windows wip
This commit is contained in:
William Woodall
parent
f528b7a925
commit
3e516c8c8f
5 changed files with 386 additions and 21 deletions
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@ -34,7 +34,9 @@ ament_target_dependencies(${PROJECT_NAME}
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"rmw"
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"rosidl_generator_c"
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)
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if(NOT WIN32)
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set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "-std=c11")
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endif()
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if(AMENT_ENABLE_TESTING)
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find_package(ament_cmake_gtest REQUIRED)
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@ -42,58 +44,64 @@ if(AMENT_ENABLE_TESTING)
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ament_lint_auto_find_test_dependencies()
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set(extra_test_libraries)
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set(extra_memory_tools_env PHONY=) # Use a phony env var so there is always at least one.
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ament_find_gtest() # For GTEST_LIBRARIES
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if(APPLE)
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add_library(${PROJECT_NAME}_memory_tools_interpose SHARED test/memory_tools_osx_interpose.cpp)
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target_link_libraries(${PROJECT_NAME}_memory_tools_interpose ${GTEST_LIBRARIES})
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set_target_properties(${PROJECT_NAME}_memory_tools_interpose PROPERTIES COMPILE_FLAGS "-std=c++11")
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set_target_properties(${PROJECT_NAME}_memory_tools_interpose
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PROPERTIES COMPILE_FLAGS "-std=c++11")
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list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools_interpose)
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list(APPEND extra_memory_tools_env
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DYLD_INSERT_LIBRARIES=$<TARGET_FILE:${PROJECT_NAME}_memory_tools_interpose>)
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endif()
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add_library(${PROJECT_NAME}_memory_tools SHARED test/memory_tools.cpp)
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if(NOT WIN32)
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set_target_properties(${PROJECT_NAME}_memory_tools PROPERTIES COMPILE_FLAGS "-std=c++11")
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endif()
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target_link_libraries(${PROJECT_NAME}_memory_tools ${GTEST_LIBRARIES} ${extra_test_libraries})
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list(APPEND extra_test_libraries ${PROJECT_NAME}_memory_tools)
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ament_add_gtest(test_memory_tools
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test/test_memory_tools.cpp
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ENV DYLD_INSERT_LIBRARIES=$<TARGET_FILE:${PROJECT_NAME}_memory_tools_interpose>)
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ament_add_gtest(test_memory_tools test/test_memory_tools.cpp ENV ${extra_memory_tools_env})
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if(TARGET test_memory_tools)
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target_include_directories(test_memory_tools PUBLIC
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${rcl_interfaces_INCLUDE_DIRS}
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${rmw_INCLUDE_DIRS}
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)
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if(NOT WIN32)
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set_target_properties(test_memory_tools PROPERTIES COMPILE_FLAGS "-std=c++11")
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endif()
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target_link_libraries(test_memory_tools ${PROJECT_NAME} ${extra_test_libraries})
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endif()
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ament_add_gtest(test_allocator
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test/rcl/test_allocator.cpp
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ENV DYLD_INSERT_LIBRARIES=$<TARGET_FILE:${PROJECT_NAME}_memory_tools_interpose>)
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ament_add_gtest(test_allocator test/rcl/test_allocator.cpp ENV ${extra_memory_tools_env})
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if(TARGET test_allocator)
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target_include_directories(test_allocator PUBLIC
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${rcl_interfaces_INCLUDE_DIRS}
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${rmw_INCLUDE_DIRS}
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)
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if(NOT WIN32)
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set_target_properties(test_allocator PROPERTIES COMPILE_FLAGS "-std=c++11")
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endif()
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target_link_libraries(test_allocator ${PROJECT_NAME} ${extra_test_libraries})
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endif()
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ament_add_gtest(test_time
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test/rcl/test_time.cpp
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ENV DYLD_INSERT_LIBRARIES=$<TARGET_FILE:${PROJECT_NAME}_memory_tools_interpose>)
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ament_add_gtest(test_time test/rcl/test_time.cpp ENV ${extra_memory_tools_env})
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if(TARGET test_time)
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target_include_directories(test_time PUBLIC
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${rcl_interfaces_INCLUDE_DIRS}
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${rmw_INCLUDE_DIRS}
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)
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if(NOT WIN32)
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set_target_properties(test_time PROPERTIES COMPILE_FLAGS "-std=c++11")
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endif()
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target_link_libraries(test_time ${PROJECT_NAME} ${extra_test_libraries})
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endif()
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ament_add_gtest(test_common
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test/rcl/test_common.cpp
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ENV
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DYLD_INSERT_LIBRARIES=$<TARGET_FILE:${PROJECT_NAME}_memory_tools_interpose>
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${extra_memory_tools_env}
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EMPTY_TEST=
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NORMAL_TEST=foo
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)
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@ -102,7 +110,9 @@ if(AMENT_ENABLE_TESTING)
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${rcl_interfaces_INCLUDE_DIRS}
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${rmw_INCLUDE_DIRS}
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)
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if(NOT WIN32)
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set_target_properties(test_common PROPERTIES COMPILE_FLAGS "-std=c++11")
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endif()
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target_link_libraries(test_common ${PROJECT_NAME} ${extra_test_libraries})
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endif()
