posix.h
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/****************************************************************************
*
* Copyright (c) 2015 Mark Charlebois. 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.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS 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
* COPYRIGHT OWNER 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.
*
****************************************************************************/
/**
* @file px4_posix.h
*
* Includes POSIX-like functions for virtual character devices
*/
#pragma once
#include <px4_platform_common/defines.h>
#include <px4_platform_common/tasks.h>
#include <stdint.h>
#include <unistd.h>
#include <fcntl.h>
#if defined(__PX4_QURT)
#include <dspal_types.h>
#else
#include <sys/types.h>
#endif
#include "sem.h"
#define PX4_F_RDONLY 1
#define PX4_F_WRONLY 2
#ifdef __PX4_NUTTX
#include <poll.h>
typedef struct pollfd px4_pollfd_struct_t;
typedef pollevent_t px4_pollevent_t;
#if defined(__cplusplus)
#define _GLOBAL ::
#else
#define _GLOBAL
#endif
#define px4_open _GLOBAL open
#define px4_close _GLOBAL close
#define px4_ioctl _GLOBAL ioctl
#define px4_write _GLOBAL write
#define px4_read _GLOBAL read
#define px4_poll _GLOBAL poll
#define px4_access _GLOBAL access
#define px4_getpid _GLOBAL getpid
#define PX4_STACK_OVERHEAD 0
#elif defined(__PX4_POSIX)
#define PX4_STACK_OVERHEAD (1024 * 24)
#define px4_cache_aligned_data()
#define px4_cache_aligned_alloc malloc
__BEGIN_DECLS
typedef short px4_pollevent_t;
typedef struct {
/* This part of the struct is POSIX-like */
int fd; /* The descriptor being polled */
px4_pollevent_t events; /* The input event flags */
px4_pollevent_t revents; /* The output event flags */
/* Required for PX4 compatibility */
px4_sem_t *sem; /* Pointer to semaphore used to post output event */
void *priv; /* For use by drivers */
} px4_pollfd_struct_t;
#ifndef POLLIN
#define POLLIN (0x01)
#endif
__EXPORT int px4_open(const char *path, int flags, ...);
__EXPORT int px4_close(int fd);
__EXPORT ssize_t px4_read(int fd, void *buffer, size_t buflen);
__EXPORT ssize_t px4_write(int fd, const void *buffer, size_t buflen);
__EXPORT int px4_ioctl(int fd, int cmd, unsigned long arg);
__EXPORT int px4_poll(px4_pollfd_struct_t *fds, unsigned int nfds, int timeout);
__EXPORT int px4_access(const char *pathname, int mode);
__EXPORT px4_task_t px4_getpid(void);
__END_DECLS
#else
#error "No TARGET OS Provided"
#endif
// The stack size is intended for 32-bit architectures; therefore
// we often run out of stack space when pointers are larger than 4 bytes.
// Double the stack size on posix when we're on a 64-bit architecture.
// Most full-scale OS use 1-4K of memory from the stack themselves
#define PX4_STACK_ADJUSTED(_s) (_s * (__SIZEOF_POINTER__ >> 2) + PX4_STACK_OVERHEAD)
__BEGIN_DECLS
__EXPORT void px4_show_files(void);
__END_DECLS