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Move stdatomic helper to rcutils (#324)

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* move stdatomic_helper* to rcutils

Signed-off-by: William Woodall <william@osrfoundation.org>

* refactor after moving stdatomic_helper.h to rcutils

Signed-off-by: William Woodall <william@osrfoundation.org>
This commit is contained in:
William Woodall 2018-11-08 16:15:43 -06:00 • committed by GitHub
parent 5d12f54d13
commit 9351fd89c7
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GPG key ID: 4AEE18F83AFDEB23
8 changed files with 43 additions and 980 deletions
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6
rcl/src/rcl/client.c
View file

@ -26,12 +26,12 @@ extern "C"
#include "rcl/expand_topic_name.h" #include "rcl/expand_topic_name.h"
#include "rcl/remap.h" #include "rcl/remap.h"
#include "rcutils/logging_macros.h" #include "rcutils/logging_macros.h"
#include "rcutils/stdatomic_helper.h"
#include "rmw/error_handling.h" #include "rmw/error_handling.h"
#include "rmw/rmw.h" #include "rmw/rmw.h"
#include "rmw/validate_full_topic_name.h" #include "rmw/validate_full_topic_name.h"
#include "./common.h" #include "./common.h"
#include "./stdatomic_helper.h"
typedef struct rcl_client_impl_t typedef struct rcl_client_impl_t
{ {
@ -269,14 +269,14 @@ rcl_send_request(const rcl_client_t * client, const void * ros_request, int64_t
} }
RCL_CHECK_ARGUMENT_FOR_NULL(ros_request, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(ros_request, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(sequence_number, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(sequence_number, RCL_RET_INVALID_ARGUMENT);
*sequence_number = rcl_atomic_load_int64_t(&client->impl->sequence_number); *sequence_number = rcutils_atomic_load_int64_t(&client->impl->sequence_number);
if (rmw_send_request( if (rmw_send_request(
client->impl->rmw_handle, ros_request, sequence_number) != RMW_RET_OK) client->impl->rmw_handle, ros_request, sequence_number) != RMW_RET_OK)
{ {
RCL_SET_ERROR_MSG(rmw_get_error_string().str); RCL_SET_ERROR_MSG(rmw_get_error_string().str);
return RCL_RET_ERROR; return RCL_RET_ERROR;
} }
rcl_atomic_exchange_int64_t(&client->impl->sequence_number, *sequence_number); rcutils_atomic_exchange_int64_t(&client->impl->sequence_number, *sequence_number);
return RCL_RET_OK; return RCL_RET_OK;
} }

16
rcl/src/rcl/rcl.c
View file

@ -22,10 +22,10 @@ extern "C"
#include <string.h> #include <string.h>
#include "./arguments_impl.h" #include "./arguments_impl.h"
#include "./stdatomic_helper.h"
#include "rcl/arguments.h" #include "rcl/arguments.h"
#include "rcl/error_handling.h" #include "rcl/error_handling.h"
#include "rcutils/logging_macros.h" #include "rcutils/logging_macros.h"
#include "rcutils/stdatomic_helper.h"
#include "rmw/error_handling.h" #include "rmw/error_handling.h"
static atomic_bool __rcl_is_initialized = ATOMIC_VAR_INIT(false); static atomic_bool __rcl_is_initialized = ATOMIC_VAR_INIT(false);
@ -56,8 +56,8 @@ __clean_up_init()
if (NULL != global_args->impl && RCL_RET_OK != rcl_arguments_fini(global_args)) { if (NULL != global_args->impl && RCL_RET_OK != rcl_arguments_fini(global_args)) {
rcl_reset_error(); rcl_reset_error();
} }
rcl_atomic_store(&__rcl_instance_id, 0); rcutils_atomic_store(&__rcl_instance_id, 0);
rcl_atomic_store(&__rcl_is_initialized, false); rcutils_atomic_store(&__rcl_is_initialized, false);
} }
rcl_ret_t rcl_ret_t
@ -71,7 +71,7 @@ rcl_init(int argc, char const * const * argv, rcl_allocator_t allocator)
if (argc > 0) { if (argc > 0) {
RCL_CHECK_ARGUMENT_FOR_NULL(argv, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(argv, RCL_RET_INVALID_ARGUMENT);
} }
if (rcl_atomic_exchange_bool(&__rcl_is_initialized, true)) { if (rcutils_atomic_exchange_bool(&__rcl_is_initialized, true)) {
RCL_SET_ERROR_MSG("rcl_init called while already initialized"); RCL_SET_ERROR_MSG("rcl_init called while already initialized");
return RCL_RET_ALREADY_INIT; return RCL_RET_ALREADY_INIT;
} }
@ -123,8 +123,8 @@ rcl_init(int argc, char const * const * argv, rcl_allocator_t allocator)
rcutils_logging_set_default_logger_level(global_args->impl->log_level); rcutils_logging_set_default_logger_level(global_args->impl->log_level);
} }
rcl_atomic_store(&__rcl_instance_id, ++__rcl_next_unique_id); rcutils_atomic_store(&__rcl_instance_id, ++__rcl_next_unique_id);
if (rcl_atomic_load_uint64_t(&__rcl_instance_id) == 0) { if (rcutils_atomic_load_uint64_t(&__rcl_instance_id) == 0) {
// Roll over occurred. // Roll over occurred.
__rcl_next_unique_id--; // roll back to avoid the next call succeeding. __rcl_next_unique_id--; // roll back to avoid the next call succeeding.
RCL_SET_ERROR_MSG("unique rcl instance ids exhausted"); RCL_SET_ERROR_MSG("unique rcl instance ids exhausted");
@ -152,13 +152,13 @@ rcl_shutdown()
uint64_t uint64_t
rcl_get_instance_id() rcl_get_instance_id()
{ {
return rcl_atomic_load_uint64_t(&__rcl_instance_id); return rcutils_atomic_load_uint64_t(&__rcl_instance_id);
} }
bool bool
rcl_ok() rcl_ok()
{ {
return rcl_atomic_load_bool(&__rcl_is_initialized); return rcutils_atomic_load_bool(&__rcl_is_initialized);
} }
#ifdef __cplusplus #ifdef __cplusplus

