osapi_config.h

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/*
 * FILE: osapi_config.h - OS Configuration
 *
 * (c) Copyright, Real-Time Innovations, 2012-2015
 *
 * All rights reserved.
 *
 * No duplications, whole or partial, manual or electronic, may be made
 * without express written permission.  Any such copies, or
 * revisions thereof, must display this notice unaltered.
 * This code contains trade secrets of Real-Time Innovations, Inc.
 *
 * Modification History
 * --------------------
 * 23apr2013,eh  MICRO-106: add RTI_HAVE_LONG_DOUBLE comment 
 * 23feb2012,tk  Written
 *
 */

/*ce \file
 *   \brief OS API Configuration
 */
#ifndef osapi_config_h
#define osapi_config_h

#define RTI_PRIVATE static

/* OSAPI_PLATFORM_XXX
 * Defines platforms supported by OSAPI.
 *
 * The platform includes:
 * - OS API
 * - Hardware dependencies
 *
 * The platform specific OSAPI should include. Any HW dependencies to support
 * portable code. Likely candidates are clock/timer support.
 */
#define OSAPI_PLATFORM_POSIX      1
#define OSAPI_PLATFORM_STOS       2    /* not currently supported */
#define OSAPI_PLATFORM_FREERTOS   3
#define OSAPI_PLATFORM_VXWORKS    4
#define OSAPI_PLATFORM_WINDOWS    5
#define OSAPI_PLATFORM_STELLARIS  6

/* The global configuration is read first. Local definitions must
 * check if the global configuration has set an option or not. Note that
 * a module cannot disable a feature.
 */
#ifdef HAVE_GLOBAL_CONFIG
#include "rti_me_config.h"
#endif

/*
 * ENABLE_FACE_COMPLIANCE:
 * 0 - No compliance with FACE is required
 * 1 - Comply with the SECURITY profile (not supported)
 * 2 - Comply with the SAFTEY_BASE profile (not supported)
 * 3 - Comply with the SAFETY_EXTENDED profile (supported)
 * 4 - Comply with the GENERAL profile (supported)
 */
#define FACE_COMPLIANCE_LEVEL_NONE             0
#define FACE_COMPLIANCE_LEVEL_SECURITY         1
#define FACE_COMPLIANCE_LEVEL_SAFETY_BASE      2
#define FACE_COMPLIANCE_LEVEL_SAFETY_EXTENDED  3
#define FACE_COMPLIANCE_LEVEL_GENERAL          4

#ifndef ENABLE_FACE_COMPLIANCE
#define ENABLE_FACE_COMPLIANCE                 FACE_COMPLIANCE_LEVEL_NONE
#endif

#if (ENABLE_FACE_COMPLIANCE > FACE_COMPLIANCE_LEVEL_NONE) && \
      (ENABLE_FACE_COMPLIANCE < FACE_COMPLIANCE_LEVEL_SAFTEY_EXTENDED)
#error "RTI Connext Micro only support FACE profile Safety Extended and higher"
#endif

#ifndef OSAPI_ENABLE_LOG
#if NDEBUG && defined(RTI_CERT)
#define OSAPI_ENABLE_LOG 0
#else
#define OSAPI_ENABLE_LOG 1
#endif
#endif

#ifndef OSAPI_ENABLE_TRACE
#if NDEBUG || defined(RTI_CERT)
#define OSAPI_ENABLE_TRACE 0
#else
#define OSAPI_ENABLE_TRACE 1
#endif
#endif

#if OSAPI_ENABLE_TRACE && !OSAPI_ENABLE_LOG
#warning "OSAPI_ENABLE_TRACE=1 requires OSAPI_ENABLE_LOG=1, but OSAPI_ENABLE_LOG=0. Forcing OSAPI_ENABLE_LOG=1"
#ifdef OSAPI_ENABLE_LOG
#undef OSAPI_ENABLE_LOG
#endif
#define OSAPI_ENABLE_LOG 1
#endif

#ifndef OSAPI_ENABLE_PRECONDITION
#if NDEBUG || defined(RTI_CERT)
#define OSAPI_ENABLE_PRECONDITION 0
#else
#define OSAPI_ENABLE_PRECONDITION 1
#endif
#endif

