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@ -1,30 +1,50 @@
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// (C) Copyright Dustin Spicuzza 2009.
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// Adapted to vxWorks 6.9 by Peter Brockamp 2012.
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// Updated for VxWorks 7 by Brian Kuhl 2016
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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// and this file was badly outdated, but I was keen on using it,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// outdated libraries and ancient compiler (GCC 2.96 or worse).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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// Old versions of vxWorks (namely everything below 6.x) are
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// absolutely unable to use boost. Old STLs and compilers
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// like (GCC 2.96) . Do not even think of getting this to work,
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// a miserable failure will be guaranteed!
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//
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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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// the C-library, STL, and so on. A DKM uses a C89 library with no
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// wide character support and no guarantee of ANSI C. The same Dinkum
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// STL library is used in both contexts.
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//
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// Similarly the Dinkum abridged STL that supports the loosely specified
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// embedded C++ standard has not been tested and is unlikely to work
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// on anything but the simplest library.
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// ====================================================================
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//
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// Additional Configuration
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// -------------------------------------------------------------------
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//
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// Because of the ordering of include files and other issues the following
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// additional definitions worked better outside this file.
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//
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// When building the log library add the following to the b2 invocation
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// define=BOOST_LOG_WITHOUT_IPC
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// and
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// -DBOOST_LOG_WITHOUT_DEFAULT_FACTORIES
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// to your compile options.
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//
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// When building the test library add
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// -DBOOST_TEST_LIMITED_SIGNAL_DETAILS
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// to your compile options
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//
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// When building containers library add
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// -DHAVE_MORECORE=0
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// to your c compile options so dlmalloc heap library is compiled
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// without brk() calls
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//
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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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@ -38,29 +58,14 @@
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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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// which could easily pose a serious problem for a real time process.
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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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// To change the default properties for POSIX-semaphores in VxWorks 7
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// enable core > CORE_USER Menu > DEFAULT_PTHREAD_PRIO_INHERIT
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//
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// In VxWorks 6.x so as to integrate with boost.
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// - Edit the file
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// installDir/vxworks-6.x/target/usr/src/posix/pthreadLib.c
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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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@ -81,30 +86,11 @@
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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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// - Finally, rebuild your VSB. This will rebuild the libraries
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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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// ====================================================================
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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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@ -158,11 +144,6 @@
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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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@ -191,14 +172,7 @@
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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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#if (_WRS_VXWORKS_MAJOR < 7)
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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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@ -208,11 +182,12 @@
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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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// UINT64_C() are defined erroneously, 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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@ -231,12 +206,16 @@
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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 <sys/time.h>
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#endif // _WRS_VXWORKS_MAJOR < 7
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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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#ifdef __cplusplus
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extern "C" {
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#endif
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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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@ -248,7 +227,7 @@ extern "C" {
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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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#if defined ( __RTP__) && (_WRS_VXWORKS_MAJOR < 7)
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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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@ -273,14 +252,20 @@ inline int truncate(const char *p, off_t l){
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return close(fd);
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}
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#ifdef __GNUC__
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#define ___unused __attribute__((unused))
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#else
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#define ___unused
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#endif
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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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inline int symlink(const char* path1 ___unused, const char* path2 ___unused){
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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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inline ssize_t readlink(const char* path1 ___unused, char* path2 ___unused, size_t size ___unused){
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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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@ -297,8 +282,18 @@ inline int gettimeofday(struct timeval *tv, void * /*tzv*/) {
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}
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#endif
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#ifdef __cplusplus
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} // extern "C"
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#endif
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// vxWorks does provide neither struct tms nor function times()!
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/*
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* moved to os/utils/unix/freind_h/times.h in VxWorks 7
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* to avoid conflict with MPL operator times
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*/
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#if (_WRS_VXWORKS_MAJOR < 7)
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#ifdef __cplusplus
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// vxWorks provides 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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@ -315,7 +310,8 @@ struct tms{
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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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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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@ -327,8 +323,16 @@ inline clock_t times(struct tms *t){
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return ticks;
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}
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extern void bzero (void *, size_t); // FD_ZERO uses bzero() but doesn't include strings.h
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} // extern "C"
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namespace std {
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using ::times;
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}
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#endif // __cplusplus
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#endif // _WRS_VXWORKS_MAJOR < 7
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#ifdef __cplusplus
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extern "C" void bzero (void *, size_t); // FD_ZERO uses bzero() but doesn't include strings.h
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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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@ -339,9 +343,11 @@ namespace std {
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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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#if (_WRS_VXWORKS_MAJOR < 7)
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using ::gettimeofday;
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#endif
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}
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#endif // __cplusplus
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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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@ -349,12 +355,13 @@ namespace std {
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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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inline int getpagesize() { return sysconf(_SC_PAGESIZE); } // getpagesize is deprecated anyway!
