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Add support for FreeRTOS and lwIP (#166)

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Add support for FreeRTOS and lwIP

Signed-off-by: Jeroen Koekkoek <jeroen@koekkoek.nl>
This commit is contained in:
Jeroen Koekkoek 2019-05-23 14:27:56 +02:00 • committed by eboasson
parent dba4e6d391
commit aa2715f4fe
67 changed files with 3691 additions and 200 deletions
Download patch file Download diff file Expand all files Collapse all files

10
src/ddsrt/include/dds/ddsrt/endian.h
View file

@ -25,7 +25,15 @@ extern "C" {
# else
# define DDSRT_ENDIAN DDSRT_LITTLE_ENDIAN
# endif
#else /* _WIN32 */
/* _WIN32 */
#elif defined(__IAR_SYSTEMS_ICC__)
# if __LITTLE_ENDIAN__ == 1
# define DDSRT_ENDIAN DDSRT_LITTLE_ENDIAN
# else
# define DDSRT_ENDIAN DDSRT_BIG_ENDIAN
# endif
/* __IAR_SYSTEMS_ICC__ */
#else
# if defined(__BYTE_ORDER__)
# if __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
# define DDSRT_ENDIAN DDSRT_BIG_ENDIAN

19
src/ddsrt/include/dds/ddsrt/process.h
View file

@ -17,19 +17,30 @@
#include "dds/ddsrt/types.h"
#include "dds/ddsrt/retcode.h"
#if defined(_WIN32)
#if DDSRT_WITH_FREERTOS
#include <FreeRTOS.h>
#include <task.h>
typedef TaskHandle_t ddsrt_pid_t; /* typedef void *TaskHandle_t */
#define PRIdPID "p"
#define DDSRT_HAVE_MULTI_PROCESS 0
/* DDSRT_WITH_FREERTOS */
#elif defined(_WIN32)
typedef DWORD ddsrt_pid_t;
#define PRIdPID "u"
#else /* _WIN32 */
#define DDSRT_HAVE_MULTI_PROCESS 1
/* _WIN32 */
#else
#include <unistd.h>
#if defined(_WRS_KERNEL)
typedef RTP_ID ddsrt_pid_t; /* typedef struct wind_rtp *RTP_ID */
#define PRIdPID PRIuPTR
#define DDSRT_HAVE_MULTI_PROCESS 0
#else
typedef pid_t ddsrt_pid_t;
#define PRIdPID "d"
#define DDSRT_HAVE_MULTI_PROCESS 1
#endif
#endif
#endif /* _WIN32 */
#if defined (__cplusplus)
@ -44,6 +55,7 @@ extern "C" {
DDS_EXPORT ddsrt_pid_t
ddsrt_getpid(void);
#if DDSRT_HAVE_MULTI_PROCESS
/**
* @brief Create new process.
@ -205,6 +217,7 @@ DDS_EXPORT dds_retcode_t
ddsrt_proc_kill(
ddsrt_pid_t pid);
#endif /* DDSRT_HAVE_MULTI_PROCESS */
#if defined (__cplusplus)
}

12
src/ddsrt/include/dds/ddsrt/rusage.h
View file

@ -14,6 +14,18 @@
#include <stddef.h>
#if DDSRT_WITH_FREERTOS
#include <FreeRTOS.h>
# if configUSE_TRACE_FACILITY == 1 && \
configGENERATE_RUN_TIME_STATS == 1
# define DDSRT_HAVE_RUSAGE 1
# else
# define DDSRT_HAVE_RUSAGE 0
#endif
#else
# define DDSRT_HAVE_RUSAGE 1
#endif
#include "dds/ddsrt/time.h"
#include "dds/ddsrt/retcode.h"

4
src/ddsrt/include/dds/ddsrt/sockets.h
View file

@ -3,6 +3,10 @@
#include <stdbool.h>
#if !defined(DDSRT_WITH_DNS)
# define DDSRT_WITH_DNS 1
#endif
#include "dds/export.h"
#include "dds/ddsrt/types.h"
#include "dds/ddsrt/attributes.h"

