Merge pull request #1983 from JakubSosnovec/iox-1982-freertos-platform

iox-#1982 FreeRTOS platform implementation

iceoryx_dust/BUILD.bazel

@@ -15,14 +15,27 @@
 # SPDX-License-Identifier: Apache-2.0
 
 load("@rules_cc//cc:defs.bzl", "cc_library")
+load("//bazel:configure_file.bzl", "configure_file")
+
+configure_file(
+    name = "iceoryx_dust_deployment_hpp",
+    src = "cmake/iceoryx_dust_deployment.hpp.in",
+    out = "include/iceoryx_dust/iceoryx_dust_deployment.hpp",
+    config = {
+        "IOX_MAX_NAMED_PIPE_MESSAGE_SIZE": "4096",
+        "IOX_MAX_NAMED_PIPE_NUMBER_OF_MESSAGES": "10",
+    },
+)
 
 cc_library(
     name = "iceoryx_dust",
     srcs = glob([
         "source/**/*.cpp",
         "source/**/*.hpp",
     ]),
-    hdrs = glob(["include/**"] + glob(["vocabulary/**"])),
+    hdrs = glob(["include/**"] + glob(["vocabulary/**"])) + [
+        ":iceoryx_dust_deployment_hpp",
+    ],
     includes = [
         "include",
         "vocabulary/include/",

iceoryx_dust/CMakeLists.txt

@@ -27,6 +27,8 @@ include(IceoryxPackageHelper)
 include(IceoryxPlatform)
 include(IceoryxPlatformSettings)
 
+include(cmake/IceoryxDustDeployment.cmake)
+
 if(CMAKE_SYSTEM_NAME MATCHES Linux OR CMAKE_SYSTEM_NAME MATCHES Darwin)
     option(BUILD_SHARED_LIBS "Create shared libraries by default" ON)
 endif()
@@ -46,6 +48,7 @@ iox_add_library(
     PUBLIC_LIBS                 iceoryx_hoofs::iceoryx_hoofs
     BUILD_INTERFACE             ${PROJECT_SOURCE_DIR}/include
                                 ${PROJECT_SOURCE_DIR}/vocabulary/include
+                                ${CMAKE_BINARY_DIR}/generated/iceoryx/include
     INSTALL_INTERFACE           include/${PREFIX}
     EXPORT_INCLUDE_DIRS         include/
                                 vocabulary/include/
@@ -61,6 +64,22 @@ iox_add_library(
         source/posix_wrapper/message_queue.cpp
 )
 
+configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/iceoryx_dust_deployment.hpp.in"
+  "${CMAKE_BINARY_DIR}/generated/iceoryx/include/iceoryx_dust/iceoryx_dust_deployment.hpp" @ONLY)
+
+install(
+    FILES ${CMAKE_BINARY_DIR}/generated/iceoryx/include/${PROJECT_NAME}/iceoryx_dust_deployment.hpp
+    DESTINATION include/${PREFIX}/${PROJECT_NAME}/
+    COMPONENT dev
+)
+
+# install deployment file to make posh config accessible by other packages
+install(
+    FILES
+        cmake/IceoryxDustDeployment.cmake
+    DESTINATION ${DESTINATION_CONFIGDIR}
+)
+
 #
 ########## dust testing ##########
 #