129
rcl/src/rcl/stdatomic_helper.h
View file

@ -1,129 +0,0 @@
// 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__STDATOMIC_HELPER_H_
#define RCL__STDATOMIC_HELPER_H_
#if !defined(_WIN32)
#if defined(__GNUC__) && __GNUC__ <= 4 && __GNUC_MINOR__ <= 9
// If GCC and below GCC-4.9, use the compatability header.
#include "stdatomic_helper/gcc/stdatomic.h"
#elif defined(__clang__) && defined(__has_feature)
#if !__has_feature(c_atomic)
// If Clang and no c_atomics (true for some older versions), use the compatability header.
#include "stdatomic_helper/gcc/stdatomic.h"
#endif
#else
#include <stdatomic.h>
#endif
#define rcl_atomic_load(object, out) (out) = atomic_load(object)
#define rcl_atomic_compare_exchange_strong(object, out, expected, desired) \
(out) = atomic_compare_exchange_strong(object, expected, desired)
#define rcl_atomic_exchange(object, out, desired) (out) = atomic_exchange(object, desired)
#define rcl_atomic_store(object, desired) atomic_store(object, desired)
#else // !defined(_WIN32)
#include "./stdatomic_helper/win32/stdatomic.h"
#define rcl_atomic_load(object, out) rcl_win32_atomic_load(object, out)
#define rcl_atomic_compare_exchange_strong(object, out, expected, desired) \
rcl_win32_atomic_compare_exchange_strong(object, out, expected, desired)
#define rcl_atomic_exchange(object, out, desired) rcl_win32_atomic_exchange(object, out, desired)
#define rcl_atomic_store(object, desired) rcl_win32_atomic_store(object, desired)
#endif // !defined(_WIN32)
static inline bool
rcl_atomic_load_bool(atomic_bool * a_bool)
{
bool result = false;
rcl_atomic_load(a_bool, result);
return result;
}
static inline int64_t
rcl_atomic_load_int64_t(atomic_int_least64_t * a_int64_t)
{
int64_t result = 0;
rcl_atomic_load(a_int64_t, result);
return result;
}
static inline uint64_t
rcl_atomic_load_uint64_t(atomic_uint_least64_t * a_uint64_t)
{
uint64_t result = 0;
rcl_atomic_load(a_uint64_t, result);
return result;
}
static inline uintptr_t
rcl_atomic_load_uintptr_t(atomic_uintptr_t * a_uintptr_t)
{
uintptr_t result = 0;
rcl_atomic_load(a_uintptr_t, result);
return result;
}
static inline bool
rcl_atomic_compare_exchange_strong_uint_least64_t(
atomic_uint_least64_t * a_uint_least64_t, uint64_t * expected, uint64_t desired)
{
bool result;
rcl_atomic_compare_exchange_strong(a_uint_least64_t, result, expected, desired);
return result;
}
static inline bool
rcl_atomic_exchange_bool(atomic_bool * a_bool, bool desired)
{
bool result;
rcl_atomic_exchange(a_bool, result, desired);
return result;
}
static inline int64_t
rcl_atomic_exchange_int64_t(atomic_int_least64_t * a_int64_t, int64_t desired)
{
int64_t result;
rcl_atomic_exchange(a_int64_t, result, desired);
return result;
}
static inline uint64_t
rcl_atomic_exchange_uint64_t(atomic_uint_least64_t * a_uint64_t, uint64_t desired)
{
uint64_t result;
rcl_atomic_exchange(a_uint64_t, result, desired);
return result;
}
static inline uintptr_t
rcl_atomic_exchange_uintptr_t(atomic_uintptr_t * a_uintptr_t, uintptr_t desired)
{
uintptr_t result;
rcl_atomic_exchange(a_uintptr_t, result, desired);
return result;
}
#endif // RCL__STDATOMIC_HELPER_H_

