Rearrange and fixup abstraction layer

- Replace os_result by dds_retcode_t and move DDS return code defines down.
  Eliminates the need to convert between different return code types.

- Move dds_time_t down and remove os_time.
  Eliminates the need to convert between different time representations and
  reduces code duplication.

- Remove use of Microsoft source-code annotation language (SAL).
  SAL annotations are Microsoft specific and not very well documented. This
  makes it very difficult for contributers to write.

- Rearrange the abstraction layer to be feature-based. The previous layout
  falsely assumed that the operating system dictates which implementation is
  best suited. For general purpose operating systems this is mostly true, but
  embedded targets require a slightly different approach and may not even offer
  all features. The new layout makes it possible to mix-and-match feature
  implementations and allows for features to not be implemented at all.

- Replace the os prefix by ddsrt to avoid name collisions.

- Remove various portions of unused and unwanted code.

- Export thread names on all supported platforms.

- Return native thread identifier on POSIX compatible platforms.

- Add timed wait for condition variables that takes an absolute time.

- Remove system abstraction for errno. The os_getErrno and os_setErrno were
  incorrect. Functions that might fail now simply return a DDS return code
  instead.

- Remove thread-specific memory abstraction. os_threadMemGet and accompanying
  functions were a mess and their use has been eliminated by other changes in
  this commit.

- Replace attribute (re)defines by ddsrt_ prefixed equivalents to avoid name
  collisions and problems with faulty __nonnull__ attributes.

Signed-off-by: Jeroen Koekkoek <jeroen@koekkoek.nl>

src/examples/helloworld/publisher.c

@@ -1,61 +1,66 @@
-#include "ddsc/dds.h"
+#include "dds/dds.h"
 #include "HelloWorldData.h"
 #include <stdio.h>
 #include <stdlib.h>
 
 int main (int argc, char ** argv)
 {
-    dds_entity_t participant;
-    dds_entity_t topic;
-    dds_entity_t writer;
-    dds_return_t ret;
-    HelloWorldData_Msg msg;
-    (void)argc;
-    (void)argv;
+  dds_entity_t participant;
+  dds_entity_t topic;
+  dds_entity_t writer;
+  dds_return_t rc;
+  HelloWorldData_Msg msg;
+  uint32_t status = 0;
+  (void)argc;
+  (void)argv;
 
-    /* Create a Participant. */
-    participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
-    DDS_ERR_CHECK (participant, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  /* Create a Participant. */
+  participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
+  if (participant < 0)
+    DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant));
 
-    /* Create a Topic. */
-    topic = dds_create_topic (participant, &HelloWorldData_Msg_desc,
-                              "HelloWorldData_Msg", NULL, NULL);
-    DDS_ERR_CHECK (topic, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  /* Create a Topic. */
+  topic = dds_create_topic (
+    participant, &HelloWorldData_Msg_desc, "HelloWorldData_Msg", NULL, NULL);
+  if (topic < 0)
+    DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-topic));
 
-    /* Create a Writer. */
-    writer = dds_create_writer (participant, topic, NULL, NULL);
+  /* Create a Writer. */
+  writer = dds_create_writer (participant, topic, NULL, NULL);
+  if (writer < 0)
+    DDS_FATAL("dds_create_write: %s\n", dds_strretcode(-writer));
 
-    printf("=== [Publisher]  Waiting for a reader to be discovered ...\n");
+  printf("=== [Publisher]  Waiting for a reader to be discovered ...\n");
 
-    ret = dds_set_status_mask(writer, DDS_PUBLICATION_MATCHED_STATUS);
-    DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  rc = dds_set_status_mask(writer, DDS_PUBLICATION_MATCHED_STATUS);
+  if (rc != DDS_RETCODE_OK)
+    DDS_FATAL("dds_set_status_mask: %s\n", dds_strretcode(-rc));
 
-    while(true)
-    {
-      uint32_t status;
-      ret = dds_get_status_changes (writer, &status);
-      DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  while(!(status & DDS_PUBLICATION_MATCHED_STATUS))
+  {
+    rc = dds_get_status_changes (writer, &status);
+    if (rc != DDS_RETCODE_OK)
+      DDS_FATAL("dds_get_status_changes: %s\n", dds_strretcode(-rc));
 
-      if (status == DDS_PUBLICATION_MATCHED_STATUS) {
-        break;
-      }
-      /* Polling sleep. */
-      dds_sleepfor (DDS_MSECS (20));
-    }
+    /* Polling sleep. */
+    dds_sleepfor (DDS_MSECS (20));
+  }
 
-    /* Create a message to write. */
-    msg.userID = 1;
-    msg.message = "Hello World";
+  /* Create a message to write. */
+  msg.userID = 1;
+  msg.message = "Hello World";
 
-    printf ("=== [Publisher]  Writing : ");
-    printf ("Message (%d, %s)\n", msg.userID, msg.message);
+  printf ("=== [Publisher]  Writing : ");
+  printf ("Message (%d, %s)\n", msg.userID, msg.message);
 
-    ret = dds_write (writer, &msg);
-    DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  rc = dds_write (writer, &msg);
+  if (rc != DDS_RETCODE_OK)
+    DDS_FATAL("dds_write: %s\n", dds_strretcode(-rc));
 
-    /* Deleting the participant will delete all its children recursively as well. */
-    ret = dds_delete (participant);
-    DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  /* Deleting the participant will delete all its children recursively as well. */
+  rc = dds_delete (participant);
+  if (rc != DDS_RETCODE_OK)
+    DDS_FATAL("dds_delete: %s\n", dds_strretcode(-rc));
 
-    return EXIT_SUCCESS;
+  return EXIT_SUCCESS;
 }