEX_DEFAULT
Chris@16: //       };
Chris@16: //
Chris@16: //   Here, replace PTHREAD_PRIO_NONE by PTHREAD_PRIO_INHERIT.
Chris@16: // - Around line 1236 there should be a definition for the function
Chris@16: //   pthread_mutexattr_init(). A couple of lines below you should
Chris@16: //   find a block of code like this:
Chris@16: //
Chris@16: //   pAttr->mutexAttrStatus      = PTHREAD_INITIALIZED_OBJ;
Chris@16: //   pAttr->mutexAttrProtocol    = PTHREAD_PRIO_NONE;
Chris@16: //   pAttr->mutexAttrPrioceiling = 0;
Chris@16: //   pAttr->mutexAttrType        = PTHREAD_MUTEX_DEFAULT;
Chris@16: //
Chris@16: //   Here again, replace PTHREAD_PRIO_NONE by PTHREAD_PRIO_INHERIT.
Chris@16: // - Finally, rebuild your VSB. This will create a new VxWorks kernel
Chris@16: //   with the changed properties. That's it! Now, using boost should
Chris@16: //   no longer cause any problems with task deadlocks!
Chris@16: //
Chris@16: // And here's another useful piece of information concerning VxWorks'
Chris@16: // POSIX-functionality in general:
Chris@16: // VxWorks is not a genuine POSIX-OS in itself, rather it is using a
Chris@16: // kind of compatibility layer (sort of a wrapper) to emulate the
Chris@16: // POSIX-functionality by using its own resources and functions.
Chris@16: // At the time a task (thread) calls it's first POSIX-function during
Chris@16: // runtime it is being transformed by the OS into a POSIX-thread.
Chris@16: // This transformation does include a call to malloc() to allocate the
Chris@16: // memory required for the housekeeping of POSIX-threads. In a high
Chris@16: // priority RTP this malloc() call may be highly undesirable, as its
Chris@16: // timing is more or less unpredictable (depending on what your actual
Chris@16: // heap looks like). You can circumvent this problem by calling the
Chris@16: // function thread_self() at a well defined point in the code of the
Chris@16: // task, e.g. shortly after the task spawns up. Thereby you are able
Chris@16: // to define the time when the task-transformation will take place and
Chris@16: // you could shift it to an uncritical point where a malloc() call is
Chris@16: // tolerable. So, if this could pose a problem for your code, remember
Chris@16: // to call thread_self() from the affected task at an early stage.
Chris@16: //
Chris@16: // ====================================================================
Chris@16: 
Chris@16: // Block out all versions before vxWorks 6.x, as these don't work:
Chris@16: // Include header with the vxWorks version information and query them
Chris@16: #include <version.h>
Chris@16: #if !defined(_WRS_VXWORKS_MAJOR) || (_WRS_VXWORKS_MAJOR < 6)
Chris@16: #  error "The vxWorks version you're using is so badly outdated,\
Chris@16:           it doesn't work at all with boost, sorry, no chance!"
Chris@16: #endif
Chris@16: 
Chris@16: // Handle versions above 5.X but below 6.9
Chris@16: #if (_WRS_VXWORKS_MAJOR == 6) && (_WRS_VXWORKS_MINOR < 9)
Chris@16: // TODO: Starting from what version does vxWorks work with boost?
Chris@16: // We can't reasonably insert a #warning "" as a user hint here,
Chris@16: // as this will show up with every file including some boost header,
Chris@16: // badly bugging the user... So for the time being we just leave it.
Chris@16: #endif
Chris@16: 
Chris@16: // vxWorks specific config options:
Chris@16: // --------------------------------
Chris@16: #define BOOST_PLATFORM "vxWorks"
Chris@16: 
Chris@16: // Special behaviour for DKMs:
Chris@16: #ifdef _WRS_KERNEL
Chris@16:   // DKMs do not have the <cwchar>-header,
Chris@16:   // but apparently they do have an intrinsic wchar_t meanwhile!
