-// (C) Copyright Dustin Spicuzza 2009.
-// Use, modification and distribution are subject to the
-// Boost Software License, Version 1.0. (See accompanying file
+// (C) Copyright Dustin Spicuzza 2009.
+// Adapted to vxWorks 6.9 by Peter Brockamp 2012.
+// 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.
-// vxWorks specific config options:
+// Since WRS does not yet properly support boost under vxWorks
+// and this file was badly outdated, but I was keen on using it,
+// I patched boost myself to make things work. This has been tested
+// and adapted by me for vxWorks 6.9 *only*, as I'm lacking access
+// to earlier 6.X versions! The only thing I know for sure is that
+// very old versions of vxWorks (namely everything below 6.x) are
+// absolutely unable to use boost. This is mainly due to the completely
+// outdated libraries and ancient compiler (GCC 2.96 or worse). 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 library similar to those
+// of vxWorks 5.X - with all its limitations and incompatibilities
+// with respect to ANSI C++ and STL. So probably there might be problems
+// with the usage of boost from DKMs. WRS or any voluteers are free to
+// prove the opposite!
+// ====================================================================
+//
+// 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,
+// i.e. deadlocks! To overcome this two possibilities do exist:
+//
+// a) Patch every piece of boost that uses semaphores to instanciate
+// the proper type of semaphores. This is non-intrusive with respect
+// to the OS and could relatively easy been done by giving all
+// semaphores attributes deviating from the default (for in-depth
+// information see the POSIX functions pthread_mutexattr_init()
+// and pthread_mutexattr_setprotocol()). However this breaks all
+// too easily, as with every new version some boost library could
+// all in a sudden start using semaphores, resurrecting the very
+// same, hard to locate problem over and over again!
+//
+// b) We could change the default properties for POSIX-semaphores
+// that VxWorks uses for RTP's and this is being suggested here,
+// as it will more or less seamlessly integrate with boost. I got
+// the following information from WRS how to do this, compare
+// Wind River TSR# 1209768:
+//
+// Instructions for changing the default properties of POSIX-
+// semaphores for RTP's in VxWorks 6.9:
+// - Edit the file /vxworks-6.9/target/usr/src/posix/pthreadLib.c
+// in the root of your Workbench-installation.
+// - 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 create a new VxWorks kernel
+// with the changed properties. That's it! Now, using boost should
+// no longer cause any problems with task deadlocks!
+//
+// And here's another useful piece of information concerning VxWorks'
+// POSIX-functionality in general:
+// VxWorks is not a genuine POSIX-OS in itself, rather it is using a
+// kind of compatibility layer (sort of a wrapper) to emulate the
+// POSIX-functionality by using its own resources and functions.
+// At the time a task (thread) calls it's first POSIX-function during
+// runtime it is being transformed by the OS into a POSIX-thread.
+// This transformation does include a call to malloc() to allocate the
+// memory required for the housekeeping of POSIX-threads. In a high
+// priority RTP this malloc() call may be highly undesirable, as its
+// timing is more or less unpredictable (depending on what your actual
+// heap looks like). You can circumvent this problem by calling the
+// function thread_self() at a well defined point in the code of the
+// task, e.g. shortly after the task spawns up. Thereby you are able
+// to define the time when the task-transformation will take place and
+// you could shift it to an uncritical point where a malloc() call is
+// tolerable. So, if this could pose a problem for your code, remember
+// to call thread_self() from the affected task at an early stage.
+//
+// ====================================================================
+
+// 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"
-#define BOOST_NO_CWCHAR
-#define BOOST_NO_INTRINSIC_WCHAR_T
+// 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
-#if defined(__GNUC__) && defined(__STRICT_ANSI__)
-#define BOOST_NO_INT64_T
+ // 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 unavailable functionality, delivered by boost's test function:
+//#define BOOST_NO_DEDUCED_TYPENAME // Commented this out, boost's test gives an errorneous result!
+#define BOOST_NO_CXX11_EXTERN_TEMPLATE
+#define BOOST_NO_CXX11_VARIADIC_MACROS
+
+// 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
-// these allow posix_features to work, since vxWorks doesn't
-// define them itself
-#define _POSIX_TIMERS 1
-#define _POSIX_THREADS 1
+// Functionality available for DKMs only:
+#ifdef _WRS_KERNEL
+ // Luckily, at the moment there seems to be none!
+#endif
-// vxworks doesn't work with asio serial ports
+// These #defines allow 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
+
+// vxWorks doesn't work with asio serial ports:
#define BOOST_ASIO_DISABLE_SERIAL_PORT
+// TODO: The problem here seems to bee that vxWorks uses its own, very specific
+// ways to handle serial ports, incompatible with POSIX or anything...
+// Maybe a specific implementation would be possible, but until the
+// straight need arises... This implementation would presumably consist
+// of some vxWorks specific ioctl-calls, etc. Any voluteers?
+
+// 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 errorneously, 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 <ioLib.h>
+#include <tickLib.h>
+#include <sys/time.h>
-// boilerplate code:
+// Use C-linkage for the following helper functions
+extern "C" {
+
+// 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.
+#ifdef __RTP__
+ 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);
+}
+
+// Fake symlink handling by dummy functions:
+inline int symlink(const char*, const char*){
+ // vxWorks has no symlinks -> always return an error!
+ errno = EACCES;
+ return -1;
+}
+
+inline ssize_t readlink(const char*, char*, size_t){
+ // vxWorks has no symlinks -> always return an error!
+ errno = EACCES;
+ return -1;
+}
+
+// vxWorks claims to implement gettimeofday in sys/time.h
+// but nevertheless does not provide it! See
+// https://support.windriver.com/olsPortal/faces/maintenance/techtipDetail_noHeader.jspx?docId=16442&contentId=WR_TECHTIP_006256
+// We implement a surrogate version here via clock_gettime:
+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;
+}
+
+// vxWorks does provide 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;
+}
+
+} // extern "C"
+
+// 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;
+ using ::times;
+ using ::gettimeofday;
+}
+
+// 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>
+
+#define getpagesize() sysconf(_SC_PAGESIZE) // getpagesize is deprecated anyway!
+#ifndef S_ISSOCK
+# define S_ISSOCK(mode) ((mode & S_IFMT) == S_IFSOCK) // Is file a socket?
+#endif
+#define lstat(p, b) stat(p, b) // lstat() == stat(), as vxWorks has no symlinks!
+#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 unpresent in vxWorks!
+
+// #include boilerplate code:
#include <boost/config/posix_features.hpp>
-
+
+// vxWorks lies about XSI conformance, there is no nl_types.h:
+#undef BOOST_HAS_NL_TYPES_H
projects / rsem.git / blobdiff