iceoryx_dust/cmake/IceoryxDustDeployment.cmake

@@ -0,0 +1,43 @@
+# Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
+# Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
+# Copyright (c) 2023 by NXP. All rights reserved.
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+# define macro for option configuration
+macro(configure_option)
+    set(ONE_VALUE_ARGS NAME DEFAULT_VALUE)
+    cmake_parse_arguments(CONFIGURE_OPTION "" "${ONE_VALUE_ARGS}" "" ${ARGN})
+
+    if(NOT ${CONFIGURE_OPTION_NAME})
+        set(${CONFIGURE_OPTION_NAME} ${CONFIGURE_OPTION_DEFAULT_VALUE})
+    endif()
+    message(STATUS "[i] ${CONFIGURE_OPTION_NAME}: " ${${CONFIGURE_OPTION_NAME}})
+endmacro()
+
+# configure deployment
+message(STATUS "[i] <<<<<<<<<<<<< Start iceoryx_dust configuration: >>>>>>>>>>>>>")
+
+configure_option(
+    NAME IOX_MAX_NAMED_PIPE_MESSAGE_SIZE
+    DEFAULT_VALUE 4096
+)
+configure_option(
+    NAME IOX_MAX_NAMED_PIPE_NUMBER_OF_MESSAGES
+    DEFAULT_VALUE 10
+)
+
+message(STATUS "[i] <<<<<<<<<<<<<< End iceoryx_dust configuration: >>>>>>>>>>>>>>")
+

iceoryx_dust/cmake/iceoryx_dust_deployment.hpp.in

@@ -0,0 +1,32 @@
+// Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
+// Copyright (c) 2023 by NXP. All rights reserved.
+//
+// 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.
+//
+// SPDX-License-Identifier: Apache-2.0
+#ifndef IOX_POSH_ICEORYX_DUST_DEPLOYMENT_HPP
+#define IOX_POSH_ICEORYX_DUST_DEPLOYMENT_HPP
+
+#include <cstdint>
+
+namespace iox
+{
+namespace build
+{
+constexpr uint64_t IOX_MAX_NAMED_PIPE_MESSAGE_SIZE = static_cast<uint64_t>(@IOX_MAX_NAMED_PIPE_MESSAGE_SIZE@);
+constexpr uint32_t IOX_MAX_NAMED_PIPE_NUMBER_OF_MESSAGES =
+    static_cast<uint32_t>(@IOX_MAX_NAMED_PIPE_NUMBER_OF_MESSAGES@);
+} // namespace build
+} // namespace iox
+
+#endif // IOX_POSH_ICEORYX_DUST_DEPLOYMENT_HPP

iceoryx_dust/include/iceoryx_dust/internal/cxx/convert.inl

@@ -240,6 +240,19 @@ inline bool convert::fromString<unsigned long>(const char* v, unsigned long& des
 }
 #endif
 
+#if defined(__GNUC__) && (INTPTR_MAX == INT32_MAX)
+/// introduced for 32-bit arm-none-eabi-gcc since uintptr_t is not uint32_t despite it has the same size
+/// who knows why ¯\_(ツ)_/¯
+template <>
+inline bool convert::fromString<uintptr_t>(const char* v, uintptr_t& dest) noexcept
+{
+    uint64_t temp{0};
+    bool retVal = fromString(v, temp);
+    dest = temp;
+    return retVal;
+}
+#endif
+
 template <>
 inline bool convert::fromString<uint32_t>(const char* v, uint32_t& dest) noexcept
 {

iceoryx_dust/include/iceoryx_dust/posix_wrapper/named_pipe.hpp

@@ -17,6 +17,7 @@
 #define IOX_DUST_POSIX_WRAPPER_NAMED_PIPE_HPP
 
 #include "iceoryx_dust/design/creation.hpp"
+#include "iceoryx_dust/iceoryx_dust_deployment.hpp"
 #include "iceoryx_hoofs/concurrent/lockfree_queue.hpp"
 #include "iceoryx_hoofs/internal/posix_wrapper/ipc_channel.hpp"
 #include "iceoryx_hoofs/internal/posix_wrapper/shared_memory_object.hpp"
@@ -39,8 +40,8 @@ class NamedPipe : public DesignPattern::Creation<NamedPipe, IpcChannelError>
   public:
     // no system restrictions at all, except available memory. MAX_MESSAGE_SIZE and MAX_NUMBER_OF_MESSAGES can be
     // increased as long as there is enough memory available
-    static constexpr uint64_t MAX_MESSAGE_SIZE = 4096U;
-    static constexpr uint32_t MAX_NUMBER_OF_MESSAGES = 10U;
+    static constexpr uint64_t MAX_MESSAGE_SIZE = build::IOX_MAX_NAMED_PIPE_MESSAGE_SIZE;
+    static constexpr uint32_t MAX_NUMBER_OF_MESSAGES = build::IOX_MAX_NAMED_PIPE_NUMBER_OF_MESSAGES;
     static_assert(MAX_NUMBER_OF_MESSAGES < IOX_SEM_VALUE_MAX,
                   "The maximum number of supported messages must be less than the maximum allowed semaphore value");
 