Chris@16: #  define BOOST_NO_CWCHAR
Chris@16: 
Chris@16:   // Lots of wide-functions and -headers are unavailable for DKMs as well:
Chris@16: #  define BOOST_NO_CWCTYPE
Chris@16: #  define BOOST_NO_SWPRINTF
Chris@16: #  define BOOST_NO_STD_WSTRING
Chris@16: #  define BOOST_NO_STD_WSTREAMBUF
Chris@16: #endif
Chris@16: 
Chris@16: // Generally available headers:
Chris@16: #define BOOST_HAS_UNISTD_H
Chris@16: #define BOOST_HAS_STDINT_H
Chris@16: #define BOOST_HAS_DIRENT_H
Chris@16: #define BOOST_HAS_SLIST
Chris@16: 
Chris@16: // vxWorks does not have installed an iconv-library by default,
Chris@16: // so unfortunately no Unicode support from scratch is available!
Chris@16: // Thus, instead it is suggested to switch to ICU, as this seems
Chris@16: // to be the most complete and portable option...
Chris@16: #define BOOST_LOCALE_WITH_ICU
Chris@16: 
Chris@16: // Generally available functionality:
Chris@16: #define BOOST_HAS_THREADS
Chris@16: #define BOOST_HAS_NANOSLEEP
Chris@16: #define BOOST_HAS_GETTIMEOFDAY
Chris@16: #define BOOST_HAS_CLOCK_GETTIME
Chris@16: #define BOOST_HAS_MACRO_USE_FACET
Chris@16: 
Chris@16: // Generally unavailable functionality, delivered by boost's test function:
Chris@16: //#define BOOST_NO_DEDUCED_TYPENAME // Commented this out, boost's test gives an errorneous result!
Chris@16: #define BOOST_NO_CXX11_EXTERN_TEMPLATE
Chris@16: #define BOOST_NO_CXX11_VARIADIC_MACROS
Chris@16: 
Chris@16: // Generally available threading API's:
Chris@16: #define BOOST_HAS_PTHREADS
Chris@16: #define BOOST_HAS_SCHED_YIELD
Chris@16: #define BOOST_HAS_SIGACTION
Chris@16: 
Chris@16: // Functionality available for RTPs only:
Chris@16: #ifdef __RTP__
Chris@16: #  define BOOST_HAS_PTHREAD_MUTEXATTR_SETTYPE
Chris@16: #  define BOOST_HAS_LOG1P
Chris@16: #  define BOOST_HAS_EXPM1
Chris@16: #endif
Chris@16: 
Chris@16: // Functionality available for DKMs only:
Chris@16: #ifdef _WRS_KERNEL
Chris@16:   // Luckily, at the moment there seems to be none!
Chris@16: #endif
Chris@16: 
Chris@16: // These #defines allow posix_features to work, since vxWorks doesn't
Chris@16: // #define them itself for DKMs (for RTPs on the contrary it does):
Chris@16: #ifdef _WRS_KERNEL
Chris@16: #  ifndef _POSIX_TIMERS
Chris@16: #    define _POSIX_TIMERS  1
Chris@16: #  endif
Chris@16: #  ifndef _POSIX_THREADS
Chris@16: #    define _POSIX_THREADS 1
Chris@16: #  endif
Chris@16: #endif
Chris@16: 
Chris@16: // vxWorks doesn't work with asio serial ports:
Chris@16: #define BOOST_ASIO_DISABLE_SERIAL_PORT
Chris@16: // TODO: The problem here seems to bee that vxWorks uses its own, very specific
Chris@16: //       ways to handle serial ports, incompatible with POSIX or anything...
Chris@16: //       Maybe a specific implementation would be possible, but until the
Chris@16: //       straight need arises... This implementation would presumably consist
Chris@16: //       of some vxWorks specific ioctl-calls, etc. Any voluteers?
Chris@16: 
Chris@16: // vxWorks-around: <time.h> #defines CLOCKS_PER_SEC as sysClkRateGet() but
Chris@16: //                 miserably fails to #include the required <sysLib.h> to make
Chris@16: //                 sysClkRateGet() available! So we manually include it here.
Chris@16: #ifdef __RTP__
Chris@16: #  include <time.h>
Chris@16: #  include <sysLib.h>
Chris@16: #endif
Chris@16: 
Chris@16: // vxWorks-around: In <stdint.h> the macros INT32_C(), UINT32_C(), INT64_C() and
Chris@16: //                 UINT64_C() are defined errorneously, yielding not a signed/
Chris@16: //                 unsigned long/long long type, but a signed/unsigned int/long
Chris@16: //                 type. Eventually this leads to compile errors in ratio_fwd.hpp,
Chris@16: //                 when trying to define several constants which do not fit into a
Chris@16: //                 long type! We correct them here by redefining.