32
src/ddsrt/include/dds/ddsrt/sockets/posix.h
View file

@ -12,12 +12,17 @@
#ifndef DDSRT_SOCKETS_POSIX_H
#define DDSRT_SOCKETS_POSIX_H
#if DDSRT_WITH_LWIP
#include <lwip/sockets.h>
#include <lwip/netdb.h>
#else
#include <net/if.h>
#include <netinet/in.h>
#include <stddef.h>
#include <sys/types.h>
#include <sys/select.h>
#include <sys/socket.h>
#endif
#if defined(__cplusplus)
extern "C" {
@ -27,21 +32,38 @@ typedef int ddsrt_socket_t;
#define DDSRT_INVALID_SOCKET (-1)
#define PRIdSOCK "d"
#define DDSRT_HAVE_IPV6 1
#define DDSRT_HAVE_DNS 1
#define DDSRT_HAVE_SSM 1
#if LWIP_SOCKET
# if LWIP_IPV6
# define DDSRT_HAVE_IPV6 1
# endif
# if LWIP_DNS && LWIP_SOCKET
# define DDSRT_HAVE_DNS DDSRT_WITH_DNS
# endif
# define DDSRT_HAVE_SSM 0
# define IFF_UP 0x1
# define IFF_BROADCAST 0x2
# define IFF_LOOPBACK 0x8
# define IFF_POINTOPOINT 0x10
# define IFF_MULTICAST 0x1000
#else /* LWIP_SOCKET */
# define DDSRT_HAVE_IPV6 1
# define DDSRT_HAVE_DNS DDSRT_WITH_DNS
# define DDSRT_HAVE_SSM 1
#endif /* LWIP_SOCKET */
typedef struct iovec ddsrt_iovec_t;
typedef size_t ddsrt_iov_len_t;
#if defined(__linux)
#if defined(__linux) && !LWIP_SOCKET
typedef size_t ddsrt_msg_iovlen_t;
#else /* POSIX says int (which macOS, FreeBSD, Solaris do) */
typedef int ddsrt_msg_iovlen_t;
#endif
typedef struct msghdr ddsrt_msghdr_t;
#if defined(__sun) && !defined(_XPG4_2)
#if (defined(__sun) && !defined(_XPG4_2)) || \
(defined(LWIP_SOCKET))
# define DDSRT_MSGHDR_FLAGS 0
#else
# define DDSRT_MSGHDR_FLAGS 1

2
src/ddsrt/include/dds/ddsrt/sockets/windows.h
View file

@ -13,7 +13,7 @@ typedef SOCKET ddsrt_socket_t;
#define PRIdSOCK PRIuPTR
#define DDSRT_HAVE_IPV6 1
#define DDSRT_HAVE_DNS 1
#define DDSRT_HAVE_DNS DDSRT_WITH_DNS
#if defined(NTDDI_VERSION) && \
defined(_WIN32_WINNT_WS03) && \

4
src/ddsrt/include/dds/ddsrt/sync.h
View file

@ -18,7 +18,9 @@
#include "dds/ddsrt/retcode.h"
#include "dds/ddsrt/attributes.h"
#if _WIN32
#if DDSRT_WITH_FREERTOS
#include "dds/ddsrt/sync/freertos.h"
#elif _WIN32
#include "dds/ddsrt/sync/windows.h"
#else
#include "dds/ddsrt/sync/posix.h"

