mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-28 01:24:07 +08:00
547dd8511b
Instead of using the define __PX4_POSIX_SITL it makes more sense to have a define just to determine if the lockstep scheduler should be used.
124 lines
3.9 KiB
C
124 lines
3.9 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2012-2018 PX4 Development Team. 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 visibility.h
|
|
*
|
|
* Definitions controlling symbol naming and visibility.
|
|
*
|
|
* This file is normally included automatically by the build system.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#ifdef __EXPORT
|
|
# undef __EXPORT
|
|
#endif
|
|
#define __EXPORT __attribute__ ((visibility ("default")))
|
|
|
|
#ifdef __PRIVATE
|
|
# undef __PRIVATE
|
|
#endif
|
|
#define __PRIVATE __attribute__ ((visibility ("hidden")))
|
|
|
|
#ifdef __cplusplus
|
|
# define __BEGIN_DECLS extern "C" {
|
|
# define __END_DECLS }
|
|
#else
|
|
# define __BEGIN_DECLS
|
|
# define __END_DECLS
|
|
#endif
|
|
|
|
/* exit() is used on NuttX to exit a task. However on Posix, it will exit the
|
|
* whole application, so we prevent its use there. There are cases where it
|
|
* still needs to be used, thus we remap system_exit to exit.
|
|
*/
|
|
#define system_exit exit
|
|
|
|
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
|
|
|
|
#include <stdlib.h>
|
|
#include <unistd.h>
|
|
|
|
#define system_usleep usleep
|
|
#pragma GCC poison usleep
|
|
#define system_sleep sleep
|
|
#pragma GCC poison sleep
|
|
|
|
#define system_clock_gettime clock_gettime
|
|
#define system_clock_settime clock_settime
|
|
|
|
#include <pthread.h>
|
|
#define system_pthread_cond_timedwait pthread_cond_timedwait
|
|
// We can't poison pthread_cond_timedwait because it seems to be used in the
|
|
// <string> include.
|
|
|
|
#ifdef __cplusplus
|
|
#include <cstdlib>
|
|
#endif
|
|
#pragma GCC poison exit
|
|
|
|
#include <stdlib.h>
|
|
|
|
#ifdef __cplusplus
|
|
#include <cstdlib>
|
|
#endif
|
|
|
|
// We don't poison usleep and sleep on NuttX because it is used in dependencies
|
|
// like uavcan and we don't need to fake time on the real system.
|
|
#include <unistd.h>
|
|
#include <time.h>
|
|
|
|
#else // defined(ENABLE_LOCKSTEP_SCHEDULER)
|
|
|
|
#define system_usleep usleep
|
|
#define system_sleep sleep
|
|
#define system_clock_gettime clock_gettime
|
|
#define system_clock_settime clock_settime
|
|
#define system_pthread_cond_timedwait pthread_cond_timedwait
|
|
|
|
#endif
|
|
|
|
|
|
#if defined(__PX4_NUTTX)
|
|
/* On NuttX we call clearenv() so we cannot use getenv() and others (see
|
|
* px4_task_spawn_cmd() in px4_nuttx_tasks.c).
|
|
* We need to include the headers declaring getenv() before the pragma,
|
|
* otherwise it will trigger a poison error. */
|
|
#include <stdlib.h>
|
|
#ifdef __cplusplus
|
|
#include <cstdlib>
|
|
#endif
|
|
#pragma GCC poison getenv setenv putenv
|
|
#endif // defined(__PX4_NUTTX)
|