Chris@16: #include <cstdint>
Chris@16: 
Chris@16: // Some macro-magic to do the job
Chris@16: #define VX_JOIN(X, Y)     VX_DO_JOIN(X, Y)
Chris@16: #define VX_DO_JOIN(X, Y)  VX_DO_JOIN2(X, Y)
Chris@16: #define VX_DO_JOIN2(X, Y) X##Y
Chris@16: 
Chris@16: // Correctly setup the macros
Chris@16: #undef  INT32_C
Chris@16: #undef  UINT32_C
Chris@16: #undef  INT64_C
Chris@16: #undef  UINT64_C
Chris@16: #define INT32_C(x)  VX_JOIN(x, L)
Chris@16: #define UINT32_C(x) VX_JOIN(x, UL)
Chris@16: #define INT64_C(x)  VX_JOIN(x, LL)
Chris@16: #define UINT64_C(x) VX_JOIN(x, ULL)
Chris@16: 
Chris@16: // #include Libraries required for the following function adaption
Chris@16: #include <ioLib.h>
Chris@16: #include <tickLib.h>
Chris@16: #include <sys/time.h>
Chris@16: 
Chris@16: // Use C-linkage for the following helper functions
Chris@16: extern "C" {
Chris@16: 
Chris@16: // vxWorks-around: The required functions getrlimit() and getrlimit() are missing.
Chris@16: //                 But we have the similar functions getprlimit() and setprlimit(),
Chris@16: //                 which may serve the purpose.
Chris@16: //                 Problem: The vxWorks-documentation regarding these functions
Chris@16: //                 doesn't deserve its name! It isn't documented what the first two
Chris@16: //                 parameters idtype and id mean, so we must fall back to an educated
Chris@16: //                 guess - null, argh... :-/
Chris@16: 
Chris@16: // TODO: getprlimit() and setprlimit() do exist for RTPs only, for whatever reason.
Chris@16: //       Thus for DKMs there would have to be another implementation.
Chris@16: #ifdef __RTP__
Chris@16:   inline int getrlimit(int resource, struct rlimit *rlp){
Chris@16:     return getprlimit(0, 0, resource, rlp);
Chris@16:   }
Chris@16: 
Chris@16:   inline int setrlimit(int resource, const struct rlimit *rlp){
Chris@16:     return setprlimit(0, 0, resource, const_cast<struct rlimit*>(rlp));
Chris@16:   }
Chris@16: #endif
Chris@16: 
Chris@16: // vxWorks has ftruncate() only, so we do simulate truncate():
Chris@16: inline int truncate(const char *p, off_t l){
Chris@16:   int fd = open(p, O_WRONLY);
Chris@16:   if (fd == -1){
Chris@16:     errno = EACCES;
Chris@16:     return -1;
Chris@16:   }
Chris@16:   if (ftruncate(fd, l) == -1){
Chris@16:     close(fd);
Chris@16:     errno = EACCES;
Chris@16:     return -1;
Chris@16:   }
Chris@16:   return close(fd);
Chris@16: }
Chris@16: 
Chris@16: // Fake symlink handling by dummy functions:
Chris@16: inline int symlink(const char*, const char*){
Chris@16:   // vxWorks has no symlinks -> always return an error!
Chris@16:   errno = EACCES;
Chris@16:   return -1;
Chris@16: }
Chris@16: 
Chris@16: inline ssize_t readlink(const char*, char*, size_t){
Chris@16:   // vxWorks has no symlinks -> always return an error!
Chris@16:   errno = EACCES;
Chris@16:   return -1;
Chris@16: }
Chris@16: 
Chris@16: // vxWorks claims to implement gettimeofday in sys/time.h
Chris@16: // but nevertheless does not provide it! See
Chris@16: // https://support.windriver.com/olsPortal/faces/maintenance/techtipDetail_noHeader.jspx?docId=16442&contentId=WR_TECHTIP_006256
Chris@16: // We implement a surrogate version here via clock_gettime:
Chris@16: inline int gettimeofday(struct timeval *tv, void * /*tzv*/) {
Chris@16:   struct timespec ts;
Chris@16:   clock_gettime(CLOCK_MONOTONIC, &ts);
Chris@16:   tv->tv_sec  = ts.tv_sec;
Chris@16:   tv->tv_usec = ts.tv_nsec / 1000;
Chris@16:   return 0;
Chris@16: }
Chris@16: 
Chris@16: // vxWorks does provide neither struct tms nor function times()!
