Brooklyn/userland/interface/vcos/pthreads/vcos_platform.h

/*
Copyright (c) 2012, Broadcom Europe Ltd
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * 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.
    * Neither the name of the copyright holder 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 HOLDER 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.
*/

/*=============================================================================
VideoCore OS Abstraction Layer - pthreads types
=============================================================================*/

/* DO NOT include this file directly - instead include it via vcos.h */

/** @file
  *
  * Pthreads implementation of VCOS.
  *
  */

#ifndef VCOS_PLATFORM_H
#define VCOS_PLATFORM_H

#ifdef __cplusplus
extern "C" {
#endif

#include <pthread.h>
#include <semaphore.h>
#include <unistd.h>
#include <sys/types.h>
#include <sched.h>
#include <errno.h>
#include <unistd.h>
#include <string.h>
#include <strings.h>
#include <time.h>
#include <signal.h>
#include <stddef.h>
#include <stdlib.h>
#include <dlfcn.h>


#define VCOS_HAVE_RTOS         1
#define VCOS_HAVE_SEMAPHORE    1
#define VCOS_HAVE_EVENT        1
#define VCOS_HAVE_QUEUE        0
#define VCOS_HAVE_LEGACY_ISR   0
#define VCOS_HAVE_TIMER        1
#define VCOS_HAVE_CANCELLATION_SAFE_TIMER 1
#define VCOS_HAVE_MEMPOOL      0
#define VCOS_HAVE_ISR          0
#define VCOS_HAVE_ATOMIC_FLAGS 1
#define VCOS_HAVE_THREAD_AT_EXIT        1
#define VCOS_HAVE_ONCE         1
#define VCOS_HAVE_BLOCK_POOL   1
#define VCOS_HAVE_FILE         0
#define VCOS_HAVE_PROC         0
#define VCOS_HAVE_CFG          0
#define VCOS_HAVE_ALIEN_THREADS  1
#define VCOS_HAVE_CMD          1
#define VCOS_HAVE_EVENT_FLAGS  1
#define VCOS_WANT_LOG_CMD      0    /* User apps should do their own thing */

#define VCOS_ALWAYS_WANT_LOGGING

#ifdef __linux__
#define VCOS_HAVE_BACKTRACE    1
#endif

#define VCOS_SO_EXT  ".so"

/* Linux/pthreads seems to have different timer characteristics */
#define VCOS_TIMER_MARGIN_EARLY 0
#define VCOS_TIMER_MARGIN_LATE 15

typedef sem_t                 VCOS_SEMAPHORE_T;
typedef uint32_t              VCOS_UNSIGNED;
typedef uint32_t              VCOS_OPTION;
typedef pthread_key_t         VCOS_TLS_KEY_T;
typedef pthread_once_t        VCOS_ONCE_T;

typedef struct VCOS_LLTHREAD_T
{
   pthread_t thread; // Must be first field.
} VCOS_LLTHREAD_T;

/* VCOS_CASSERT(offsetof(VCOS_LLTHREAD_T, thread) == 0); */

#ifndef VCOS_USE_VCOS_FUTEX
typedef pthread_mutex_t       VCOS_MUTEX_T;
#else
#include "vcos_futex_mutex.h"
#endif /* VCOS_USE_VCOS_FUTEX */

typedef struct
{
   VCOS_MUTEX_T   mutex;
   sem_t          sem;
} VCOS_EVENT_T;

#define VCOS_ONCE_INIT        PTHREAD_ONCE_INIT

typedef struct VCOS_TIMER_T
{
   pthread_t thread;                      /**< id of the timer thread */

   pthread_mutex_t lock;                  /**< lock protecting all other members of the struct */
   pthread_cond_t settings_changed;       /**< cond. var. for informing the timer thread about changes*/
   int quit;                              /**< non-zero if the timer thread is requested to quit*/

   struct timespec expires;               /**< absolute time of next expiration, or 0 if disarmed*/

   void (*orig_expiration_routine)(void*);/**< the expiration routine provided by the user of the timer*/
   void *orig_context;                    /**< the context for exp. routine provided by the user*/

} VCOS_TIMER_T;

/** Thread attribute structure. Don't use pthread_attr directly, as
  * the calls can fail, and inits must match deletes.
  */
typedef struct VCOS_THREAD_ATTR_T
{
   void *ta_stackaddr;
   VCOS_UNSIGNED ta_stacksz;
   VCOS_UNSIGNED ta_priority;
   VCOS_UNSIGNED ta_affinity;
   VCOS_UNSIGNED ta_timeslice;
   VCOS_UNSIGNED legacy;
} VCOS_THREAD_ATTR_T;