400
rcl/src/rcl/stdatomic_helper/gcc/stdatomic.h
View file

@ -1,400 +0,0 @@
// 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.
/* This file was taken from:
* https://gist.github.com/nhatminhle/5181506
* It is a modification of the FreeBSD stdatomic header with some modifications
* so that it will work with gcc 4.7+ and Clang 3.1+.
* The original FreeBSD header can be found here:
* https://github.com/freebsd/freebsd/blob/release/10.2.0/sys/sys/stdatomic.h
*/
// *INDENT-OFF* (disable uncrustify)
/**** Start included file. ****/
/*
* An implementation of C11 stdatomic.h directly borrowed from FreeBSD
* (original copyright follows), with minor modifications for
* portability to other systems. Works for recent Clang (that
* implement the feature c_atomic) and GCC 4.7+; includes
* compatibility for GCC below 4.7 but I wouldn't recommend it.
*
* Caveats and limitations:
* - Only the ``_Atomic parentheses'' notation is implemented, while
* the ``_Atomic space'' one is not.
* - _Atomic types must be typedef'ed, or programs using them will
* not type check correctly (incompatible anonymous structure
* types).
* - Non-scalar _Atomic types would require runtime support for
* runtime locking, which, as far as I know, is not currently
* available on any system.
*/
/*-
* Copyright (c) 2011 Ed Schouten <ed@FreeBSD.org>
* David Chisnall <theraven@FreeBSD.org>
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*
* $FreeBSD: src/include/stdatomic.h,v 1.10.2.2 2012/05/30 19:21:54 theraven Exp $
*/
#ifndef _STDATOMIC_H_ // NOLINT
#define _STDATOMIC_H_
#ifdef __cplusplus
// This will suppress warnings about _Bool not being defined.
typedef bool _Bool;
#endif
#include <stddef.h>
#include <stdint.h>
#if !defined(__has_feature)
#define __has_feature(x) 0
#endif
#if !defined(__has_builtin)
#define __has_builtin(x) 0
#endif
#if !defined(__GNUC_PREREQ__)
#if defined(__GNUC__) && defined(__GNUC_MINOR__)
#define __GNUC_PREREQ__(maj, min) \
((__GNUC__ << 16) + __GNUC_MINOR__ >= ((maj) << 16) + (min))
#else
#define __GNUC_PREREQ__(maj, min) 0
#endif
#endif
#if !defined(__CLANG_ATOMICS) && !defined(__GNUC_ATOMICS)
#if __has_feature(c_atomic)
#define __CLANG_ATOMICS
#elif __GNUC_PREREQ__(4, 7)
#define __GNUC_ATOMICS
#elif !defined(__GNUC__)
#error "stdatomic.h does not support your compiler"
#endif
#endif
#if !defined(__CLANG_ATOMICS)
#define _Atomic(T) struct { volatile __typeof__(T) __val; }
#endif
/*
* 7.17.2 Initialization.
*/
#if defined(__CLANG_ATOMICS)
#define ATOMIC_VAR_INIT(value) (value)
#define atomic_init(obj, value) __c11_atomic_init(obj, value)
#else
#define ATOMIC_VAR_INIT(value) { .__val = (value) }
#define atomic_init(obj, value) do { \
(obj)->__val = (value); \
} while (0)
#endif
/*
* Clang and recent GCC both provide predefined macros for the memory
* orderings. If we are using a compiler that doesn't define them, use the
* clang values - these will be ignored in the fallback path.
*/
#ifndef __ATOMIC_RELAXED
#define __ATOMIC_RELAXED 0
#endif
#ifndef __ATOMIC_CONSUME
#define __ATOMIC_CONSUME 1
#endif
#ifndef __ATOMIC_ACQUIRE
#define __ATOMIC_ACQUIRE 2
#endif
#ifndef __ATOMIC_RELEASE
#define __ATOMIC_RELEASE 3
#endif
#ifndef __ATOMIC_ACQ_REL
#define __ATOMIC_ACQ_REL 4
#endif
#ifndef __ATOMIC_SEQ_CST
#define __ATOMIC_SEQ_CST 5
#endif
/*
* 7.17.3 Order and consistency.
*
* The memory_order_* constants that denote the barrier behaviour of the
* atomic operations.
*/
enum memory_order {
memory_order_relaxed = __ATOMIC_RELAXED,
memory_order_consume = __ATOMIC_CONSUME,
memory_order_acquire = __ATOMIC_ACQUIRE,
memory_order_release = __ATOMIC_RELEASE,
memory_order_acq_rel = __ATOMIC_ACQ_REL,
memory_order_seq_cst = __ATOMIC_SEQ_CST
};
typedef enum memory_order memory_order;
/*
* 7.17.4 Fences.
*/
#ifdef __CLANG_ATOMICS
#define atomic_thread_fence(order) __c11_atomic_thread_fence(order)
#define atomic_signal_fence(order) __c11_atomic_signal_fence(order)
#elif defined(__GNUC_ATOMICS)
#define atomic_thread_fence(order) __atomic_thread_fence(order)
#define atomic_signal_fence(order) __atomic_signal_fence(order)
#else
#define atomic_thread_fence(order) __sync_synchronize()
#define atomic_signal_fence(order) __asm volatile ("" : : : "memory")
#endif
/*
* 7.17.5 Lock-free property.
*/
#if defined(__CLANG_ATOMICS)
#define atomic_is_lock_free(obj) \
__c11_atomic_is_lock_free(sizeof(obj))
#elif defined(__GNUC_ATOMICS)
#define atomic_is_lock_free(obj) \
__atomic_is_lock_free(sizeof((obj)->__val))
#else
#define atomic_is_lock_free(obj) \
(sizeof((obj)->__val) <= sizeof(void *))
#endif
/*
* 7.17.6 Atomic integer types.
*/
typedef _Atomic(_Bool) atomic_bool;
typedef _Atomic(char) atomic_char;
typedef _Atomic(signed char) atomic_schar;
typedef _Atomic(unsigned char) atomic_uchar;
typedef _Atomic(short) atomic_short; // NOLINT
typedef _Atomic(unsigned short) atomic_ushort; // NOLINT
typedef _Atomic(int) atomic_int;
typedef _Atomic(unsigned int) atomic_uint;
typedef _Atomic(long) atomic_long; // NOLINT
typedef _Atomic(unsigned long) atomic_ulong; // NOLINT
typedef _Atomic(long long) atomic_llong; // NOLINT
typedef _Atomic(unsigned long long) atomic_ullong; // NOLINT
#if 0
typedef _Atomic(char16_t) atomic_char16_t;
typedef _Atomic(char32_t) atomic_char32_t;
#endif
typedef _Atomic(wchar_t) atomic_wchar_t;
typedef _Atomic(int_least8_t) atomic_int_least8_t;
typedef _Atomic(uint_least8_t) atomic_uint_least8_t;
typedef _Atomic(int_least16_t) atomic_int_least16_t;
typedef _Atomic(uint_least16_t) atomic_uint_least16_t;
typedef _Atomic(int_least32_t) atomic_int_least32_t;
typedef _Atomic(uint_least32_t) atomic_uint_least32_t;
typedef _Atomic(int_least64_t) atomic_int_least64_t;
typedef _Atomic(uint_least64_t) atomic_uint_least64_t;
typedef _Atomic(int_fast8_t) atomic_int_fast8_t;
typedef _Atomic(uint_fast8_t) atomic_uint_fast8_t;
typedef _Atomic(int_fast16_t) atomic_int_fast16_t;
typedef _Atomic(uint_fast16_t) atomic_uint_fast16_t;
typedef _Atomic(int_fast32_t) atomic_int_fast32_t;
typedef _Atomic(uint_fast32_t) atomic_uint_fast32_t;
typedef _Atomic(int_fast64_t) atomic_int_fast64_t;