Chris@16: // We implement an empty dummy-function, simply setting the user
Chris@16: // and system time to the half of thew actual system ticks-value
Chris@16: // and the child user and system time to 0.
Chris@16: // Rather ugly but at least it suppresses compiler errors...
Chris@16: // Unfortunately, this of course *does* have an severe impact on
Chris@16: // dependant libraries, actually this is chrono only! Here it will
Chris@16: // not be possible to correctly use user and system times! But
Chris@16: // as vxWorks is lacking the ability to calculate user and system
Chris@16: // process times there seems to be no other possible solution.
Chris@16: struct tms{
Chris@16:   clock_t tms_utime;  // User CPU time
Chris@16:   clock_t tms_stime;  // System CPU time
Chris@16:   clock_t tms_cutime; // User CPU time of terminated child processes
Chris@16:   clock_t tms_cstime; // System CPU time of terminated child processes
Chris@16: };
Chris@16: 
Chris@16: inline clock_t times(struct tms *t){
Chris@16:   struct timespec ts;
Chris@16:   clock_gettime(CLOCK_THREAD_CPUTIME_ID, &ts);
Chris@16:   clock_t ticks(static_cast<clock_t>(static_cast<double>(ts.tv_sec)  * CLOCKS_PER_SEC +
Chris@16:                                      static_cast<double>(ts.tv_nsec) * CLOCKS_PER_SEC / 1000000.0));
Chris@16:   t->tms_utime  = ticks/2U;
Chris@16:   t->tms_stime  = ticks/2U;
Chris@16:   t->tms_cutime = 0; // vxWorks is lacking the concept of a child process!
Chris@16:   t->tms_cstime = 0; // -> Set the wait times for childs to 0
Chris@16:   return ticks;
Chris@16: }
Chris@16: 
Chris@16: } // extern "C"
Chris@16: 
Chris@16: // Put the selfmade functions into the std-namespace, just in case
Chris@16: namespace std {
Chris@16: # ifdef __RTP__
Chris@16:     using ::getrlimit;
Chris@16:     using ::setrlimit;
Chris@16: # endif
Chris@16:   using ::truncate;
Chris@16:   using ::symlink;
Chris@16:   using ::readlink;
Chris@16:   using ::times;
Chris@16:   using ::gettimeofday;
Chris@16: }
Chris@16: 
Chris@16: // Some more macro-magic:
Chris@16: // vxWorks-around: Some functions are not present or broken in vxWorks
Chris@16: //                 but may be patched to life via helper macros...
Chris@16: 
Chris@16: // Include signal.h which might contain a typo to be corrected here
Chris@16: #include <signal.h>
Chris@16: 
Chris@16: #define getpagesize()    sysconf(_SC_PAGESIZE)         // getpagesize is deprecated anyway!
Chris@16: #ifndef S_ISSOCK
Chris@16: #  define S_ISSOCK(mode) ((mode & S_IFMT) == S_IFSOCK) // Is file a socket?
Chris@16: #endif
Chris@16: #define lstat(p, b)      stat(p, b)                    // lstat() == stat(), as vxWorks has no symlinks!
Chris@16: #ifndef FPE_FLTINV
Chris@16: #  define FPE_FLTINV     (FPE_FLTSUB+1)                // vxWorks has no FPE_FLTINV, so define one as a dummy
Chris@16: #endif
Chris@16: #if !defined(BUS_ADRALN) && defined(BUS_ADRALNR)
Chris@16: #  define BUS_ADRALN     BUS_ADRALNR                   // Correct a supposed typo in vxWorks' <signal.h>
Chris@16: #endif
Chris@16: //typedef int              locale_t;                     // locale_t is a POSIX-extension, currently unpresent in vxWorks!
Chris@16: 
Chris@16: // #include boilerplate code:
Chris@16: #include <boost/config/posix_features.hpp>
Chris@16: 
Chris@16: // vxWorks lies about XSI conformance, there is no nl_types.h:
Chris@16: #undef BOOST_HAS_NL_TYPES_H