93
src/ddsrt/include/dds/ddsrt/sync/freertos.h Normal file
View file

@ -0,0 +1,93 @@
/*
* Copyright(c) 2006 to 2018 ADLINK Technology Limited and others
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License v. 2.0 which is available at
* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
* v. 1.0 which is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
*/
#ifndef DDSRT_SYNC_FREERTOS_H
#define DDSRT_SYNC_FREERTOS_H
#include <FreeRTOS.h>
#include <semphr.h>
#include <task.h>
#include <stddef.h>
#include "dds/ddsrt/atomics.h"
#if (INCLUDE_vTaskSuspend != 1)
/* INCLUDE_vTaskSuspend must be set to 1 to make xSemaphoreTake wait
indefinitely when passed portMAX_DELAY. See reference manual. */
#error "INCLUDE_vTaskSuspend != 1 in FreeRTOSConfig.h"
#endif
#if defined (__cplusplus)
extern "C" {
#endif
typedef struct {
SemaphoreHandle_t sem;
} ddsrt_mutex_t;
typedef struct {
size_t len;
size_t cnt;
size_t off;
size_t end;
TaskHandle_t *tasks;
} ddsrt_tasklist_t;
typedef struct {
SemaphoreHandle_t sem;
ddsrt_tasklist_t tasks;
} ddsrt_cond_t;
/* This readers-writer lock implementation does not prefer writers over readers
or vice versa. Multiple readers are allowed to hold the lock simultaneously
and can acquire it directly if no writers are queued. However, if a writer
is queued, new readers and writers are queued behind it in order. Any reader
that acquires the lock after a writer frees it, notifies the next task. If
that task tries to acquire a write lock it waits until the reader frees the
lock. However, if the task tries to acquire a read lock it will succeed, and
notify the next task, etc. */
typedef struct {
SemaphoreHandle_t sem;
ddsrt_tasklist_t tasks;
int32_t state;
uint32_t cnt;
uint32_t rdcnt;
uint32_t wrcnt;
} ddsrt_rwlock_t;
typedef ddsrt_atomic_uint32_t ddsrt_once_t;
#define DDSRT_ONCE_INIT { .v = (1<<0) /* ONCE_NOT_STARTED */ }
/* The declarations below are here for tests and must be considered private. */
/* Number of buckets to grow buffer by. */
#define DDSRT_TASKLIST_CHUNK (5)
/* Number of buckets to allocate initially. */
#define DDSRT_TASKLIST_INITIAL (DDSRT_TASKLIST_CHUNK * 2)
int ddsrt_tasklist_init(ddsrt_tasklist_t *list);
void ddsrt_tasklist_fini(ddsrt_tasklist_t *list);
void ddsrt_tasklist_ltrim(ddsrt_tasklist_t *list);
void ddsrt_tasklist_rtrim(ddsrt_tasklist_t *list);
void ddsrt_tasklist_pack(ddsrt_tasklist_t *list);
int ddsrt_tasklist_shrink(ddsrt_tasklist_t *list);
int ddsrt_tasklist_grow(ddsrt_tasklist_t *list);
ssize_t ddsrt_tasklist_find(ddsrt_tasklist_t *list, TaskHandle_t task);
TaskHandle_t ddsrt_tasklist_peek(ddsrt_tasklist_t *list, TaskHandle_t task);
TaskHandle_t ddsrt_tasklist_pop(ddsrt_tasklist_t *list, TaskHandle_t task);
int ddsrt_tasklist_push(ddsrt_tasklist_t *list, TaskHandle_t task);
#if defined (__cplusplus)
}
#endif
#endif /* DDSRT_SYNC_FREERTOS_H */

6
src/ddsrt/include/dds/ddsrt/threads.h
View file

@ -25,7 +25,9 @@
#include "dds/ddsrt/attributes.h"
#include "dds/ddsrt/retcode.h"
#if _WIN32
#if DDSRT_WITH_FREERTOS
#include "dds/ddsrt/threads/freertos.h"
#elif _WIN32
#include "dds/ddsrt/threads/windows.h"
#else
#include "dds/ddsrt/threads/posix.h"
@ -206,9 +208,11 @@ ddsrt_thread_getname(
*
* @param[in] name Name for current thread.
*/
#if DDSRT_HAVE_THREAD_SETNAME
DDS_EXPORT void
ddsrt_thread_setname(
const char *__restrict name);
#endif
/**
* @brief Push cleanup handler onto the cleanup stack