#if OSAPI_ENABLE_PRECONDITION
#define PRECOND_ARG(x_)
#else
#define PRECOND_ARG(x_) (void)(x_);
#endif

#if defined(__GNUC__) && (__GNUC__ >= 4)
#define MUST_CHECK_RETURN __attribute__((warn_unused_result))
#define SHOULD_CHECK_RETURN
#define FUNCTION_SHOULD_TYPEDEF(ftdef_) \
typedef SHOULD_CHECK_RETURN ftdef_;
#define FUNCTION_MUST_TYPEDEF(ftdef_) \
typedef MUST_CHECK_RETURN ftdef_;
#elif defined(_MSC_VER) || defined(WIN32)
#include <CodeAnalysis\SourceAnnotations.h>
#define MUST_CHECK_RETURN [returnvalue:SA_Post(MustCheck=SA_Yes)]
#define SHOULD_CHECK_RETURN
#define FUNCTION_SHOULD_TYPEDEF(ftdef_) \
typedef ftdef_;
#define FUNCTION_MUST_TYPEDEF(ftdef_) \
typedef ftdef_;
#else
#define MUST_CHECK_RETURN
#define SHOULD_CHECK_RETURN
#define FUNCTION_SHOULD_TYPEDEF(ftdef_) \
typedef SHOULD_CHECK_RETURN ftdef_;
#define FUNCTION_MUST_TYPEDEF(ftdef_) \
typedef MUST_CHECK_RETURN ftdef_;
#endif

#define UNUSED_ARG(x) (void)(x)
#define IGNORE_RETVAL(x) (void)(x)

/* If the platform has not been specified, attempt to determine it.
 */
#ifndef OSAPI_PLATFORM
#if defined(__APPLE__) && defined(__MACH__)
#define OSAPI_PLATFORM OSAPI_PLATFORM_POSIX
#define OSAPI_HAVE_PRINTF 1
#elif defined(__linux__)
#define OSAPI_PLATFORM OSAPI_PLATFORM_POSIX
#define OSAPI_HAVE_PRINTF 1
#elif defined(_MSC_VER) || defined(WIN32)
#define OSAPI_PLATFORM OSAPI_PLATFORM_WINDOWS
#define OSAPI_HAVE_PRINTF_S 1
#elif defined(__vxworks)
#define OSAPI_HAVE_PRINTF   1
#define OSAPI_PLATFORM OSAPI_PLATFORM_VXWORKS
#else
#error "Unable to determine OSAPI_PLATFORM. Please specify."
#endif
#endif

/* INCLUDE_POSIX
 *
 * Set INCLUDE_POSIX is the target platform used the POSIX API. Note that
 * 100% POSIX compliance is required, it is expected that nuances in the API
 * is reflected in the POSIX platform files. This is a coarse grained
 * inclusion.
 */
#if OSAPI_PLATFORM == OSAPI_PLATFORM_POSIX

#if  ENABLE_FACE_COMPLIANCE > FACE_COMPLIANCE_LEVEL_NONE
#if OSAPI_HAVE_PRINTF
#undef OSAPI_HAVE_PRINTF
#define OSAPI_HAVE_PRINTF 0
#endif
#endif

#ifdef _POSIX_C_SOURCE
#undef _POSIX_C_SOURCE
#endif
#define _POSIX_C_SOURCE 200112L

