5.3. Porting RTI Connext DDS Micro

RTI Connext DDS Micro has been engineered for reasonable portability to platforms and environments which RTI does not have access to. This porting guide describes the features required by Connext DDS Micro to run. The target audience is developers familiar with general OS concepts, the standard C library, and embedded systems.

Connext DDS Micro uses an abstraction layer to support running on a number of platforms. The abstraction layer, OSAPI, is an abstraction of functionality typically found in one or more of the following libraries and services:

• Operating System calls
• Device drivers
• Standard C library

The OSAPI module is designed to be relatively easy to move to a new platform. All functionality, with the exception of the UDP transport which must be ported, is contained within this single module. It should be noted that although some functions may not seem relevant on a particular platform, they must still be implemented as they are used by other modules. For example, the port running on Stellaris with no OS support still needs to implement a threading model.

Please note that the OSAPI module is not designed to be a general purpose abstraction layer; its sole purpose is to support the execution of Connext DDS Micro.

5.3.1. Updating from Connext DDS Micro 2.4.8 and earlier

In RTI Connext DDS Micro 2.4.9, a few changes were made to simplify incorporating new ports. To upgrade an existing port to work with 2.4.9, follow these rules:

• Any changes to osapi_config.h should be placed in its own file (see Directory Structure).
• Define the OSAPI_OS_DEF_H preprocessor directive to include the file ( refer to OS and CC Definition Files).
• For compiler-specific definitions, please refer to OS and CC Definition Files.
• Please refer to Heap Porting Guide for changes to the Heap routines that need to be ported.

5.3.2. Directory Structure

The source shipped with Connext DDS Micro is identical to the source developed and tested by RTI (with the exception of the the line-endings difference between the Unix and Windows source-bundles).

The source-bundle directory structure is as follows:

RTIMEHOME--+-- CmakeLists.txt
           |
           +-- build -- cmake --+-- Debug --+-- <ARCH> -- <project-files>
           |                    |
           |                    |
           |                    +-- Release --+-- <ARCH> -- <project-files>
           +-- doc --
           |
           +-- example
           |
           +-- include
           |
           +-- lib +-- <ARCH> -- <libraries>
           |
           +-- resource --+-- cmake
           |              |
           |              +-- scripts
           |
           +-- rtiddsgen
           |
           +-- rtiddsmag
           |
           +-- src

The include directory contains the external interfaces, those that are available to other modules. The src directory contains the implementation files. Please refer to Building the Connext DDS Micro Source for how to build the source code.

The remainder of this document focuses on the files that are needed to add a new port. The following directory structure is expected:

---+-- include --+-- osapi --+-- osapi_os_\<port\>.h
   |                         |
   |                         +-- osapi_cc_<compiler>.h
   |
   +-- src --+-- osapi --+-- common -- <common files>
                         |
                         +-- <port> --+-- <port>Heap.c
                                      |
                                      +-- <port>Mutex.c
                                      |
                                      +-- <port>Process.c
                                      |
                                      +-- <port>Semaphore.c
                                      |
                                      +-- <port>String.c
                                      |
                                      +-- <port>System.c
                                      |
                                      +-- <port>Thread.c
                                      |
                                      +-- <port>shmSegment.c
                                      |
                                      +-- <port>shmMutex.c

The osapi_os_<port>.h file contains OS specific definitions for various data-types. The <port> name should be short and in lower case, for example myos.

The osapi_cc_<compiler>.h file contains compiler specific definitions. The <compiler> name should be short and in lower case, for example mycc. The osapi_cc_stdc.h file properly detects GCC and MSVC and it is not necessary to provide a new file if one of these compilers is used.

The <port>Heap.c, <port>Mutex.c, <port>Process.c, <port>Semaphore.c, <port>String.c and <port>System.c files shall contain the implementation of the required APIs.

NOTE: It is not recommended to modify source files shipped with Connext DDS Micro. Instead if it is desired to start with code supplied by RTI it is recommended to copy the corresponding sub-directory, for example posix, and rename it. This way it is easier to upgrade Connext DDS Micro while keeping existing ports.

5.3.3. OS and CC Definition Files

The include/osapi/osapi_os_<port>.h file contains OS and platform specific definitions used by OSAPI and other modules. To include the platform specific file, define OSAPI_OS_DEF_H as a preprocessor directive.

-DOSAPI_OS_DEF_H=\"osapi_os_<port>.h\"

It should be noted that Connext DDS Micro does not use auto-detection programs to detect the host and target build environment and only relies on predefined macros to determine the target environment. If Connext DDS Micro cannot determine the target environment, it is necessary to manually configure the correct OS definition file by defining OSAPI_OS_DEF_H (see above).

The include/osapi/osapi_cc_<compiler>.h file contains compiler specific definitions used by OSAPI and other modules. To include the platform specific file, define OSAPI_CC_DEF_H as a preprocessor directive.

-DOSAPI_CC_DEF_H=\"osapi_cc_<compiler>.h\"

Endianness of some platforms is determined automatically via the platform specific file, but for others either RTI_ENDIAN_LITTLE or RTI_ENDIAN_BIG must be defined manually for little-endian or big-endian, respectively.