/** Called at thread exit.
  */
typedef struct VCOS_THREAD_EXIT_T
{
   void (*pfn)(void *);
   void *cxt;
} VCOS_THREAD_EXIT_T;
#define VCOS_MAX_EXIT_HANDLERS  4

typedef struct VCOS_THREAD_T
{
   pthread_t thread;             /**< The thread itself */
   VCOS_THREAD_ENTRY_FN_T entry; /**< The thread entry point */
   void *arg;                    /**< The argument to be passed to entry */
   VCOS_SEMAPHORE_T suspend;     /**< For support event groups and similar - a per thread semaphore */

   VCOS_TIMER_T task_timer;
   int task_timer_created;       /**< non-zero if the task timer has already been created*/
   void (*orig_task_timer_expiration_routine)(void*);
   void *orig_task_timer_context;

   VCOS_UNSIGNED legacy;
   char name[16];                /**< Record the name of this thread, for diagnostics */
   VCOS_UNSIGNED dummy;          /**< Dummy thread created for non-vcos created threads */

   /** Callback invoked at thread exit time */
   VCOS_THREAD_EXIT_T at_exit[VCOS_MAX_EXIT_HANDLERS];
} VCOS_THREAD_T;

#ifdef VCOS_PTHREADS_WANT_HISR_EMULATION

typedef struct
{
   VCOS_THREAD_T thread;
   char stack[1024];
   VCOS_SEMAPHORE_T waitsem;
} VCOS_HISR_T;

#endif

#define VCOS_SUSPEND          -1
#define VCOS_NO_SUSPEND       0

#define VCOS_START 1
#define VCOS_NO_START 0

#define VCOS_THREAD_PRI_MIN   (sched_get_priority_min(SCHED_OTHER))
#define VCOS_THREAD_PRI_MAX   (sched_get_priority_max(SCHED_OTHER))

#define VCOS_THREAD_PRI_INCREASE (1)
#define VCOS_THREAD_PRI_HIGHEST  VCOS_THREAD_PRI_MAX
#define VCOS_THREAD_PRI_LOWEST   VCOS_THREAD_PRI_MIN
#define VCOS_THREAD_PRI_NORMAL ((VCOS_THREAD_PRI_MAX+VCOS_THREAD_PRI_MIN)/2)
#define VCOS_THREAD_PRI_BELOW_NORMAL (VCOS_THREAD_PRI_NORMAL-VCOS_THREAD_PRI_INCREASE)
#define VCOS_THREAD_PRI_ABOVE_NORMAL (VCOS_THREAD_PRI_NORMAL+VCOS_THREAD_PRI_INCREASE)
#define VCOS_THREAD_PRI_REALTIME VCOS_THREAD_PRI_MAX

#define _VCOS_AFFINITY_DEFAULT 0
#define _VCOS_AFFINITY_CPU0    0x100
#define _VCOS_AFFINITY_CPU1    0x200
#define _VCOS_AFFINITY_MASK    0x300
#define VCOS_CAN_SET_STACK_ADDR  0

#define VCOS_TICKS_PER_SECOND _vcos_get_ticks_per_second()

#include "interface/vcos/generic/vcos_generic_event_flags.h"
#include "interface/vcos/generic/vcos_generic_blockpool.h"
#include "interface/vcos/generic/vcos_mem_from_malloc.h"

/** Convert errno values into the values recognized by vcos */
VCOSPRE_ VCOS_STATUS_T vcos_pthreads_map_error(int error);
VCOSPRE_ VCOS_STATUS_T VCOSPOST_ vcos_pthreads_map_errno(void);

/** Register a function to be called when the current thread exits.
  */
extern VCOS_STATUS_T vcos_thread_at_exit(void (*pfn)(void*), void *cxt);

extern uint32_t _vcos_get_ticks_per_second(void);

/**
 * Set to 1 by default when ANDROID is defined. Allows runtime
 * switching for console apps.
 */
extern int vcos_use_android_log;

typedef struct {
   VCOS_MUTEX_T mutex;
   uint32_t flags;
} VCOS_ATOMIC_FLAGS_T;

#if defined(VCOS_INLINE_BODIES)

