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include/boost/config/platform/vxworks.hpp

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+//  (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!
+//
+//  VxWorks supports C++ linkage in the kernel with
+//  DKMs (Downloadable Kernel Modules). But, until recently 
+//  the kernel used a C89 library with no
+//  wide character support and no guarantee of ANSI C. 
+//  Regardless of the C library 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.
+// ====================================================================
+//
+// 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"
+
+
+// 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...
+#ifndef BOOST_LOCALE_WITH_ICU
+   #define BOOST_LOCALE_WITH_ICU
+#endif
+
+// 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
+// no sysconf( _SC_PAGESIZE) in kernel
+#  define BOOST_THREAD_USES_GETPAGESIZE
+#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>
+
+// Special behaviour for DKMs:
+
+// 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>
+
+#if defined(_WRS_KERNEL) && (_CPPLIB_VER < 700)
+  // recent kernels use Dinkum clib v7.00+
+  // with widechar but older kernels
+  // 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
+
+
+// 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) 
+#if !( defined( _WRS_CONFIG_LANG_LIB_CPLUS_CPLUS_USER_2011) || defined(_WRS_CONFIG_LIBCPLUS_STD))
+#  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
+// affects some typeof tests
+#undef V7
+
+// 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
+