423 lines
14 KiB
C++
423 lines
14 KiB
C++
// (C) Copyright Dustin Spicuzza 2009.
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// Adapted to vxWorks 6.9 by Peter Brockamp 2012.
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// Updated for VxWorks 7 by Brian Kuhl 2016
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// Use, modification and distribution are subject to the
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// Boost Software License, Version 1.0. (See accompanying file
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// LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
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// See http://www.boost.org for most recent version.
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// Old versions of vxWorks (namely everything below 6.x) are
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// absolutely unable to use boost. Old STLs and compilers
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// like (GCC 2.96) . Do not even think of getting this to work,
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// a miserable failure will be guaranteed!
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//
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// VxWorks supports C++ linkage in the kernel with
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// DKMs (Downloadable Kernel Modules). But, until recently
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// the kernel used a C89 library with no
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// wide character support and no guarantee of ANSI C.
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// Regardless of the C library the same Dinkum
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// STL library is used in both contexts.
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//
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// Similarly the Dinkum abridged STL that supports the loosely specified
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// embedded C++ standard has not been tested and is unlikely to work
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// on anything but the simplest library.
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// ====================================================================
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//
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// Some important information regarding the usage of POSIX semaphores:
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// -------------------------------------------------------------------
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//
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// VxWorks as a real time operating system handles threads somewhat
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// different from what "normal" OSes do, regarding their scheduling!
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// This could lead to a scenario called "priority inversion" when using
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// semaphores, see http://en.wikipedia.org/wiki/Priority_inversion.
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//
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// Now, VxWorks POSIX-semaphores for DKM's default to the usage of
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// priority inverting semaphores, which is fine. On the other hand,
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// for RTP's it defaults to using non priority inverting semaphores,
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// which could easily pose a serious problem for a real time process.
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//
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// To change the default properties for POSIX-semaphores in VxWorks 7
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// enable core > CORE_USER Menu > DEFAULT_PTHREAD_PRIO_INHERIT
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//
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// In VxWorks 6.x so as to integrate with boost.
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// - Edit the file
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// installDir/vxworks-6.x/target/usr/src/posix/pthreadLib.c
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// - Around line 917 there should be the definition of the default
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// mutex attributes:
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//
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// LOCAL pthread_mutexattr_t defaultMutexAttr =
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// {
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// PTHREAD_INITIALIZED_OBJ, PTHREAD_PRIO_NONE, 0,
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// PTHREAD_MUTEX_DEFAULT
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// };
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//
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// Here, replace PTHREAD_PRIO_NONE by PTHREAD_PRIO_INHERIT.
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// - Around line 1236 there should be a definition for the function
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// pthread_mutexattr_init(). A couple of lines below you should
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// find a block of code like this:
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//
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// pAttr->mutexAttrStatus = PTHREAD_INITIALIZED_OBJ;
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// pAttr->mutexAttrProtocol = PTHREAD_PRIO_NONE;
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// pAttr->mutexAttrPrioceiling = 0;
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// pAttr->mutexAttrType = PTHREAD_MUTEX_DEFAULT;
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//
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// Here again, replace PTHREAD_PRIO_NONE by PTHREAD_PRIO_INHERIT.
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// - Finally, rebuild your VSB. This will rebuild the libraries
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// with the changed properties. That's it! Now, using boost should
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// no longer cause any problems with task deadlocks!
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//
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// ====================================================================
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// Block out all versions before vxWorks 6.x, as these don't work:
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// Include header with the vxWorks version information and query them
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#include <version.h>
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#if !defined(_WRS_VXWORKS_MAJOR) || (_WRS_VXWORKS_MAJOR < 6)
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# error "The vxWorks version you're using is so badly outdated,\
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it doesn't work at all with boost, sorry, no chance!"
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#endif
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// Handle versions above 5.X but below 6.9
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#if (_WRS_VXWORKS_MAJOR == 6) && (_WRS_VXWORKS_MINOR < 9)
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// TODO: Starting from what version does vxWorks work with boost?
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// We can't reasonably insert a #warning "" as a user hint here,
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// as this will show up with every file including some boost header,
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// badly bugging the user... So for the time being we just leave it.
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#endif
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// vxWorks specific config options:
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// --------------------------------
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#define BOOST_PLATFORM "vxWorks"
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// Generally available headers:
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#define BOOST_HAS_UNISTD_H
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#define BOOST_HAS_STDINT_H
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#define BOOST_HAS_DIRENT_H
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//#define BOOST_HAS_SLIST
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// vxWorks does not have installed an iconv-library by default,
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// so unfortunately no Unicode support from scratch is available!