typedef _Atomic(uint_fast64_t) atomic_uint_fast64_t;
typedef _Atomic(intptr_t) atomic_intptr_t;
typedef _Atomic(uintptr_t) atomic_uintptr_t;
typedef _Atomic(size_t) atomic_size_t;
typedef _Atomic(ptrdiff_t) atomic_ptrdiff_t;
typedef _Atomic(intmax_t) atomic_intmax_t;
typedef _Atomic(uintmax_t) atomic_uintmax_t;
/*
* 7.17.7 Operations on atomic types.
*/
/*
* Compiler-specific operations.
*/
#if defined(__CLANG_ATOMICS)
#define atomic_compare_exchange_strong_explicit(object, expected, \
desired, success, failure) \
__c11_atomic_compare_exchange_strong(object, expected, desired, \
success, failure)
#define atomic_compare_exchange_weak_explicit(object, expected, \
desired, success, failure) \
__c11_atomic_compare_exchange_weak(object, expected, desired, \
success, failure)
#define atomic_exchange_explicit(object, desired, order) \
__c11_atomic_exchange(object, desired, order)
#define atomic_fetch_add_explicit(object, operand, order) \
__c11_atomic_fetch_add(object, operand, order)
#define atomic_fetch_and_explicit(object, operand, order) \
__c11_atomic_fetch_and(object, operand, order)
#define atomic_fetch_or_explicit(object, operand, order) \
__c11_atomic_fetch_or(object, operand, order)
#define atomic_fetch_sub_explicit(object, operand, order) \
__c11_atomic_fetch_sub(object, operand, order)
#define atomic_fetch_xor_explicit(object, operand, order) \
__c11_atomic_fetch_xor(object, operand, order)
#define atomic_load_explicit(object, order) \
__c11_atomic_load(object, order)
#define atomic_store_explicit(object, desired, order) \
__c11_atomic_store(object, desired, order)
#elif defined(__GNUC_ATOMICS)
#define atomic_compare_exchange_strong_explicit(object, expected, \
desired, success, failure) \
__atomic_compare_exchange_n(&(object)->__val, expected, \
desired, 0, success, failure)
#define atomic_compare_exchange_weak_explicit(object, expected, \
desired, success, failure) \
__atomic_compare_exchange_n(&(object)->__val, expected, \
desired, 1, success, failure)
#define atomic_exchange_explicit(object, desired, order) \
__atomic_exchange_n(&(object)->__val, desired, order)
#define atomic_fetch_add_explicit(object, operand, order) \
__atomic_fetch_add(&(object)->__val, operand, order)
#define atomic_fetch_and_explicit(object, operand, order) \
__atomic_fetch_and(&(object)->__val, operand, order)
#define atomic_fetch_or_explicit(object, operand, order) \
__atomic_fetch_or(&(object)->__val, operand, order)
#define atomic_fetch_sub_explicit(object, operand, order) \
__atomic_fetch_sub(&(object)->__val, operand, order)
#define atomic_fetch_xor_explicit(object, operand, order) \
__atomic_fetch_xor(&(object)->__val, operand, order)
#define atomic_load_explicit(object, order) \
__atomic_load_n(&(object)->__val, order)
#define atomic_store_explicit(object, desired, order) \
__atomic_store_n(&(object)->__val, desired, order)
#else
#define atomic_compare_exchange_strong_explicit(object, expected, \
desired, success, failure) ({ \
__typeof__((object)->__val) __v; \
_Bool __r; \
__v = __sync_val_compare_and_swap(&(object)->__val, \
*(expected), desired); \
__r = *(expected) == __v; \
*(expected) = __v; \
__r; \
})
#define atomic_compare_exchange_weak_explicit(object, expected, \
desired, success, failure) \
atomic_compare_exchange_strong_explicit(object, expected, \
desired, success, failure)
#if __has_builtin(__sync_swap)
/* Clang provides a full-barrier atomic exchange - use it if available. */
#define atomic_exchange_explicit(object, desired, order) \
__sync_swap(&(object)->__val, desired)
#else
/*
* __sync_lock_test_and_set() is only an acquire barrier in theory (although in
* practice it is usually a full barrier) so we need an explicit barrier after
* it.
*/
#define atomic_exchange_explicit(object, desired, order) ({ \
__typeof__((object)->__val) __v; \
__v = __sync_lock_test_and_set(&(object)->__val, desired); \
__sync_synchronize(); \
__v; \
})
#endif
#define atomic_fetch_add_explicit(object, operand, order) \
__sync_fetch_and_add(&(object)->__val, operand)
#define atomic_fetch_and_explicit(object, operand, order) \
__sync_fetch_and_and(&(object)->__val, operand)
#define atomic_fetch_or_explicit(object, operand, order) \
__sync_fetch_and_or(&(object)->__val, operand)
#define atomic_fetch_sub_explicit(object, operand, order) \
__sync_fetch_and_sub(&(object)->__val, operand)
#define atomic_fetch_xor_explicit(object, operand, order) \
__sync_fetch_and_xor(&(object)->__val, operand)
#define atomic_load_explicit(object, order) \
__sync_fetch_and_add(&(object)->__val, 0)
#define atomic_store_explicit(object, desired, order) do { \
__sync_synchronize(); \
(object)->__val = (desired); \
__sync_synchronize(); \
} while (0)
#endif
/*
* Convenience functions.
*/
#define atomic_compare_exchange_strong(object, expected, desired) \
atomic_compare_exchange_strong_explicit(object, expected, \
desired, memory_order_seq_cst, memory_order_seq_cst)
#define atomic_compare_exchange_weak(object, expected, desired) \
atomic_compare_exchange_weak_explicit(object, expected, \
desired, memory_order_seq_cst, memory_order_seq_cst)
#define atomic_exchange(object, desired) \
atomic_exchange_explicit(object, desired, memory_order_seq_cst)
#define atomic_fetch_add(object, operand) \
atomic_fetch_add_explicit(object, operand, memory_order_seq_cst)
#define atomic_fetch_and(object, operand) \
atomic_fetch_and_explicit(object, operand, memory_order_seq_cst)
#define atomic_fetch_or(object, operand) \
atomic_fetch_or_explicit(object, operand, memory_order_seq_cst)
#define atomic_fetch_sub(object, operand) \
atomic_fetch_sub_explicit(object, operand, memory_order_seq_cst)
#define atomic_fetch_xor(object, operand) \
atomic_fetch_xor_explicit(object, operand, memory_order_seq_cst)
#define atomic_load(object) \
atomic_load_explicit(object, memory_order_seq_cst)
#define atomic_store(object, desired) \
atomic_store_explicit(object, desired, memory_order_seq_cst)
/*
* 7.17.8 Atomic flag type and operations.
*/
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_ */ // NOLINT