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#if (_WRS_VXWORKS_MAJOR < 7)
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#define getpagesize() sysconf(_SC_PAGESIZE) // getpagesize is deprecated anyway!
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inline int lstat(p, b) { return stat(p, b); } // lstat() == stat(), as vxWorks has no symlinks!
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#endif
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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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inline int lstat(p, b) { return 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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@ -371,22 +378,56 @@ typedef int locale_t; // locale_t is a POSIX-ex
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// vxWorks 7 adds C++11 support
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// however it is optional, and does not match exactly the support determined
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// by examining Dinkum STL version and GCC version (or ICC and DCC)
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// by examining the Dinkum STL version and GCC version (or ICC and DCC)
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#ifndef _WRS_CONFIG_LANG_LIB_CPLUS_CPLUS_USER_2011
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# define BOOST_NO_CXX11_ADDRESSOF // C11 addressof operator on memory location
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# define BOOST_NO_CXX11_ALLOCATOR
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# define BOOST_NO_CXX11_ATOMIC_SMART_PTR
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# define BOOST_NO_CXX11_NUMERIC_LIMITS // max_digits10 in test/../print_helper.hpp
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# define BOOST_NO_CXX11_SMART_PTR
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# define BOOST_NO_CXX11_STD_ALIGN
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# define BOOST_NO_CXX11_HDR_ARRAY
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# define BOOST_NO_CXX11_HDR_ATOMIC
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# define BOOST_NO_CXX11_HDR_CHRONO
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# define BOOST_NO_CXX11_HDR_CONDITION_VARIABLE
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# define BOOST_NO_CXX11_HDR_FORWARD_LIST //serialization/test/test_list.cpp
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# define BOOST_NO_CXX11_HDR_FUNCTIONAL
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# define BOOST_NO_CXX11_HDR_FUTURE
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# define BOOST_NO_CXX11_HDR_MUTEX
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# define BOOST_NO_CXX11_HDR_RANDOM //math/../test_data.hpp
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# define BOOST_NO_CXX11_HDR_RATIO
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# define BOOST_NO_CXX11_HDR_REGEX
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# define BOOST_NO_CXX14_HDR_SHARED_MUTEX
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# define BOOST_NO_CXX11_HDR_SYSTEM_ERROR
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# define BOOST_NO_CXX11_HDR_THREAD
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# define BOOST_NO_CXX11_HDR_TYPEINDEX
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# define BOOST_NO_CXX11_HDR_TYPE_TRAITS
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# define BOOST_NO_CXX11_HDR_TUPLE
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# define BOOST_NO_CXX11_ALLOCATOR
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# define BOOST_NO_CXX11_SMART_PTR
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# define BOOST_NO_CXX11_STD_ALIGN
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# define BOOST_NO_CXX11_HDR_UNORDERED_SET
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# define BOOST_NO_CXX11_HDR_TYPE_TRAITS
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# define BOOST_NO_CXX11_HDR_UNORDERED_MAP
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# define BOOST_NO_CXX11_HDR_FUNCTIONAL
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# define BOOST_NO_CXX11_HDR_ATOMIC
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# define BOOST_NO_CXX11_HDR_UNORDERED_SET
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#else
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# define BOOST_NO_CXX11_NULLPTR
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#ifndef BOOST_SYSTEM_NO_DEPRECATED
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# define BOOST_SYSTEM_NO_DEPRECATED // workaround link error in spirit
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#endif
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#endif
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// NONE is used in enums in lamda and other libraries
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#undef NONE
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// restrict is an iostreams class
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#undef restrict
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// use fake poll() from Unix layer in ASIO to get full functionality
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// most libraries will use select() but this define allows 'iostream' functionality
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// which is based on poll() only
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#if (_WRS_VXWORKS_MAJOR > 6)
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# ifndef BOOST_ASIO_HAS_POSIX_STREAM_DESCRIPTOR
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# define BOOST_ASIO_HAS_POSIX_STREAM_DESCRIPTOR
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# endif
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#else
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# define BOOST_ASIO_DISABLE_SERIAL_PORT
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#endif
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jzmaddock