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endif()
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@ -36,7 +36,7 @@ rcl_impl_getenv(const char * env_name, const char ** env_value)
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*env_value = getenv(env_name);
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#else
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size_t required_size;
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error_t ret = getenv_s(&required_size, __env_buffer, sizeof(__env_buffer), env_name);
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errno_t ret = getenv_s(&required_size, __env_buffer, sizeof(__env_buffer), env_name);
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if (ret != 0) {
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RCL_SET_ERROR_MSG("value in env variable too large to read in");
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return RCL_RET_ERROR;
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@ -19,19 +19,23 @@ extern "C"
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#include "rcl/rcl.h"
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#ifndef WIN32
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#include <stdatomic.h>
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#else
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#include "./stdatomic/win32/stdatomic.h"
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#endif
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#include <string.h>
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#include "rcl/error_handling.h"
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static atomic_bool __rcl_is_initialized = false;
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static atomic_bool __rcl_is_initialized = ATOMIC_VAR_INIT(false);
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static rcl_allocator_t __rcl_allocator = {0};
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static int __rcl_argc = 0;
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static char ** __rcl_argv = NULL;
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static atomic_uint_fast64_t __rcl_instance_id = 0;
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static atomic_uint_fast64_t __rcl_instance_id = ATOMIC_VAR_INIT(0);
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static uint64_t __rcl_next_unique_id = 0;
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static inline void
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static void
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__clean_up_init()
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{
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if (__rcl_argv) {
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325
rcl/src/rcl/stdatomic_helper/win32/stdatomic.h
Normal file
325
rcl/src/rcl/stdatomic_helper/win32/stdatomic.h
Normal file
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@ -0,0 +1,325 @@
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/*
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* An implementation of C11 stdatomic.h for Win32, part borrowed from FreeBSD
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* (original copyright follows), with major modifications for
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* portability to Win32 systems.
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*
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* Caveats and limitations:
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* - Only the ``_Atomic parentheses'' notation is implemented, while
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* the ``_Atomic space'' one is not.
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* - _Atomic types must be typedef'ed, or programs using them will
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* not type check correctly (incompatible anonymous structure
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* types).
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* - Support is limited to 16, 32, and 64 bit types only.
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* - Stripped down to only the functions used locally in rcl.
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*/
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/*-
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* Copyright (c) 2011 Ed Schouten <ed@FreeBSD.org>
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* David Chisnall <theraven@FreeBSD.org>
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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* $FreeBSD: src/include/stdatomic.h,v 1.10.2.2 2012/05/30 19:21:54 theraven Exp $
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*/
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#ifndef _STDATOMIC_H_
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#define _STDATOMIC_H_
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#include <Windows.h>
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#include <stddef.h>
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#include <stdint.h>
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#if !defined(WIN32)
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#error "this stdatomic.h does not support your compiler"
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#endif
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// In MSVC, correct alignment of each type is already ensured.
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#define _Atomic(T) struct { T __val; }
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/*
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* 7.17.2 Initialization.
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*/
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#define ATOMIC_VAR_INIT(value) { .__val = (value) }
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#define atomic_init(obj, value) do { \
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(obj)->__val = (value); \
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} while (0)
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/*
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* Clang and recent GCC both provide predefined macros for the memory
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* orderings. If we are using a compiler that doesn't define them, use the
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* clang values - these will be ignored in the fallback path.
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*/
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#ifndef __ATOMIC_RELAXED
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#define __ATOMIC_RELAXED 0
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#endif
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#ifndef __ATOMIC_CONSUME
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#define __ATOMIC_CONSUME 1
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#endif
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#ifndef __ATOMIC_ACQUIRE
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#define __ATOMIC_ACQUIRE 2
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#endif
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#ifndef __ATOMIC_RELEASE
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#define __ATOMIC_RELEASE 3
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#endif
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#ifndef __ATOMIC_ACQ_REL
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#define __ATOMIC_ACQ_REL 4
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#endif
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#ifndef __ATOMIC_SEQ_CST
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#define __ATOMIC_SEQ_CST 5
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#endif
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/*
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* 7.17.3 Order and consistency.
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*
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* The memory_order_* constants that denote the barrier behaviour of the
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* atomic operations.