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// Thus, instead it is suggested to switch to ICU, as this seems
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// to be the most complete and portable option...
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#ifndef BOOST_LOCALE_WITH_ICU
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#define BOOST_LOCALE_WITH_ICU
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#endif
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// Generally available functionality:
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#define BOOST_HAS_THREADS
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#define BOOST_HAS_NANOSLEEP
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#define BOOST_HAS_GETTIMEOFDAY
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#define BOOST_HAS_CLOCK_GETTIME
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#define BOOST_HAS_MACRO_USE_FACET
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// Generally available threading API's:
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#define BOOST_HAS_PTHREADS
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#define BOOST_HAS_SCHED_YIELD
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#define BOOST_HAS_SIGACTION
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// Functionality available for RTPs only:
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#ifdef __RTP__
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# define BOOST_HAS_PTHREAD_MUTEXATTR_SETTYPE
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# define BOOST_HAS_LOG1P
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# define BOOST_HAS_EXPM1
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#endif
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// Functionality available for DKMs only:
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#ifdef _WRS_KERNEL
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// Luckily, at the moment there seems to be none!
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#endif
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// These #defines allow detail/posix_features to work, since vxWorks doesn't
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// #define them itself for DKMs (for RTPs on the contrary it does):
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#ifdef _WRS_KERNEL
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# ifndef _POSIX_TIMERS
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# define _POSIX_TIMERS 1
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# endif
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# ifndef _POSIX_THREADS
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# define _POSIX_THREADS 1
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# endif
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// no sysconf( _SC_PAGESIZE) in kernel
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# define BOOST_THREAD_USES_GETPAGESIZE
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#endif
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#if (_WRS_VXWORKS_MAJOR < 7)
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// vxWorks-around: <time.h> #defines CLOCKS_PER_SEC as sysClkRateGet() but
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// miserably fails to #include the required <sysLib.h> to make
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// sysClkRateGet() available! So we manually include it here.
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# ifdef __RTP__
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# include <time.h>
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# include <sysLib.h>
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# endif
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// vxWorks-around: In <stdint.h> the macros INT32_C(), UINT32_C(), INT64_C() and
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// UINT64_C() are defined erroneously, yielding not a signed/
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// unsigned long/long long type, but a signed/unsigned int/long
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// type. Eventually this leads to compile errors in ratio_fwd.hpp,
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// when trying to define several constants which do not fit into a
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// long type! We correct them here by redefining.
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# include <cstdint>
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// Special behaviour for DKMs:
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// Some macro-magic to do the job
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# define VX_JOIN(X, Y) VX_DO_JOIN(X, Y)
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# define VX_DO_JOIN(X, Y) VX_DO_JOIN2(X, Y)
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# define VX_DO_JOIN2(X, Y) X##Y
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// Correctly setup the macros
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# undef INT32_C
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# undef UINT32_C
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# undef INT64_C
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# undef UINT64_C
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# define INT32_C(x) VX_JOIN(x, L)
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# define UINT32_C(x) VX_JOIN(x, UL)
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# define INT64_C(x) VX_JOIN(x, LL)
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# define UINT64_C(x) VX_JOIN(x, ULL)
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// #include Libraries required for the following function adaption
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# include <sys/time.h>
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#endif // _WRS_VXWORKS_MAJOR < 7
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#include <ioLib.h>
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#include <tickLib.h>
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#if defined(_WRS_KERNEL) && (_CPPLIB_VER < 700)
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// recent kernels use Dinkum clib v7.00+
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// with widechar but older kernels
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// do not have the <cwchar>-header,
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// but apparently they do have an intrinsic wchar_t meanwhile!
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# define BOOST_NO_CWCHAR
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// Lots of wide-functions and -headers are unavailable for DKMs as well:
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# define BOOST_NO_CWCTYPE
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# define BOOST_NO_SWPRINTF
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# define BOOST_NO_STD_WSTRING
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# define BOOST_NO_STD_WSTREAMBUF
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#endif
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// Use C-linkage for the following helper functions
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#ifdef __cplusplus
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extern "C" {
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#endif
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// vxWorks-around: The required functions getrlimit() and getrlimit() are missing.
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// But we have the similar functions getprlimit() and setprlimit(),
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// which may serve the purpose.