iceoryx_hoofs/container/include/iox/detail/vector.inl

@@ -354,7 +354,7 @@ inline bool vector<T, Capacity>::erase(iterator position) noexcept
     {
         // AXIVION Next Line AutosarC++19_03-M5.0.9 : False positive. Pointer arithmetic occurs here.
         uint64_t index{static_cast<uint64_t>(position - begin())};
-        size_t n{index};
+        uint64_t n{index};
         while ((n + 1U) < size())
         {
             // AXIVION Next Line AutosarC++19_03-A5.0.1 : Expands to basic variable assignment. Evaluation order is inconsequential.

iceoryx_hoofs/include/iceoryx_hoofs/internal/posix_wrapper/posix_call.inl

@@ -17,6 +17,7 @@
 #define IOX_HOOFS_POSIX_WRAPPER_POSIX_CALL_INL
 
 #include "iceoryx_hoofs/posix_wrapper/posix_call.hpp"
+#include "iceoryx_platform/errno.hpp"
 #include "iox/logging.hpp"
 
 namespace iox

iceoryx_hoofs/include/iceoryx_hoofs/internal/posix_wrapper/shared_memory_object.hpp

@@ -73,7 +73,7 @@ class SharedMemoryObject : public FileManagementInterface<SharedMemoryObject>
     void* getBaseAddress() noexcept;
 
     /// @brief Returns the underlying file handle of the shared memory
-    int getFileHandle() const noexcept;
+    shm_handle_t getFileHandle() const noexcept;
 
     /// @brief True if the shared memory has the ownership. False if an already
     ///        existing shared memory was opened.
@@ -85,7 +85,7 @@ class SharedMemoryObject : public FileManagementInterface<SharedMemoryObject>
     SharedMemoryObject(SharedMemory&& sharedMemory, MemoryMap&& memoryMap) noexcept;
 
     friend struct FileManagementInterface<SharedMemoryObject>;
-    int get_file_handle() const noexcept;
+    shm_handle_t get_file_handle() const noexcept;
 
   private:
     SharedMemory m_sharedMemory;

iceoryx_hoofs/include/iceoryx_hoofs/internal/posix_wrapper/shared_memory_object/shared_memory.hpp

@@ -52,6 +52,9 @@ enum class SharedMemoryError
     UNKNOWN_ERROR
 };
 
+/// @brief Shared memory file descriptor type
+using shm_handle_t = int;
+
 /// @brief Creates a bare metal shared memory object with the posix functions
 ///        shm_open, shm_unlink etc.
 ///        It must be used in combination with MemoryMap (or manual mmap calls)
@@ -70,7 +73,7 @@ class SharedMemory : public FileManagementInterface<SharedMemory>
     ~SharedMemory() noexcept;
 
     /// @brief returns the file handle of the shared memory
-    int32_t getHandle() const noexcept;
+    shm_handle_t getHandle() const noexcept;
 
     /// @brief this class has the ownership of the shared memory when the shared
     ///        memory was created by this class. This is the case when this class
@@ -88,7 +91,7 @@ class SharedMemory : public FileManagementInterface<SharedMemory>
     friend class SharedMemoryBuilder;
 
   private:
-    SharedMemory(const Name_t& name, const int handle, const bool hasOwnership) noexcept;
+    SharedMemory(const Name_t& name, const shm_handle_t handle, const bool hasOwnership) noexcept;
 
     bool unlink() noexcept;
     bool close() noexcept;
@@ -98,10 +101,10 @@ class SharedMemory : public FileManagementInterface<SharedMemory>
     static SharedMemoryError errnoToEnum(const int32_t errnum) noexcept;
 
     friend struct FileManagementInterface<SharedMemory>;
-    int32_t get_file_handle() const noexcept;
+    shm_handle_t get_file_handle() const noexcept;
 