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*/
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enum memory_order {
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memory_order_relaxed = __ATOMIC_RELAXED,
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memory_order_consume = __ATOMIC_CONSUME,
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memory_order_acquire = __ATOMIC_ACQUIRE,
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memory_order_release = __ATOMIC_RELEASE,
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memory_order_acq_rel = __ATOMIC_ACQ_REL,
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memory_order_seq_cst = __ATOMIC_SEQ_CST
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};
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typedef enum memory_order memory_order;
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/*
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* 7.17.4 Fences.
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*/
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#define atomic_thread_fence(order) MemoryBarrier()
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#define atomic_signal_fence(order) _ReadWriteBarrier()
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/*
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* 7.17.5 Lock-free property.
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*/
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#define atomic_is_lock_free(obj) (sizeof((obj)->__val) <= sizeof(void *))
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/*
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* 7.17.6 Atomic integer types.
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*/
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typedef _Atomic(_Bool) atomic_bool;
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typedef _Atomic(char) atomic_char;
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typedef _Atomic(signed char) atomic_schar;
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typedef _Atomic(unsigned char) atomic_uchar;
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typedef _Atomic(short) atomic_short;
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typedef _Atomic(unsigned short) atomic_ushort;
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typedef _Atomic(int) atomic_int;
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typedef _Atomic(unsigned int) atomic_uint;
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typedef _Atomic(long) atomic_long;
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typedef _Atomic(unsigned long) atomic_ulong;
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typedef _Atomic(long long) atomic_llong;
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typedef _Atomic(unsigned long long) atomic_ullong;
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#if 0
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typedef _Atomic(char16_t) atomic_char16_t;
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typedef _Atomic(char32_t) atomic_char32_t;
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typedef _Atomic(wchar_t) atomic_wchar_t;
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typedef _Atomic(int_least8_t) atomic_int_least8_t;
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typedef _Atomic(uint_least8_t) atomic_uint_least8_t;
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#endif
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typedef _Atomic(int_least16_t) atomic_int_least16_t;
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typedef _Atomic(uint_least16_t) atomic_uint_least16_t;
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typedef _Atomic(int_least32_t) atomic_int_least32_t;
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typedef _Atomic(uint_least32_t) atomic_uint_least32_t;
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typedef _Atomic(int_least64_t) atomic_int_least64_t;
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typedef _Atomic(uint_least64_t) atomic_uint_least64_t;
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#if 0
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typedef _Atomic(int_fast8_t) atomic_int_fast8_t;
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typedef _Atomic(uint_fast8_t) atomic_uint_fast8_t;
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#endif
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typedef _Atomic(int_fast16_t) atomic_int_fast16_t;
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typedef _Atomic(uint_fast16_t) atomic_uint_fast16_t;
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typedef _Atomic(int_fast32_t) atomic_int_fast32_t;
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typedef _Atomic(uint_fast32_t) atomic_uint_fast32_t;
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typedef _Atomic(int_fast64_t) atomic_int_fast64_t;
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typedef _Atomic(uint_fast64_t) atomic_uint_fast64_t;
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typedef _Atomic(intptr_t) atomic_intptr_t;
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typedef _Atomic(uintptr_t) atomic_uintptr_t;
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typedef _Atomic(size_t) atomic_size_t;
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typedef _Atomic(ptrdiff_t) atomic_ptrdiff_t;
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typedef _Atomic(intmax_t) atomic_intmax_t;
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typedef _Atomic(uintmax_t) atomic_uintmax_t;
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/*
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* 7.17.7 Operations on atomic types. (pruned modified for Windows' crappy C compiler)
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*/
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#define rcl_win32_atomic_compare_exchange_strong(object, out, expected, desired) \
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do { \
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switch(sizeof(object)) { \
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case sizeof(uint64_t): \
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out = _InterlockedCompareExchange64((LONGLONG *) object, desired, expected); \
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break; \
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case sizeof(uint32_t): \
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out = _InterlockedCompareExchange((LONG *) object, desired, expected); \
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break; \
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case sizeof(uint16_t): \
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out = _InterlockedCompareExchange16((SHORT *) object, desired, expected); \
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break; \
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default: \
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break; \
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}; \
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} while(0)
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#define rcl_win32_atomic_compare_exchange_weak(object, out, expected, desired) \
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rcl_win32_atomic_compare_exchange_strong(object, out, expected, desired)
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#define rcl_win32_atomic_exchange((object), out, desired) \
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do { \
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switch(sizeof(object)) { \
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case sizeof(uint64_t): \
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out = _InterlockedExchange64((LONGLONG *) object, desired); \
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break; \
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case sizeof(uint32_t): \