406
rcl/src/rcl/stdatomic_helper/win32/stdatomic.h
View file

@ -1,406 +0,0 @@
// 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.
/*
* An implementation of C11 stdatomic.h for Win32, part borrowed from FreeBSD
* (original copyright follows), with major modifications for
* portability to Win32 systems.
*
* Caveats and limitations:
* - Only the ``_Atomic parentheses'' notation is implemented, while
* the ``_Atomic space'' one is not.
* - _Atomic types must be typedef'ed, or programs using them will
* not type check correctly (incompatible anonymous structure
* types).
* - Support is limited to 16, 32, and 64 bit types only.
* - Stripped down to only the functions used locally in rcl.
*/
/*-
* Copyright (c) 2011 Ed Schouten <ed@FreeBSD.org>
* David Chisnall <theraven@FreeBSD.org>
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*
* $FreeBSD: src/include/stdatomic.h,v 1.10.2.2 2012/05/30 19:21:54 theraven Exp $
*/
#if !defined(_WIN32)
#error "this stdatomic.h does not support your compiler"
#endif // !defined(_WIN32)
#ifndef RCL__STDATOMIC_HELPER__WIN32__STDATOMIC_H_
#define RCL__STDATOMIC_HELPER__WIN32__STDATOMIC_H_
#include <Windows.h>
#include <stddef.h>
#include <stdint.h>
#include <stdio.h>
#include <rcutils/logging_macros.h>
// In MSVC, correct alignment of each type is already ensured.
#define _Atomic(T) struct { T __val; }
/*
* 7.17.2 Initialization.
*/
#define ATOMIC_VAR_INIT(value) {.__val = (value)}
#define atomic_init(obj, value) do { \
(obj)->__val = (value); \
} while (0)
/*
* Clang and recent GCC both provide predefined macros for the memory
* orderings. If we are using a compiler that doesn't define them, use the
* clang values - these will be ignored in the fallback path.
*/
#ifndef __ATOMIC_RELAXED
#define __ATOMIC_RELAXED 0
#endif
#ifndef __ATOMIC_CONSUME
#define __ATOMIC_CONSUME 1
#endif
#ifndef __ATOMIC_ACQUIRE
#define __ATOMIC_ACQUIRE 2
#endif
#ifndef __ATOMIC_RELEASE
#define __ATOMIC_RELEASE 3
#endif
#ifndef __ATOMIC_ACQ_REL
#define __ATOMIC_ACQ_REL 4
#endif
#ifndef __ATOMIC_SEQ_CST
#define __ATOMIC_SEQ_CST 5
#endif
/*
* 7.17.3 Order and consistency.
*
* The memory_order_* constants that denote the barrier behaviour of the
* atomic operations.
*/
enum memory_order
{
memory_order_relaxed = __ATOMIC_RELAXED,
memory_order_consume = __ATOMIC_CONSUME,
memory_order_acquire = __ATOMIC_ACQUIRE,
memory_order_release = __ATOMIC_RELEASE,
memory_order_acq_rel = __ATOMIC_ACQ_REL,
memory_order_seq_cst = __ATOMIC_SEQ_CST
};
typedef enum memory_order memory_order;
/*
* 7.17.4 Fences.
*/
#define atomic_thread_fence(order) MemoryBarrier()
#define atomic_signal_fence(order) _ReadWriteBarrier()
/*
* 7.17.5 Lock-free property.
*/
#define atomic_is_lock_free(obj) (sizeof((obj)->__val) <= sizeof(void *))
/*
* 7.17.6 Atomic integer types.
*/
typedef _Atomic (_Bool) atomic_bool;
typedef _Atomic (char) atomic_char;
typedef _Atomic (signed char) atomic_schar;
typedef _Atomic (unsigned char) atomic_uchar;
typedef _Atomic (short) atomic_short; // NOLINT
typedef _Atomic (unsigned short) atomic_ushort; // NOLINT
typedef _Atomic (int) atomic_int;
typedef _Atomic (unsigned int) atomic_uint;
typedef _Atomic (long) atomic_long; // NOLINT
typedef _Atomic (unsigned long) atomic_ulong; // NOLINT
typedef _Atomic (long long) atomic_llong; // NOLINT
typedef _Atomic (unsigned long long) atomic_ullong; // NOLINT
#if 0
typedef _Atomic (char16_t) atomic_char16_t;
typedef _Atomic (char32_t) atomic_char32_t;
typedef _Atomic (wchar_t) atomic_wchar_t;
typedef _Atomic (int_least8_t) atomic_int_least8_t;
typedef _Atomic (uint_least8_t) atomic_uint_least8_t;
#endif
typedef _Atomic (int_least16_t) atomic_int_least16_t;
typedef _Atomic (uint_least16_t) atomic_uint_least16_t;
typedef _Atomic (int_least32_t) atomic_int_least32_t;
typedef _Atomic (uint_least32_t) atomic_uint_least32_t;
typedef _Atomic (int_least64_t) atomic_int_least64_t;
typedef _Atomic (uint_least64_t) atomic_uint_least64_t;
#if 0
typedef _Atomic (int_fast8_t) atomic_int_fast8_t;
typedef _Atomic (uint_fast8_t) atomic_uint_fast8_t;
#endif
typedef _Atomic (int_fast16_t) atomic_int_fast16_t;
typedef _Atomic (uint_fast16_t) atomic_uint_fast16_t;
typedef _Atomic (int_fast32_t) atomic_int_fast32_t;
typedef _Atomic (uint_fast32_t) atomic_uint_fast32_t;
typedef _Atomic (int_fast64_t) atomic_int_fast64_t;
typedef _Atomic (uint_fast64_t) atomic_uint_fast64_t;
typedef _Atomic (intptr_t) atomic_intptr_t;
typedef _Atomic (uintptr_t) atomic_uintptr_t;
typedef _Atomic (size_t) atomic_size_t;
typedef _Atomic (ptrdiff_t) atomic_ptrdiff_t;
typedef _Atomic (intmax_t) atomic_intmax_t;
typedef _Atomic (uintmax_t) atomic_uintmax_t;
/*
* 7.17.7 Operations on atomic types. (pruned modified for Windows' crappy C compiler)
*/
#define rcl_win32_atomic_compare_exchange_strong(object, out, expected, desired) \
__pragma(warning(push)) \
__pragma(warning(disable: 4244)) \
do { \
switch (sizeof(out)) { \
case sizeof(uint64_t): \
out = _InterlockedCompareExchange64((LONGLONG *) object, desired, *expected); \
break; \
case sizeof(uint32_t): \
out = _InterlockedCompareExchange((LONG *) object, desired, *expected); \
break; \
case sizeof(uint16_t): \
out = _InterlockedCompareExchange16((SHORT *) object, desired, *expected); \
break; \
case sizeof(uint8_t): \
out = _InterlockedCompareExchange8((char *) object, desired, *expected); \
break; \
default: \
RCUTILS_LOG_ERROR_NAMED( \
ROS_PACKAGE_NAME, "Unsupported integer type in atomic_compare_exchange_strong"); \
exit(-1); \
break; \
} \
} while (0); \
__pragma(warning(pop))
#define rcl_win32_atomic_compare_exchange_weak(object, out, expected, desired) \
rcl_win32_atomic_compare_exchange_strong(object, out, expected, desired)
#define rcl_win32_atomic_exchange(object, out, desired) \
__pragma(warning(push)) \
__pragma(warning(disable: 4244)) \
do { \
switch (sizeof(out)) { \
case sizeof(uint64_t): \
out = _InterlockedExchange64((LONGLONG *) object, desired); \
break; \
case sizeof(uint32_t): \
out = _InterlockedExchange((LONG *) object, desired); \
break; \
case sizeof(uint16_t): \
out = _InterlockedExchange16((SHORT *) object, desired); \
break; \
case sizeof(uint8_t): \
out = _InterlockedExchange8((char *) object, desired); \
break; \
default: \
RCUTILS_LOG_ERROR_NAMED( \
ROS_PACKAGE_NAME, "Unsupported integer type in atomic_exchange_strong"); \
exit(-1); \
break; \
} \
} while (0); \
__pragma(warning(pop))
#define rcl_win32_atomic_fetch_add(object, out, operand) \
__pragma(warning(push)) \
__pragma(warning(disable: 4244)) \
do { \
switch (sizeof(out)) { \
case sizeof(uint64_t): \
out = _InterlockedExchangeAdd64((LONGLONG *) object, operand); \
break; \
case sizeof(uint32_t): \
out = _InterlockedExchangeAdd((LONG *) object, operand); \
break; \
case sizeof(uint16_t): \
out = _InterlockedExchangeAdd16((SHORT *) object, operand); \
break; \
case sizeof(uint8_t): \
out = _InterlockedExchangeAdd8((char *) object, operand); \
break; \
default: \
RCUTILS_LOG_ERROR_NAMED( \
ROS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_add"); \
exit(-1); \
break; \
} \
} while (0); \
__pragma(warning(pop))
#define rcl_win32_atomic_fetch_and(object, out, operand) \
__pragma(warning(push)) \
__pragma(warning(disable: 4244)) \
do { \
switch (sizeof(out)) { \
case sizeof(uint64_t): \
out = _InterlockedAnd64((LONGLONG *) object, operand); \
break; \
case sizeof(uint32_t): \
out = _InterlockedAnd((LONG *) object, operand); \
break; \
case sizeof(uint16_t): \
out = _InterlockedAnd16((SHORT *) object, operand); \
break; \
case sizeof(uint8_t): \
out = _InterlockedAnd8((char *) object, operand); \
break; \
default: \
RCUTILS_LOG_ERROR_NAMED( \
ROS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_and"); \
exit(-1); \
break; \
} \
} while (0); \
__pragma(warning(pop))
#define rcl_win32_atomic_fetch_or(object, out, operand) \
__pragma(warning(push)) \
__pragma(warning(disable: 4244)) \
do { \
switch (sizeof(out)) { \
case sizeof(uint64_t): \
out = _InterlockedOr64((LONGLONG *) object, operand); \
break; \
case sizeof(uint32_t): \
out = _InterlockedOr((LONG *) object, operand); \
break; \
case sizeof(uint16_t): \
out = _InterlockedOr16((SHORT *) object, operand); \
break; \
case sizeof(uint8_t): \
out = _InterlockedOr8((char *) object, operand); \
break; \
default: \
RCUTILS_LOG_ERROR_NAMED( \
ROS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_or"); \
exit(-1); \
break; \
} \
} while (0); \
__pragma(warning(pop))
#define rcl_win32_atomic_fetch_sub(object, out, operand) \
rcl_win32_atomic_fetch_add(object, out, -(operand))
#define rcl_win32_atomic_fetch_xor(object, out, operand) \
__pragma(warning(push)) \
__pragma(warning(disable: 4244)) \
do { \
switch (sizeof(out)) { \
case sizeof(uint64_t): \
out = _InterlockedXor64((LONGLONG *) object, operand); \
break; \
case sizeof(uint32_t): \
out = _InterlockedXor((LONG *) object, operand); \
break; \
case sizeof(uint16_t): \
out = _InterlockedXor16((SHORT *) object, operand); \
break; \
case sizeof(uint8_t): \
out = _InterlockedXor8((char *) object, operand); \
break; \
default: \
RCUTILS_LOG_ERROR_NAMED( \
ROS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_xor"); \
exit(-1); \
break; \
} \
} while (0); \
__pragma(warning(pop))
#define rcl_win32_atomic_load(object, out) \
__pragma(warning(push)) \
__pragma(warning(disable: 4244)) \
do { \
switch (sizeof(out)) { \
case sizeof(uint64_t): \
out = _InterlockedExchangeAdd64((LONGLONG *) object, 0); \
break; \
case sizeof(uint32_t): \
out = _InterlockedExchangeAdd((LONG *) object, 0); \
break; \
case sizeof(uint16_t): \
out = _InterlockedExchangeAdd16((SHORT *) object, 0); \
break; \
case sizeof(uint8_t): \
out = _InterlockedExchangeAdd8((char *) object, 0); \
break; \
default: \
RCUTILS_LOG_ERROR_NAMED( \
ROS_PACKAGE_NAME, "Unsupported integer type in atomic_load"); \
exit(-1); \
break; \
} \
} while (0); \
__pragma(warning(pop))
#define rcl_win32_atomic_store(object, desired) \
do { \
MemoryBarrier(); \
(object)->__val = (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 // RCL__STDATOMIC_HELPER__WIN32__STDATOMIC_H_