     Name_t m_name;
-    int m_handle{INVALID_HANDLE};
+    shm_handle_t m_handle{INVALID_HANDLE};
     bool m_hasOwnership{false};
 };
 

iceoryx_hoofs/include/iceoryx_hoofs/internal/posix_wrapper/unix_domain_socket.hpp

@@ -108,13 +108,13 @@ class UnixDomainSocket
   private:
     UnixDomainSocket(const IpcChannelName_t& name,
                      const IpcChannelSide channelSide,
-                     const size_t maxMsgSize = MAX_MESSAGE_SIZE,
+                     const uint64_t maxMsgSize = MAX_MESSAGE_SIZE,
                      const uint64_t maxMsgNumber = 10U) noexcept;
 
     UnixDomainSocket(const NoPathPrefix_t,
                      const UdsName_t& name,
                      const IpcChannelSide channelSide,
-                     const size_t maxMsgSize = MAX_MESSAGE_SIZE,
+                     const uint64_t maxMsgSize = MAX_MESSAGE_SIZE,
                      const uint64_t maxMsgNumber = 10U) noexcept;
 
     expected<void, IpcChannelError> destroy() noexcept;
@@ -136,7 +136,7 @@ class UnixDomainSocket
     IpcChannelSide m_channelSide = IpcChannelSide::CLIENT;
     int32_t m_sockfd{INVALID_FD};
     sockaddr_un m_sockAddr{};
-    size_t m_maxMessageSize{MAX_MESSAGE_SIZE};
+    uint64_t m_maxMessageSize{MAX_MESSAGE_SIZE};
 };
 
 

iceoryx_hoofs/include/iceoryx_hoofs/posix_wrapper/thread.hpp

@@ -24,6 +24,7 @@
 #include "iox/string.hpp"
 
 #include <atomic>
+#include <thread>
 
 namespace iox
 {
@@ -34,8 +35,8 @@ constexpr uint64_t MAX_THREAD_NAME_LENGTH = 15U;
 using ThreadName_t = string<MAX_THREAD_NAME_LENGTH>;
 
 /// @todo iox-#1365 remove free functions
-void setThreadName(iox_pthread_t thread, const ThreadName_t& name) noexcept;
-ThreadName_t getThreadName(iox_pthread_t thread) noexcept;
+void setThreadName(std::thread::native_handle_type thread, const ThreadName_t& name) noexcept;
+ThreadName_t getThreadName(std::thread::native_handle_type thread) noexcept;
 
 enum class ThreadError
 {

iceoryx_hoofs/posix/design/include/iox/file_management_interface.hpp

@@ -93,7 +93,7 @@ class Ownership
     Ownership(const uid_t uid, const gid_t gid) noexcept;
 
   private:
-    uid_t m_uid{std::numeric_limits<pid_t>::max()};
+    uid_t m_uid{std::numeric_limits<uid_t>::max()};
     gid_t m_gid{std::numeric_limits<gid_t>::max()};
 };
 

iceoryx_hoofs/primitives/include/iox/algorithm.hpp

@@ -114,9 +114,9 @@ inline constexpr bool doesContainValue(const T) noexcept;
 /// @return true if value is contained in the ValueList, otherwise false
 /// @note be aware that value is tested for exact equality with the entries of ValueList and regular floating-point
 /// comparison rules apply
-template <typename T, typename... ValueList>
+template <typename T1, typename T2, typename... ValueList>
 inline constexpr bool
-doesContainValue(const T value, const T firstValueListEntry, const ValueList... remainingValueListEntries) noexcept;
+doesContainValue(const T1 value, const T2 firstValueListEntry, const ValueList... remainingValueListEntries) noexcept;
 } // namespace algorithm
 