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out = _InterlockedExchange((LONG *) object, desired); \
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break; \
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case sizeof(uint16_t): \
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out = _InterlockedExchange16((SHORT *) object, desired); \
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break; \
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default: \
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break; \
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}; \
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} while(0)
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#define rcl_win32_atomic_fetch_add(object, out, operand) \
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do { \
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switch(sizeof(object)) { \
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case sizeof(uint64_t): \
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out = _InterlockedExchangeAdd64((LONGLONG *) object, operand); \
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break; \
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case sizeof(uint32_t): \
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out = _InterlockedExchangeAdd((LONG *) object, operand); \
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break; \
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case sizeof(uint16_t): \
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out = _InterlockedExchangeAdd16((SHORT *) object, operand); \
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break; \
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default: \
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break; \
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}; \
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} while(0)
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#define rcl_win32_atomic_fetch_and(object, out, operand) \
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do { \
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switch(sizeof(object)) { \
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case sizeof(uint64_t): \
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out = _InterlockedAnd64((LONGLONG *) object, operand); \
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break; \
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case sizeof(uint32_t): \
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out = _InterlockedAnd((LONG *) object, operand); \
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break; \
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case sizeof(uint16_t): \
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out = _InterlockedAnd16((SHORT *) object, operand); \
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break; \
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default: \
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break; \
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}; \
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} while(0)
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#define rcl_win32_atomic_fetch_or(object, out, operand) \
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do { \
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switch(sizeof(object)) { \
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case sizeof(uint64_t): \
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out = _InterlockedOr64((LONGLONG *) object, operand); \
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break; \
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case sizeof(uint32_t): \
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out = _InterlockedOr((LONG *) object, operand); \
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break; \
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case sizeof(uint16_t): \
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out = _InterlockedOr16((SHORT *) object, operand); \
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break; \
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default: \
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break; \
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}; \
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} while(0)
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#define rcl_win32_atomic_fetch_sub(object, out, operand) \
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rcl_win32_atomic_fetch_add(object, out, -(operand))
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#define rcl_win32_atomic_fetch_xor(object, out, operand) \
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do { \
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switch(sizeof(object)) { \
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case sizeof(uint64_t): \
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out = _InterlockedXor64((LONGLONG *) object, operand); \
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break; \
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case sizeof(uint32_t): \
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out = _InterlockedXor((LONG *) object, operand); \
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break; \
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case sizeof(uint16_t): \
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out = _InterlockedXor16((SHORT *) object, operand); \
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break; \
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default: \
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break; \
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}; \
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} while(0)
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#define rcl_win32_atomic_load(object) \
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do { \
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switch(sizeof(object)) { \
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case sizeof(uint64_t): \
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out = _InterlockedExchangeAdd64((LONGLONG *) object, 0); \
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break; \
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case sizeof(uint32_t): \
|
||||
out = _InterlockedExchangeAdd((LONG *) object, 0); \
|
||||
break; \
|
||||
case sizeof(uint16_t): \
|
||||
out = _InterlockedExchangeAdd16((SHORT *) object, 0); \
|
||||
break; \
|
||||
default: \
|
||||
break; \
|
||||
}; \
|
||||
} while(0)
|
||||
|
||||
#define rcl_win32_atomic_store(object, desired) \
|
||||
do { \
|
||||
MemoryBarrier(); \
|
||||
object = (desired); \
|
||||
MemoryBarrier(); \
|
||||
} while (0)
|
||||
|
||||
/*
|
||||
* 7.17.8 Atomic flag type and operations. (disabled for now)
|
||||
*/
|
||||
|
||||
// typedef atomic_bool atomic_flag;
|
||||
|
||||
// #define ATOMIC_FLAG_INIT ATOMIC_VAR_INIT(0)
|
||||
|
||||
// #define atomic_flag_clear_explicit(object, order) \
|
||||
// atomic_store_explicit(object, 0, order)
|
||||
// #define atomic_flag_test_and_set_explicit(object, order) \
|
||||
// atomic_compare_exchange_strong_explicit(object, 0, 1, order, order)
|
||||
|
||||
// #define atomic_flag_clear(object) \
|
||||
// atomic_flag_clear_explicit(object, memory_order_seq_cst)
|
||||
// #define atomic_flag_test_and_set(object) \
|
||||
// atomic_flag_test_and_set_explicit(object, memory_order_seq_cst)
|
||||
|
||||
#endif /* !_STDATOMIC_H_ */
|
||||
26
rcl/src/rcl/stdatomics_helper.h
Normal file
26
rcl/src/rcl/stdatomics_helper.h
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
// Copyright 2015 Open Source Robotics Foundation, Inc.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#ifndef RCL__STDATOMICS_HELPER_H_
|
||||
#define RCL__STDATOMICS_HELPER_H_
|
||||
|
||||
#if !defined(WIN32)
|
||||
|
||||
|
||||
|
||||
#else
|
||||
|
||||
#endif
|
||||
|
||||
#endif // RCL__STDATOMICS_HELPER_H_
|
||||
Loading…
Add table
Add a link
Reference in a new issue