7
rcl/src/rcl/time.c
View file

@ -18,12 +18,11 @@
#include <stdlib.h> #include <stdlib.h>
#include "./common.h" #include "./common.h"
#include "./stdatomic_helper.h"
#include "rcl/allocator.h" #include "rcl/allocator.h"
#include "rcl/error_handling.h" #include "rcl/error_handling.h"
#include "rcutils/stdatomic_helper.h"
#include "rcutils/time.h" #include "rcutils/time.h"
// Internal storage for RCL_ROS_TIME implementation // Internal storage for RCL_ROS_TIME implementation
typedef struct rcl_ros_clock_storage_t typedef struct rcl_ros_clock_storage_t
{ {
@ -67,7 +66,7 @@ rcl_get_ros_time(void * data, rcl_time_point_value_t * current_time)
if (!t->active) { if (!t->active) {
return rcl_get_system_time(data, current_time); return rcl_get_system_time(data, current_time);
} }
*current_time = rcl_atomic_load_uint64_t(&(t->current_time)); *current_time = rcutils_atomic_load_uint64_t(&(t->current_time));
return RCL_RET_OK; return RCL_RET_OK;
} }
@ -371,7 +370,7 @@ rcl_set_ros_time_override(
time_jump.delta.nanoseconds = time_value - current_time; time_jump.delta.nanoseconds = time_value - current_time;
_rcl_clock_call_callbacks(clock, &time_jump, true); _rcl_clock_call_callbacks(clock, &time_jump, true);
} }
rcl_atomic_store(&(storage->current_time), time_value); rcutils_atomic_store(&(storage->current_time), time_value);
if (storage->active) { if (storage->active) {
_rcl_clock_call_callbacks(clock, &time_jump, false); _rcl_clock_call_callbacks(clock, &time_jump, false);
} }