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// Problem: The vxWorks-documentation regarding these functions
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// doesn't deserve its name! It isn't documented what the first two
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// parameters idtype and id mean, so we must fall back to an educated
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// guess - null, argh... :-/
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// TODO: getprlimit() and setprlimit() do exist for RTPs only, for whatever reason.
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// Thus for DKMs there would have to be another implementation.
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#if defined ( __RTP__) && (_WRS_VXWORKS_MAJOR < 7)
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inline int getrlimit(int resource, struct rlimit *rlp){
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return getprlimit(0, 0, resource, rlp);
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}
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inline int setrlimit(int resource, const struct rlimit *rlp){
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return setprlimit(0, 0, resource, const_cast<struct rlimit*>(rlp));
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}
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#endif
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// vxWorks has ftruncate() only, so we do simulate truncate():
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inline int truncate(const char *p, off_t l){
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int fd = open(p, O_WRONLY);
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if (fd == -1){
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errno = EACCES;
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return -1;
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}
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if (ftruncate(fd, l) == -1){
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close(fd);
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errno = EACCES;
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return -1;
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}
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return close(fd);
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}
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#ifdef __GNUC__
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# define ___unused __attribute__((unused))
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#else
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# define ___unused
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#endif
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// Fake symlink handling by dummy functions:
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inline int symlink(const char* path1 ___unused, const char* path2 ___unused){
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// vxWorks has no symlinks -> always return an error!
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errno = EACCES;
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return -1;
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}
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inline ssize_t readlink(const char* path1 ___unused, char* path2 ___unused, size_t size ___unused){
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// vxWorks has no symlinks -> always return an error!
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errno = EACCES;
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return -1;
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}
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#if (_WRS_VXWORKS_MAJOR < 7)
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inline int gettimeofday(struct timeval *tv, void * /*tzv*/) {
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struct timespec ts;
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clock_gettime(CLOCK_MONOTONIC, &ts);
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tv->tv_sec = ts.tv_sec;
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tv->tv_usec = ts.tv_nsec / 1000;
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return 0;
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}
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#endif
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#ifdef __cplusplus
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} // extern "C"
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#endif
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/*
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* moved to os/utils/unix/freind_h/times.h in VxWorks 7
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* to avoid conflict with MPL operator times
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*/
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#if (_WRS_VXWORKS_MAJOR < 7)
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# ifdef __cplusplus
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// vxWorks provides neither struct tms nor function times()!
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// We implement an empty dummy-function, simply setting the user
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// and system time to the half of thew actual system ticks-value
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// and the child user and system time to 0.
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// Rather ugly but at least it suppresses compiler errors...
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// Unfortunately, this of course *does* have an severe impact on
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// dependant libraries, actually this is chrono only! Here it will
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// not be possible to correctly use user and system times! But
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// as vxWorks is lacking the ability to calculate user and system
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// process times there seems to be no other possible solution.
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struct tms{
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clock_t tms_utime; // User CPU time
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clock_t tms_stime; // System CPU time
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clock_t tms_cutime; // User CPU time of terminated child processes
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clock_t tms_cstime; // System CPU time of terminated child processes
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};
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inline clock_t times(struct tms *t){
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struct timespec ts;
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clock_gettime(CLOCK_THREAD_CPUTIME_ID, &ts);
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clock_t ticks(static_cast<clock_t>(static_cast<double>(ts.tv_sec) * CLOCKS_PER_SEC +
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static_cast<double>(ts.tv_nsec) * CLOCKS_PER_SEC / 1000000.0));
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t->tms_utime = ticks/2U;
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t->tms_stime = ticks/2U;
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t->tms_cutime = 0; // vxWorks is lacking the concept of a child process!
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t->tms_cstime = 0; // -> Set the wait times for childs to 0
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return ticks;
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}
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namespace std {
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using ::times;
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}
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# endif // __cplusplus
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#endif // _WRS_VXWORKS_MAJOR < 7
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#ifdef __cplusplus
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extern "C" void bzero (void *, size_t); // FD_ZERO uses bzero() but doesn't include strings.h
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// Put the selfmade functions into the std-namespace, just in case
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namespace std {
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# ifdef __RTP__
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using ::getrlimit;
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using ::setrlimit;
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# endif
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using ::truncate;
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using ::symlink;
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using ::readlink;
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# if (_WRS_VXWORKS_MAJOR < 7)
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using ::gettimeofday;
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# endif
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}
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#endif // __cplusplus
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// Some more macro-magic:
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// vxWorks-around: Some functions are not present or broken in vxWorks
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// but may be patched to life via helper macros...