#undef VCOS_ASSERT_LOGGING_DISABLE
#define VCOS_ASSERT_LOGGING_DISABLE 1


/*
 * Counted Semaphores
 */
VCOS_INLINE_IMPL
VCOS_STATUS_T vcos_semaphore_wait(VCOS_SEMAPHORE_T *sem) {
   int ret;
   /* gdb causes sem_wait() to EINTR when a breakpoint is hit, retry here */
   while ((ret = sem_wait(sem)) == -1 && errno == EINTR)
      continue;
   vcos_assert(ret==0);
   return VCOS_SUCCESS;
}

VCOS_INLINE_IMPL
VCOS_STATUS_T vcos_semaphore_trywait(VCOS_SEMAPHORE_T *sem) {
   int ret;
   while ((ret = sem_trywait(sem)) == -1 && errno == EINTR)
      continue;
   if (ret == 0)
      return VCOS_SUCCESS;
   else if (errno == EAGAIN)
      return VCOS_EAGAIN;
   else {
      vcos_assert(0);
      return VCOS_EINVAL;
   }
}

/**
  * \brief Wait on a semaphore with a timeout.
  *
  * Note that this function may not be implemented on all
  * platforms, and may not be efficient on all platforms
  * (see comment in vcos_semaphore_wait)
  *
  * Try to obtain the semaphore. If it is already taken, return
  * VCOS_EAGAIN.
  * @param sem Semaphore to wait on
  * @param timeout Number of milliseconds to wait before
  *                returning if the semaphore can't be acquired.
  * @return VCOS_SUCCESS - semaphore was taken.
  *         VCOS_EAGAIN - could not take semaphore (i.e. timeout
  *         expired)
  *         VCOS_EINVAL - Some other error (most likely bad
  *         parameters).
  */
VCOS_INLINE_IMPL
VCOS_STATUS_T vcos_semaphore_wait_timeout(VCOS_SEMAPHORE_T *sem, VCOS_UNSIGNED timeout) {
   struct timespec ts;
   int ret;
   if (clock_gettime(CLOCK_REALTIME, &ts) == -1)
      return VCOS_EINVAL;
   ts.tv_sec  += timeout/1000;
   ts.tv_nsec += (timeout%1000)*1000*1000;
   if (ts.tv_nsec > 1000000000) {
      ts.tv_sec++;
      ts.tv_nsec -= 1000000000;
   }

   while (1) {
      ret = sem_timedwait( sem, &ts );
      if (ret == 0) {
         return VCOS_SUCCESS;
      } else {
         if (errno == EINTR) {
            continue;
         } else if (errno == ETIMEDOUT) {
            return VCOS_EAGAIN;
         } else {
            vcos_assert(0);
            return VCOS_EINVAL;
         }
      }
   }
}

VCOS_INLINE_IMPL
VCOS_STATUS_T vcos_semaphore_create(VCOS_SEMAPHORE_T *sem,
                                    const char *name,
                                    VCOS_UNSIGNED initial_count) {
   int rc = sem_init(sem, 0, initial_count);
   (void)name;
   if (rc != -1) return VCOS_SUCCESS;
   else return vcos_pthreads_map_errno();
}

VCOS_INLINE_IMPL
void vcos_semaphore_delete(VCOS_SEMAPHORE_T *sem) {
   int rc = sem_destroy(sem);
   vcos_assert(rc != -1);
   (void)rc;
}

VCOS_INLINE_IMPL
VCOS_STATUS_T vcos_semaphore_post(VCOS_SEMAPHORE_T *sem) {
   int rc = sem_post(sem);
   vcos_assert(rc == 0);
   (void)rc;
   return VCOS_SUCCESS;
}

/***********************************************************
 *
 * Threads
 *
 ***********************************************************/


extern VCOS_THREAD_T *vcos_dummy_thread_create(void);
extern pthread_key_t _vcos_thread_current_key;
extern uint64_t vcos_getmicrosecs64_internal(void);

VCOS_INLINE_IMPL
uint32_t vcos_getmicrosecs(void) { return (uint32_t)vcos_getmicrosecs64_internal(); }

VCOS_INLINE_IMPL
uint64_t vcos_getmicrosecs64(void) { return vcos_getmicrosecs64_internal(); }

VCOS_INLINE_IMPL
VCOS_THREAD_T *vcos_thread_current(void) {
   void *ret = pthread_getspecific(_vcos_thread_current_key);
   if (ret == NULL)
   {
      ret = vcos_dummy_thread_create();
   }

#ifdef __cplusplus
   return static_cast<VCOS_THREAD_T*>(ret);
#else
   return (VCOS_THREAD_T *)ret;
#endif
}