58
rcl/src/rcl/timer.c
View file

@ -21,9 +21,9 @@ extern "C"
#include <inttypes.h> #include <inttypes.h>
#include "./stdatomic_helper.h"
#include "rcl/error_handling.h" #include "rcl/error_handling.h"
#include "rcutils/logging_macros.h" #include "rcutils/logging_macros.h"
#include "rcutils/stdatomic_helper.h"
#include "rcutils/time.h" #include "rcutils/time.h"
typedef struct rcl_timer_impl_t typedef struct rcl_timer_impl_t
@ -77,8 +77,8 @@ void _rcl_timer_time_jump(
// No time credit if clock is uninitialized // No time credit if clock is uninitialized
return; return;
} }
const int64_t next_call_time = rcl_atomic_load_int64_t(&timer->impl->next_call_time); const int64_t next_call_time = rcutils_atomic_load_int64_t(&timer->impl->next_call_time);
rcl_atomic_store(&timer->impl->time_credit, next_call_time - now); rcutils_atomic_store(&timer->impl->time_credit, next_call_time - now);
} }
} else { } else {
rcl_time_point_value_t now; rcl_time_point_value_t now;
@ -86,9 +86,9 @@ void _rcl_timer_time_jump(
RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to get current time in jump callback"); RCUTILS_LOG_ERROR_NAMED(ROS_PACKAGE_NAME, "Failed to get current time in jump callback");
return; return;
} }
const int64_t last_call_time = rcl_atomic_load_int64_t(&timer->impl->last_call_time); const int64_t last_call_time = rcutils_atomic_load_int64_t(&timer->impl->last_call_time);
const int64_t next_call_time = rcl_atomic_load_int64_t(&timer->impl->next_call_time); const int64_t next_call_time = rcutils_atomic_load_int64_t(&timer->impl->next_call_time);
const int64_t period = rcl_atomic_load_uint64_t(&timer->impl->period); const int64_t period = rcutils_atomic_load_uint64_t(&timer->impl->period);
if (RCL_ROS_TIME_ACTIVATED == time_jump->clock_change || if (RCL_ROS_TIME_ACTIVATED == time_jump->clock_change ||
RCL_ROS_TIME_DEACTIVATED == time_jump->clock_change) RCL_ROS_TIME_DEACTIVATED == time_jump->clock_change)
{ {
@ -97,11 +97,11 @@ void _rcl_timer_time_jump(
// Can't apply time credit if clock is uninitialized // Can't apply time credit if clock is uninitialized
return; return;
} }
int64_t time_credit = rcl_atomic_exchange_int64_t(&timer->impl->time_credit, 0); int64_t time_credit = rcutils_atomic_exchange_int64_t(&timer->impl->time_credit, 0);
if (time_credit) { if (time_credit) {
// set times in new epoch so timer only waits the remainder of the period // set times in new epoch so timer only waits the remainder of the period
rcl_atomic_store(&timer->impl->next_call_time, now - time_credit + period); rcutils_atomic_store(&timer->impl->next_call_time, now - time_credit + period);
rcl_atomic_store(&timer->impl->last_call_time, now - time_credit); rcutils_atomic_store(&timer->impl->last_call_time, now - time_credit);
} }
} else if (next_call_time <= now) { } else if (next_call_time <= now) {
// Post Forward jump and timer is ready // Post Forward jump and timer is ready
@ -112,8 +112,8 @@ void _rcl_timer_time_jump(
} else if (now < last_call_time) { } else if (now < last_call_time) {
// Post backwards time jump that went further back than 1 period // Post backwards time jump that went further back than 1 period
// next callback should happen after 1 period // next callback should happen after 1 period
rcl_atomic_store(&timer->impl->next_call_time, now + period); rcutils_atomic_store(&timer->impl->next_call_time, now + period);
rcl_atomic_store(&timer->impl->last_call_time, now); rcutils_atomic_store(&timer->impl->last_call_time, now);
return; return;
} }
} }
@ -234,7 +234,7 @@ rcl_timer_call(rcl_timer_t * timer)
{ {
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Calling timer"); RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Calling timer");
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
if (rcl_atomic_load_bool(&timer->impl->canceled)) { if (rcutils_atomic_load_bool(&timer->impl->canceled)) {
RCL_SET_ERROR_MSG("timer is canceled"); RCL_SET_ERROR_MSG("timer is canceled");
return RCL_RET_TIMER_CANCELED; return RCL_RET_TIMER_CANCELED;
} }
@ -248,12 +248,12 @@ rcl_timer_call(rcl_timer_t * timer)
return RCL_RET_ERROR; return RCL_RET_ERROR;
} }
rcl_time_point_value_t previous_ns = rcl_time_point_value_t previous_ns =
rcl_atomic_exchange_int64_t(&timer->impl->last_call_time, now); rcutils_atomic_exchange_int64_t(&timer->impl->last_call_time, now);
rcl_timer_callback_t typed_callback = rcl_timer_callback_t typed_callback =
(rcl_timer_callback_t)rcl_atomic_load_uintptr_t(&timer->impl->callback); (rcl_timer_callback_t)rcutils_atomic_load_uintptr_t(&timer->impl->callback);
int64_t next_call_time = rcl_atomic_load_int64_t(&timer->impl->next_call_time); int64_t next_call_time = rcutils_atomic_load_int64_t(&timer->impl->next_call_time);
int64_t period = rcl_atomic_load_uint64_t(&timer->impl->period); int64_t period = rcutils_atomic_load_uint64_t(&timer->impl->period);
// always move the next call time by exactly period forward // always move the next call time by exactly period forward
// don't use now as the base to avoid extending each cycle by the time // don't use now as the base to avoid extending each cycle by the time
// between the timer being ready and the callback being triggered // between the timer being ready and the callback being triggered
@ -271,7 +271,7 @@ rcl_timer_call(rcl_timer_t * timer)
next_call_time += periods_ahead * period; next_call_time += periods_ahead * period;
} }
} }
rcl_atomic_store(&timer->impl->next_call_time, next_call_time); rcutils_atomic_store(&timer->impl->next_call_time, next_call_time);
if (typed_callback != NULL) { if (typed_callback != NULL) {
int64_t since_last_call = now - previous_ns; int64_t since_last_call = now - previous_ns;
@ -290,7 +290,7 @@ rcl_timer_is_ready(const rcl_timer_t * timer, bool * is_ready)