#ifdef _XOPEN_SOURCE
#undef _XOPEN_SOURCE
#endif
#define _XOPEN_SOURCE 700

#ifndef INCLUDE_POSIX
#define INCLUDE_POSIX
#endif
#if defined(__APPLE__) && defined(__MACH__)
#define _DARWIN_C_SOURCE
#endif
#ifndef RTI_UNIX
#define RTI_UNIX
#endif
#if defined(__linux__)
#if !defined(OS_ANDROID)
#include <features.h>
#else
#ifdef _GNU_SOURCE
#undef _GNU_SOURCE
#endif
#endif
#if defined (__GLIBC_PREREQ)
#if __GLIBC_PREREQ(2,9)
#include <endian.h>
#endif
#elif defined (OS_ANDROID)
#include <endian.h>
#endif
#endif
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <errno.h>
#include <sys/time.h>
#include <time.h>
#include <sys/types.h>
#include <string.h>
#define HAVE_SOCKET_API
#define RTI_HAVE_FLOAT
#if defined(__APPLE__) && defined(__MACH__)
#include <malloc/malloc.h>
#define HAVE_MEMALIGN 0
#if ENABLE_FACE_COMPLIANCE > FACE_COMPLIANCE_LEVEL_NONE
#error "FACE compliance is not supported in Darwin"
#endif
#define USE_TIMER_GCD
#define USE_TIMER_THREAD_SEMAPHORE
#ifndef RTI_DARWIN
#define RTI_DARWIN
#endif /* RTI_DARWIN */
#if !defined(RTI_ENDIAN_BIG) && !defined(RTI_ENDIAN_LITTLE)
#ifdef __LITTLE_ENDIAN__
#define RTI_ENDIAN_LITTLE 1
#else
#define RTI_ENDIAN_BIG    1
#endif /* !defined(RTI_ENDIAN_BIG) && !defined(RTI_ENDIAN_LITTLE) */
#endif
/* Linux/GCC */
#elif defined(__linux__)
#if ENABLE_FACE_COMPLIANCE == FACE_COMPLIANCE_LEVEL_NONE
#include <malloc.h>
#endif
#include <time.h>

#if ENABLE_FACE_COMPLIANCE == FACE_COMPLIANCE_LEVEL_NONE
#ifdef __ANDROID__
/* NOTE: This is supported in R8D, but missing from the header-file
 * https://code.google.com/p/android/issues/detail?id=20140
 */
extern int clock_nanosleep(clockid_t clock_id, int flags,
                           const struct timespec *request,
                           struct timespec *remain);
#if OSAPI_ENABLE_LOG
#include <android/log.h>
#endif
#endif
/*
 * Tick generation on Linux can be done via real-time signals, real-time
 * sleep or sleep. The default is real-time sleep.
 * NOTE: real-time signals on Arm/Linux has odd behavior.
 *
 * To enable real-time signals enable the following macros and comment
 * out USE_TIMER_THREAD_RT
 * #define USE_TIMER_SIGNAL
 * #define USE_TIMER_THREAD_SEMAPHORE
 */
#define USE_TIMER_THREAD_RT
#else
#define USE_TIMER_THREAD_SLEEP
#endif
#ifndef RTI_LINUX
#define RTI_LINUX
#endif
#if !defined(RTI_ENDIAN_BIG) && !defined(RTI_ENDIAN_LITTLE)
#if __BYTE_ORDER == __LITTLE_ENDIAN
#define RTI_ENDIAN_LITTLE 1
#elif __BYTE_ORDER == __BIG_ENDIAN
#define RTI_ENDIAN_BIG    1
#else
#error "Unable to determine endianess. Please specify RTI_ENDIAN_BIG RTI_ENDIAN_LITTLE"
#error
#endif
#endif /* !defined(RTI_ENDIAN_BIG) && !defined(RTI_ENDIAN_LITTLE) */
/* #define HAVE_RTI_POSIX_SCHED_POLICY */
#endif
#endif

/* Windows */
#if OSAPI_PLATFORM == OSAPI_PLATFORM_WINDOWS
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <errno.h>
#define _WINSOCKAPI_
#ifndef RTI_WIN32
#define RTI_WIN32
#endif
#define HAVE_SOCKET_API
#define RTI_HAVE_FLOAT
#if !defined(RTI_ENDIAN_BIG) && !defined(RTI_ENDIAN_LITTLE)
#ifdef _M_IX86
#define RTI_ENDIAN_LITTLE 1
#else
#error "Unable to determine endianess. Please specify RTI_ENDIAN_BIG RTI_ENDIAN_LITTLE"
#endif
#endif
#endif