VCOS_INLINE_IMPL
void vcos_sleep(uint32_t ms) {
   struct timespec ts;
   ts.tv_sec = ms/1000;
   ts.tv_nsec = ms % 1000 * (1000000);
   nanosleep(&ts, NULL);
}

VCOS_INLINE_IMPL
void vcos_thread_attr_setstack(VCOS_THREAD_ATTR_T *attr, void *addr, VCOS_UNSIGNED sz) {
   attr->ta_stackaddr = addr;
   attr->ta_stacksz = sz;
}

VCOS_INLINE_IMPL
void vcos_thread_attr_setstacksize(VCOS_THREAD_ATTR_T *attr, VCOS_UNSIGNED sz) {
   attr->ta_stacksz = sz;
}

VCOS_INLINE_IMPL
void vcos_thread_attr_setpriority(VCOS_THREAD_ATTR_T *attr, VCOS_UNSIGNED pri) {
   (void)attr;
   (void)pri;
}

VCOS_INLINE_IMPL
void vcos_thread_set_priority(VCOS_THREAD_T *thread, VCOS_UNSIGNED p) {
   /* not implemented */
   (void)thread;
   (void)p;
}

VCOS_INLINE_IMPL
VCOS_UNSIGNED vcos_thread_get_priority(VCOS_THREAD_T *thread) {
   /* not implemented */
   (void)thread;
   return 0;
}

VCOS_INLINE_IMPL
void vcos_thread_set_affinity(VCOS_THREAD_T *thread, VCOS_UNSIGNED affinity) {
   /* not implemented */
   vcos_unused(thread);
   vcos_unused(affinity);
}


VCOS_INLINE_IMPL
void vcos_thread_attr_setaffinity(VCOS_THREAD_ATTR_T *attrs, VCOS_UNSIGNED affinity) {
   attrs->ta_affinity = affinity;
}

VCOS_INLINE_IMPL
void vcos_thread_attr_settimeslice(VCOS_THREAD_ATTR_T *attrs, VCOS_UNSIGNED ts) {
   attrs->ta_timeslice = ts;
}

VCOS_INLINE_IMPL
void _vcos_thread_attr_setlegacyapi(VCOS_THREAD_ATTR_T *attrs, VCOS_UNSIGNED legacy) {
   attrs->legacy = legacy;
}

VCOS_INLINE_IMPL
void vcos_thread_attr_setautostart(VCOS_THREAD_ATTR_T *attrs, VCOS_UNSIGNED autostart) {
   (void)attrs;
   (void)autostart;
}

VCOS_INLINE_IMPL
VCOS_LLTHREAD_T *vcos_llthread_current(void) {
   return (VCOS_LLTHREAD_T *)(uintptr_t)pthread_self();
}

VCOS_INLINE_IMPL
VCOS_UNSIGNED vcos_thread_get_affinity(VCOS_THREAD_T *thread) {
   vcos_unused(thread);
   return _VCOS_AFFINITY_CPU0;
}

VCOS_INLINE_IMPL
int vcos_thread_running(VCOS_THREAD_T *thread) {
   vcos_unused(thread);
   /* Not applicable to pthreads */
   return 0;
}

VCOS_INLINE_IMPL
VCOS_UNSIGNED vcos_change_preemption(VCOS_UNSIGNED pe) {
   vcos_unused(pe);
   /* Nothing to do */
   return 0;
}

VCOS_INLINE_IMPL
void vcos_thread_relinquish(void) {
   /* Nothing to do */
}

VCOS_INLINE_IMPL
void vcos_thread_resume(VCOS_THREAD_T *thread) {
   vcos_unused(thread);
   /* Nothing to do */
}


/*
 * Mutexes
 */

#ifndef VCOS_USE_VCOS_FUTEX

VCOS_INLINE_IMPL
VCOS_STATUS_T vcos_mutex_create(VCOS_MUTEX_T *latch, const char *name) {
   int rc = pthread_mutex_init(latch, NULL);
   (void)name;
   if (rc == 0) return VCOS_SUCCESS;
   else return vcos_pthreads_map_errno();
}

VCOS_INLINE_IMPL
void vcos_mutex_delete(VCOS_MUTEX_T *latch) {
   int rc = pthread_mutex_destroy(latch);
   (void)rc;
   vcos_assert(rc==0);
}

VCOS_INLINE_IMPL
VCOS_STATUS_T vcos_mutex_lock(VCOS_MUTEX_T *latch) {
   int rc = pthread_mutex_lock(latch);
   vcos_assert(rc==0);
   (void)rc;
   return VCOS_SUCCESS;
}