5.3.4. Heap Porting Guide

Connext DDS Micro uses the heap to allocate memory for internal data-structures. With a few exceptions, Connext DDS Micro does not return memory to the heap. Instead, Connext DDS Micro uses internal pools to quickly allocate and free memory for specific types. Only the initial memory is allocated directly from the heap. The following functions must be ported:

• OSAPI_Heap_allocate_buffer
• OSAPI_Heap_free_buffer

However, if the OS and C library supports the standard malloc and free APIs define the following in the osapi_os_<port>.h file:

#define OSAPI_ENABLE_STDC_ALLOC   (1)
#define OSAPI_ENABLE_STDC_REALLOC (1)
#define OSAPI_ENABLE_STDC_FREE    (1)

Please refer to the OSAPI_Heap API for definition of the behavior. The available source code contains implementation in the file osapi/<port>/<port>Heap.c.

5.3.5. Mutex Porting Guide

Connext DDS Micro relies on mutex support to protect internal data-structures from corruption when accessed from multiple threads.

The following functions must be ported:

• OSAPI_Mutex_new
• OSAPI_Mutex_delete
• OSAPI_Mutex_take_os
• OSAPI_Mutex_give_os

Please refer to the OSAPI_Mutex API for definition of the behavior. The available source code contains implementation in the file osapi/<port>/<port>Mutex.c

5.3.6. Semaphore Porting Guide

Connext DDS Micro relies on semaphore support for thread control. If Connext DDS Micro is running on a non pre-emptive operating system with no support for IPC and thread synchronization, it is possible to implement these functions as no-ops. Please refer to Thread Porting Guide for details regarding threading.

The following functions must be ported:

• OSAPI_Semaphore_new
• OSAPI_Semaphore_delete
• OSAPI_Semaphore_take
• OSAPI_Semaphore_give

Please refer to the OSAPI_Semaphore API for definition of the behavior. The available source code contains implementation in the file osapi/<port>/<port>Semaphore.c.

5.3.7. Process Porting Guide

Connext DDS Micro only uses the process API to retrieve a unique ID for the applications.

The following functions must be ported:

• OSAPI_Process_getpid

Please refer to the OSAPI_Process_getpid API for definition of the behavior. The available source code contains implementation in the file osapi/<port>/<port>Process.c.

5.3.8. System Porting Guide

The system API consists of functions which are more related to the hardware on which Connext DDS Micro is running than on the operating system. As of Connext DDS Micro 2.3.1, the system API is implemented as an interface as opposed to the previous pure function implementation. This change makes it easier to adapt Connext DDS Micro to different hardware platforms without having to write a new port.

The system interface is defined in OSAPI_SystemI, and a port must implement all the methods in this structure. In addition, the function OSAPI_System_get_native_interface must be implemented. This function must return the system interface for the port (called the native system interface).

The semantics for the methods in the interface are exactly as defined by the corresponding system function. For example, the method OSAPI_SystemI::get_time must behave exactly as that described by OSAPI_System_get_time.

The following system interface methods must be implemented in the OSAPI_SystemI structure:

• OSAPI_SystemI::get_timer_resolution
• OSAPI_SystemI::get_time
• OSAPI_SystemI::start_timer
• OSAPI_SystemI::stop_timer
• OSAPI_SystemI::generate_uuid
• OSAPI_SystemI::get_hostname
• OSAPI_SystemI::initialize
• OSAPI_SystemI::finalize

Please refer to the OSAPI_System API for definition of the behavior. The available source code contains implementation in the file: osapi/<port>/<port>System.c.

5.3.8.1. Migrating a 2.2.x port to 2.3.x

In Connext DDS Micro 2.3.x, changes where made to how the system API is implemented. Because of these changes, existing ports must be updated, and this section describes how to make a Connext DDS Micro 2.2.x port compatible with Connext DDS Micro 2.3.x.

If you have ported Connext DDS Micro 2.2.x the following steps will make it compatible with version 2.3.x:

• Rename the following functions and make them private to your source code. For example, rename OSAPI_System_get_time to OSAPI_MyPortSystem_get_time etc.

  • OSAPI_System_get_time
  • OSAPI_System_get_timer_resolution
  • OSAPI_System_start_timer
  • OSAPI_System_stop_timer
  • OSAPI_System_generate_uuid

• Implement the following new methods.

  • OSAPI_SystemI::get_hostname
  • OSAPI_SystemI::initialize
  • OSAPI_SystemI::finalize

• Create a system structure for your port using the following template:

   struct OSAPI_MyPortSystem
  {
      struct OSAPI_System _parent;
  
      Your system variable
  };
  
  static struct OSAPI_MyPortSystem OSAPI_System_g;
  
  /* OSAPI_System_gv_system is a global system variable used by the
   * generic system API. Thus, the name must be exactly as
   * shown here.
   */
  struct OSAPI_System * OSAPI_System_gv_system = &OSAPI_System_g._parent;
  

• Implement OSAPI_System_get_native_interface method and fill the OSAPI_SystemI structure with all the system methods.

5.3.9. Thread Porting Guide

The thread API is used by Connext DDS Micro to create threads. Currently only the UDP transport uses threads and it is a goal to keep the generic Connext DDS Micro core library free of threads. Thus, if Connext DDS Micro is ported to an environment with no thread support, the thread API can be stubbed out. However, note that the UDP transport must be ported accordingly in this case; that is, all thread code must be removed and replaced with code appropriate for the environment.

The following functions must be ported:

• OSAPI_Thread_create
• OSAPI_Thread_sleep

Please refer to the OSAPI_Thread API for definition of the behavior. The available source code contains implementation in the file srcC/osapi/<platform>/Thread.c.