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// Include signal.h which might contain a typo to be corrected here
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#include <signal.h>
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#if (_WRS_VXWORKS_MAJOR < 7)
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# define getpagesize() sysconf(_SC_PAGESIZE) // getpagesize is deprecated anyway!
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inline int lstat(p, b) { return stat(p, b); } // lstat() == stat(), as vxWorks has no symlinks!
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#endif
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#ifndef S_ISSOCK
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# define S_ISSOCK(mode) ((mode & S_IFMT) == S_IFSOCK) // Is file a socket?
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#endif
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#ifndef FPE_FLTINV
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# define FPE_FLTINV (FPE_FLTSUB+1) // vxWorks has no FPE_FLTINV, so define one as a dummy
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#endif
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#if !defined(BUS_ADRALN) && defined(BUS_ADRALNR)
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# define BUS_ADRALN BUS_ADRALNR // Correct a supposed typo in vxWorks' <signal.h>
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#endif
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typedef int locale_t; // locale_t is a POSIX-extension, currently not present in vxWorks!
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// #include boilerplate code:
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#include <boost/config/detail/posix_features.hpp>
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// vxWorks lies about XSI conformance, there is no nl_types.h:
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#undef BOOST_HAS_NL_TYPES_H
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// vxWorks 7 adds C++11 support
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// however it is optional, and does not match exactly the support determined
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// by examining the Dinkum STL version and GCC version (or ICC and DCC)
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#if !( defined( _WRS_CONFIG_LANG_LIB_CPLUS_CPLUS_USER_2011) || defined(_WRS_CONFIG_LIBCPLUS_STD))
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# define BOOST_NO_CXX11_ADDRESSOF // C11 addressof operator on memory location
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# define BOOST_NO_CXX11_ALLOCATOR
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# define BOOST_NO_CXX11_ATOMIC_SMART_PTR
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# define BOOST_NO_CXX11_NUMERIC_LIMITS // max_digits10 in test/../print_helper.hpp
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# define BOOST_NO_CXX11_SMART_PTR
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# define BOOST_NO_CXX11_STD_ALIGN
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# define BOOST_NO_CXX11_HDR_ARRAY
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# define BOOST_NO_CXX11_HDR_ATOMIC
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# define BOOST_NO_CXX11_HDR_CHRONO
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# define BOOST_NO_CXX11_HDR_CONDITION_VARIABLE
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# define BOOST_NO_CXX11_HDR_FORWARD_LIST //serialization/test/test_list.cpp
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# define BOOST_NO_CXX11_HDR_FUNCTIONAL
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# define BOOST_NO_CXX11_HDR_FUTURE
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# define BOOST_NO_CXX11_HDR_MUTEX
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# define BOOST_NO_CXX11_HDR_RANDOM //math/../test_data.hpp
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# define BOOST_NO_CXX11_HDR_RATIO
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# define BOOST_NO_CXX11_HDR_REGEX
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# define BOOST_NO_CXX14_HDR_SHARED_MUTEX
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# define BOOST_NO_CXX11_HDR_SYSTEM_ERROR
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# define BOOST_NO_CXX11_HDR_THREAD
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# define BOOST_NO_CXX11_HDR_TYPEINDEX
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# define BOOST_NO_CXX11_HDR_TYPE_TRAITS
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# define BOOST_NO_CXX11_HDR_TUPLE
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# define BOOST_NO_CXX11_HDR_UNORDERED_MAP
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# define BOOST_NO_CXX11_HDR_UNORDERED_SET
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#else
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# ifndef BOOST_SYSTEM_NO_DEPRECATED
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# define BOOST_SYSTEM_NO_DEPRECATED // workaround link error in spirit
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# endif
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#endif
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// NONE is used in enums in lamda and other libraries
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#undef NONE
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// restrict is an iostreams class
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#undef restrict
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// affects some typeof tests
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#undef V7
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// use fake poll() from Unix layer in ASIO to get full functionality
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// most libraries will use select() but this define allows 'iostream' functionality
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// which is based on poll() only
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#if (_WRS_VXWORKS_MAJOR > 6)
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# ifndef BOOST_ASIO_HAS_POSIX_STREAM_DESCRIPTOR
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# define BOOST_ASIO_HAS_POSIX_STREAM_DESCRIPTOR
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# endif
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#else
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# define BOOST_ASIO_DISABLE_SERIAL_PORT
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#endif
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