35
src/ddsrt/include/dds/ddsrt/threads/freertos.h Normal file
View file

@ -0,0 +1,35 @@
/*
* Copyright(c) 2006 to 2018 ADLINK Technology Limited and others
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License v. 2.0 which is available at
* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
* v. 1.0 which is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
*/
#ifndef DDSRT_THREADS_FREERTOS_H
#define DDSRT_THREADS_FREERTOS_H
#include <FreeRTOS.h>
#include <task.h>
#define DDSRT_HAVE_THREAD_SETNAME (0)
#if defined(__cplusplus)
extern "C" {
#endif
typedef struct {
TaskHandle_t task;
} ddsrt_thread_t;
typedef UBaseType_t ddsrt_tid_t;
#define PRIdTID "lu"
#if defined(__cplusplus)
}
#endif
#endif /* DDSRT_THREADS_FREERTOS_H */

6
src/ddsrt/include/dds/ddsrt/threads/posix.h
View file

@ -14,6 +14,12 @@
#include <pthread.h>
#if defined(__VXWORKS__)
#define DDSRT_HAVE_THREAD_SETNAME (0)
#else
#define DDSRT_HAVE_THREAD_SETNAME (1)
#endif
#if defined (__cplusplus)
extern "C" {
#endif

2
src/ddsrt/include/dds/ddsrt/threads/windows.h
View file

@ -14,6 +14,8 @@
#include "dds/ddsrt/types.h"
#define DDSRT_HAVE_THREAD_SETNAME (1)
#if defined (__cplusplus)
extern "C" {
#endif

4
src/ddsrt/include/dds/ddsrt/time.h
View file

@ -146,4 +146,8 @@ DDS_EXPORT size_t ddsrt_ctime(dds_time_t abstime, char *str, size_t size);
}
#endif
#if DDSRT_WITH_FREERTOS
#include "dds/ddsrt/time/freertos.h"
#endif
#endif /* DDSRT_TIME_H */

53
src/ddsrt/include/dds/ddsrt/time/freertos.h Normal file
View file

@ -0,0 +1,53 @@
/*
* Copyright(c) 2006 to 2018 ADLINK Technology Limited and others
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License v. 2.0 which is available at
* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
* v. 1.0 which is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
*/
#ifndef DDSRT_TIME_FREERTOS_H
#define DDSRT_TIME_FREERTOS_H
#include <assert.h>
#include <FreeRTOS.h>
#if defined (__cplusplus)
extern "C" {
#endif
#define DDSRT_NSECS_PER_TICK (DDS_NSECS_IN_SEC / configTICK_RATE_HZ)
inline TickType_t
ddsrt_duration_to_ticks_ceil(
dds_duration_t reltime)
{
TickType_t ticks = 0;
assert(portMAX_DELAY > configTICK_RATE_HZ);
if (reltime == DDS_INFINITY) {
ticks = portMAX_DELAY;
} else if (reltime > 0) {
dds_duration_t max_nsecs =
(DDS_INFINITY / DDSRT_NSECS_PER_TICK < portMAX_DELAY
? DDS_INFINITY - 1 : portMAX_DELAY * DDSRT_NSECS_PER_TICK);
if (reltime > max_nsecs - (DDSRT_NSECS_PER_TICK - 1)) {
ticks = portMAX_DELAY;
} else {
ticks = (TickType_t)((reltime + (DDSRT_NSECS_PER_TICK - 1)) / DDSRT_NSECS_PER_TICK);
}
}
return ticks;
}
#if defined (__cplusplus)
}
#endif
#endif /* DDSRT_TIME_FREERTOS_H */

4
src/ddsrt/include/dds/ddsrt/types/posix.h
View file

@ -14,6 +14,10 @@
#include <stdint.h>
#include <inttypes.h>
#if defined(__IAR_SYSTEMS_ICC__)
typedef long int ssize_t;
#else
#include <unistd.h>
#endif
#endif /* DDSRT_TYPES_POSIX_H */