/* VxWorks */
#if OSAPI_PLATFORM == OSAPI_PLATFORM_VXWORKS
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <errno.h>
#include <time.h>
#ifdef CERT
#ifndef RTI_CERT
#define RTI_CERT
#endif
#endif
#ifdef RTI_RTP
#include <strings.h>
#include <string.h>
#else
#include <string.h>
#endif
#ifndef RTI_USE_MUNCH
#define RTI_USE_MUNCH
#endif
#ifndef RTI_VXWORKS
#define RTI_VXWORKS
#endif
#include <vxWorks.h>
#ifdef RTI_RTP
/* #define USE_TIMER_SIGNAL */
#define USE_TIMER_THREAD_RT
#else
#define USE_WD_TIMER
#define USE_TIMER_THREAD_SEMAPHORE
#include <wdLib.h>
#include <logLib.h>
#endif
#if !defined(va_copy) && defined(__va_copy)
#define va_copy __va_copy
#elif !defined(va_copy)
#error "Unable to determine which va_copy to use"
#endif
#define HAVE_SOCKET_API
#define RTI_HAVE_FLOAT
#if !defined(RTI_ENDIAN_BIG) && !defined(RTI_ENDIAN_LITTLE)
#ifdef __BIG_ENDIAN__
#define RTI_ENDIAN_BIG    1
#else
#define RTI_ENDIAN_LITTLE 1
#endif
#endif /* !defined(RTI_ENDIAN_BIG) && !defined(RTI_ENDIAN_LITTLE) */

#define VXWORKS_VERSION_6_8_OR_BETTER \
  (  ((VXWORKS_MAJOR_VERSION == 6) && (VXWORKS_MINOR_VERSION >= 8)) || \
     (VXWORKS_MAJOR_VERSION > 6) \
  )

#define VXWORKS_VERSION_6_3_OR_BETTER \
  (  ((VXWORKS_MAJOR_VERSION == 6) && (VXWORKS_MINOR_VERSION >= 3)) || \
     (VXWORKS_MAJOR_VERSION > 6) \
  )

#define VXWORKS_VERSION_6_0_OR_BETTER \
  (  ((VXWORKS_MAJOR_VERSION == 6) && (VXWORKS_MINOR_VERSION >= 0)) || \
     (VXWORKS_MAJOR_VERSION > 6) \
  )

#define VXWORKS_VERSION_5_4_OR_BETTER \
  (  ((VXWORKS_MAJOR_VERSION == 5) && (VXWORKS_MINOR_VERSION >= 4)) || \
     (VXWORKS_MAJOR_VERSION > 5) \
  )

#endif

/* Stellaris */
#if OSAPI_PLATFORM == OSAPI_PLATFORM_STELLARIS
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <errno.h>
#define LWIP_NOSYS
#define RTI_ENDIAN_LITTLE 1
#endif

/* FreeRTOS */
#if OSAPI_PLATFORM == OSAPI_PLATFORM_FREERTOS
#define RTI_FREERTOS
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
#include <errno.h>
#ifndef INC_FREERTOS_H
#include "FreeRTOS.h"
#endif
#define OSAPI_HAVE_PRINTF 1
#define HAVE_SOCKET_API
#define LWIP_SYS
#define RTI_ENDIAN_LITTLE 1
#define OSAPI_PLATFORM_FREERTOS_HOSTNAME  "FreeRTOS-host"
#define TARGET "FreeRTOS-target"
#define BUILDABLE_SOURCE
#define TARGET "FreeRTOS-target"
#define OSAPI_PLATFORM_FREERTOS_STACK_SIZE_DEFAULT   256

/* Configuration for FreeRTOS
 * 
 */

#endif


/* Some platforms do not support long double or have different sizes for that
 * type than defined by IDL (16 bytes). On such platforms, DDS_LongDouble
 * (as well as the unsigned version) is mapped to a character array that
 * matches the expected size of that type by default. If you are using a
 * platform whose native mapping has exactly the expected size, you can
 * instruct Connext Micro to use the native type instead. That is, if
 * sizeof(long double) == 16, you can tell Connext Micro to map DDS_LongDouble
 * to long double by defining the following macro, RTI_HAVE_LONG_DOUBLE.
 */
/* #define RTI_HAVE_LONG_DOUBLE */



#endif /* osapi_config_h */