if (ret != RCL_RET_OK) { if (ret != RCL_RET_OK) {
return ret; // rcl error state should already be set. return ret; // rcl error state should already be set.
} }
*is_ready = (time_until_next_call <= 0) && !rcl_atomic_load_bool(&timer->impl->canceled); *is_ready = (time_until_next_call <= 0) && !rcutils_atomic_load_bool(&timer->impl->canceled);
return RCL_RET_OK; return RCL_RET_OK;
} }
@ -305,7 +305,7 @@ rcl_timer_get_time_until_next_call(const rcl_timer_t * timer, int64_t * time_unt
return ret; // rcl error state should already be set. return ret; // rcl error state should already be set.
} }
*time_until_next_call = *time_until_next_call =
rcl_atomic_load_int64_t(&timer->impl->next_call_time) - now; rcutils_atomic_load_int64_t(&timer->impl->next_call_time) - now;
return RCL_RET_OK; return RCL_RET_OK;
} }
@ -322,7 +322,7 @@ rcl_timer_get_time_since_last_call(
return ret; // rcl error state should already be set. return ret; // rcl error state should already be set.
} }
*time_since_last_call = *time_since_last_call =
now - rcl_atomic_load_int64_t(&timer->impl->last_call_time); now - rcutils_atomic_load_int64_t(&timer->impl->last_call_time);
return RCL_RET_OK; return RCL_RET_OK;
} }
@ -331,7 +331,7 @@ rcl_timer_get_period(const rcl_timer_t * timer, int64_t * period)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(period, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(period, RCL_RET_INVALID_ARGUMENT);
*period = rcl_atomic_load_uint64_t(&timer->impl->period); *period = rcutils_atomic_load_uint64_t(&timer->impl->period);
return RCL_RET_OK; return RCL_RET_OK;
} }
@ -340,7 +340,7 @@ rcl_timer_exchange_period(const rcl_timer_t * timer, int64_t new_period, int64_t
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(old_period, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(old_period, RCL_RET_INVALID_ARGUMENT);
*old_period = rcl_atomic_exchange_uint64_t(&timer->impl->period, new_period); *old_period = rcutils_atomic_exchange_uint64_t(&timer->impl->period, new_period);
RCUTILS_LOG_DEBUG_NAMED( RCUTILS_LOG_DEBUG_NAMED(
ROS_PACKAGE_NAME, "Updated timer period from '%" PRIu64 "ns' to '%" PRIu64 "ns'", ROS_PACKAGE_NAME, "Updated timer period from '%" PRIu64 "ns' to '%" PRIu64 "ns'",
*old_period, new_period); *old_period, new_period);
@ -352,7 +352,7 @@ rcl_timer_get_callback(const rcl_timer_t * timer)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(timer, NULL); RCL_CHECK_ARGUMENT_FOR_NULL(timer, NULL);
RCL_CHECK_FOR_NULL_WITH_MSG(timer->impl, "timer is invalid", return NULL); RCL_CHECK_FOR_NULL_WITH_MSG(timer->impl, "timer is invalid", return NULL);
return (rcl_timer_callback_t)rcl_atomic_load_uintptr_t(&timer->impl->callback); return (rcl_timer_callback_t)rcutils_atomic_load_uintptr_t(&timer->impl->callback);
} }
rcl_timer_callback_t rcl_timer_callback_t
@ -361,7 +361,7 @@ rcl_timer_exchange_callback(rcl_timer_t * timer, const rcl_timer_callback_t new_
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Updating timer callback"); RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Updating timer callback");
RCL_CHECK_ARGUMENT_FOR_NULL(timer, NULL); RCL_CHECK_ARGUMENT_FOR_NULL(timer, NULL);
RCL_CHECK_FOR_NULL_WITH_MSG(timer->impl, "timer is invalid", return NULL); RCL_CHECK_FOR_NULL_WITH_MSG(timer->impl, "timer is invalid", return NULL);
return (rcl_timer_callback_t)rcl_atomic_exchange_uintptr_t( return (rcl_timer_callback_t)rcutils_atomic_exchange_uintptr_t(
&timer->impl->callback, (uintptr_t)new_callback); &timer->impl->callback, (uintptr_t)new_callback);
} }
@ -370,7 +370,7 @@ rcl_timer_cancel(rcl_timer_t * timer)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_FOR_NULL_WITH_MSG(timer->impl, "timer is invalid", return RCL_RET_TIMER_INVALID); RCL_CHECK_FOR_NULL_WITH_MSG(timer->impl, "timer is invalid", return RCL_RET_TIMER_INVALID);
rcl_atomic_store(&timer->impl->canceled, true); rcutils_atomic_store(&timer->impl->canceled, true);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Timer canceled"); RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Timer canceled");
return RCL_RET_OK; return RCL_RET_OK;
} }
@ -380,7 +380,7 @@ rcl_timer_is_canceled(const rcl_timer_t * timer, bool * is_canceled)
{ {
RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(is_canceled, RCL_RET_INVALID_ARGUMENT); RCL_CHECK_ARGUMENT_FOR_NULL(is_canceled, RCL_RET_INVALID_ARGUMENT);
*is_canceled = rcl_atomic_load_bool(&timer->impl->canceled); *is_canceled = rcutils_atomic_load_bool(&timer->impl->canceled);
return RCL_RET_OK; return RCL_RET_OK;
} }
@ -394,9 +394,9 @@ rcl_timer_reset(rcl_timer_t * timer)
if (now_ret != RCL_RET_OK) { if (now_ret != RCL_RET_OK) {
return now_ret; // rcl error state should already be set. return now_ret; // rcl error state should already be set.
} }
int64_t period = rcl_atomic_load_uint64_t(&timer->impl->period); int64_t period = rcutils_atomic_load_uint64_t(&timer->impl->period);
rcl_atomic_store(&timer->impl->next_call_time, now + period); rcutils_atomic_store(&timer->impl->next_call_time, now + period);
rcl_atomic_store(&timer->impl->canceled, false); rcutils_atomic_store(&timer->impl->canceled, false);
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Timer successfully reset"); RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Timer successfully reset");
return RCL_RET_OK; return RCL_RET_OK;
} }

1
rcl/src/rcl/wait.c
View file

@ -24,7 +24,6 @@ extern "C"
#include <stdbool.h> #include <stdbool.h>
#include <string.h> #include <string.h>
#include "./stdatomic_helper.h"
#include "rcl/error_handling.h" #include "rcl/error_handling.h"
#include "rcl/time.h" #include "rcl/time.h"
#include "rcutils/logging_macros.h" #include "rcutils/logging_macros.h"