 namespace internal
@@ -150,11 +150,20 @@ struct BestFittingTypeImpl<true, true, false>
 template <uint64_t Value>
 struct BestFittingType
 {
+// gcc warns here that the uint8_t test for BestFittingType<256> is always true... which is correct, but we need it for
+// portability anyway
+#if defined(__GNUC__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wtype-limits"
+#endif
     using Type_t =
         typename internal::BestFittingTypeImpl<(Value > static_cast<uint64_t>(std::numeric_limits<uint8_t>::max())),
                                                (Value > static_cast<uint64_t>(std::numeric_limits<uint16_t>::max())),
                                                (Value
                                                 > static_cast<uint64_t>(std::numeric_limits<uint32_t>::max()))>::Type_t;
+#if defined(__GNUC__)
+#pragma GCC diagnostic pop
+#endif
 };
 
 template <uint64_t Value>

iceoryx_hoofs/primitives/include/iox/detail/algorithm.inl

@@ -77,9 +77,9 @@ inline constexpr bool doesContainValue(const T) noexcept
     return false;
 }
 
-template <typename T, typename... ValueList>
+template <typename T1, typename T2, typename... ValueList>
 inline constexpr bool
-doesContainValue(const T value, const T firstValueListEntry, const ValueList... remainingValueListEntries) noexcept
+doesContainValue(const T1 value, const T2 firstValueListEntry, const ValueList... remainingValueListEntries) noexcept
 {
     // AXIVION Next Line AutosarC++19_03-M6.2.2 : intentional check for exact equality
     return (value == firstValueListEntry) ? true : doesContainValue(value, remainingValueListEntries...);

iceoryx_hoofs/source/concurrent/loffli.cpp

@@ -28,7 +28,7 @@ void LoFFLi::init(not_null<Index_t*> freeIndicesMemory, const uint32_t capacity)
     cxx::Expects(capacity > 0 && "A capacity of 0 is not supported!");
     constexpr uint32_t INTERNALLY_RESERVED_INDICES{1U};
     cxx::Expects(capacity < (std::numeric_limits<Index_t>::max() - INTERNALLY_RESERVED_INDICES)
-                 && "Requested capacityexceeds limits!");
+                 && "Requested capacity exceeds limits!");
     cxx::Expects(m_head.is_lock_free() && "std::atomic<LoFFLi::Node> must be lock-free!");
 
     m_nextFreeIndex = freeIndicesMemory;

iceoryx_hoofs/source/posix_wrapper/posix_access_rights.cpp

@@ -47,7 +47,7 @@ PosixGroup::PosixGroup(const PosixGroup::groupName_t& name) noexcept
     else
     {
         IOX_LOG(ERROR) << "Error: Group name not found";
-        m_id = std::numeric_limits<uint32_t>::max();
+        m_id = std::numeric_limits<gid_t>::max();
     }
 }
 
@@ -149,7 +149,7 @@ PosixUser::groupVector_t PosixUser::getGroups() const noexcept
 
     gid_t userDefaultGroup = getpwnamCall->value->pw_gid;
     UninitializedArray<gid_t, MaxNumberOfGroups> groups{}; // groups is initialized in iox_getgrouplist
-    int32_t numGroups = MaxNumberOfGroups;
+    auto numGroups = MaxNumberOfGroups;
 
     auto getgrouplistCall = posixCall(iox_getgrouplist)(userName->c_str(), userDefaultGroup, &groups[0], &numGroups)
                                 .failureReturnValue(-1)
@@ -191,7 +191,7 @@ PosixUser::PosixUser(const PosixUser::userName_t& name) noexcept
     else
     {
         IOX_LOG(ERROR) << "Error: User name not found";
-        m_id = std::numeric_limits<uint32_t>::max();
+        m_id = std::numeric_limits<gid_t>::max();
     }
 }