VCOS_INLINE_IMPL
void vcos_mutex_unlock(VCOS_MUTEX_T *latch) {
   int rc = pthread_mutex_unlock(latch);
   (void)rc;
   vcos_assert(rc==0);
}

VCOS_INLINE_IMPL
int vcos_mutex_is_locked(VCOS_MUTEX_T *m) {
   int rc = pthread_mutex_trylock(m);
   if (rc == 0) {
      pthread_mutex_unlock(m);
      /* it wasn't locked */
      return 0;
   }
   else {
      return 1; /* it was locked */
   }
}

VCOS_INLINE_IMPL
VCOS_STATUS_T vcos_mutex_trylock(VCOS_MUTEX_T *m) {
   int rc = pthread_mutex_trylock(m);
   (void)rc;
   return (rc == 0) ? VCOS_SUCCESS : VCOS_EAGAIN;
}

#endif /* VCOS_USE_VCOS_FUTEX */

/*
 * Events
 */

VCOS_INLINE_IMPL
VCOS_STATUS_T vcos_event_create(VCOS_EVENT_T *event, const char *debug_name)
{
   VCOS_STATUS_T status;

   int rc = sem_init(&event->sem, 0, 0);
   if (rc != 0) return vcos_pthreads_map_errno();

   status = vcos_mutex_create(&event->mutex, debug_name);
   if (status != VCOS_SUCCESS) {
      sem_destroy(&event->sem);
      return status;
   }

   return VCOS_SUCCESS;
}

VCOS_INLINE_IMPL
void vcos_event_signal(VCOS_EVENT_T *event)
{
   int ok = 0;
   int value;

   if (vcos_mutex_lock(&event->mutex) != VCOS_SUCCESS)
      goto fail_mtx;

   if (sem_getvalue(&event->sem, &value) != 0)
      goto fail_sem;

   if (value == 0)
      if (sem_post(&event->sem) != 0)
         goto fail_sem;

   ok = 1;
fail_sem:
   vcos_mutex_unlock(&event->mutex);
fail_mtx:
   if (!ok)
      vcos_assert(ok);
}

VCOS_INLINE_IMPL
VCOS_STATUS_T vcos_event_wait(VCOS_EVENT_T *event)
{
   int ret;
   /* gdb causes sem_wait() to EINTR when a breakpoint is hit, retry here */
   while ((ret = sem_wait(&event->sem)) == -1 && errno == EINTR)
      continue;
   vcos_assert(ret==0);
   return ret == 0 ? VCOS_SUCCESS : (VCOS_STATUS_T)errno;
}

VCOS_INLINE_IMPL
VCOS_STATUS_T vcos_event_try(VCOS_EVENT_T *event)
{
   int ret;
   while ((ret = sem_trywait(&event->sem)) == -1 && errno == EINTR)
      continue;

   if (ret == -1 && errno == EAGAIN)
      return VCOS_EAGAIN;
   else
      return VCOS_SUCCESS;
}

VCOS_INLINE_IMPL
void vcos_event_delete(VCOS_EVENT_T *event)
{
   int rc = sem_destroy(&event->sem);
   vcos_assert(rc != -1);
   (void)rc;

   vcos_mutex_delete(&event->mutex);
}

VCOS_INLINE_IMPL
VCOS_UNSIGNED vcos_process_id_current(void) {
   return (VCOS_UNSIGNED) getpid();
}

VCOS_INLINE_IMPL
int vcos_strcasecmp(const char *s1, const char *s2) {
   return strcasecmp(s1,s2);
}

VCOS_INLINE_IMPL
int vcos_strncasecmp(const char *s1, const char *s2, size_t n) {
   return strncasecmp(s1,s2,n);
}

VCOS_INLINE_IMPL
int vcos_in_interrupt(void) {
   return 0;
}

/* For support event groups - per thread semaphore */
VCOS_INLINE_IMPL
void _vcos_thread_sem_wait(void) {
   VCOS_THREAD_T *t = vcos_thread_current();
   vcos_semaphore_wait(&t->suspend);
}

VCOS_INLINE_IMPL
void _vcos_thread_sem_post(VCOS_THREAD_T *target) {
   vcos_semaphore_post(&target->suspend);
}

VCOS_INLINE_IMPL
VCOS_STATUS_T vcos_tls_create(VCOS_TLS_KEY_T *key) {
   int st = pthread_key_create(key, NULL);
   return st == 0 ? VCOS_SUCCESS: VCOS_ENOMEM;
}

VCOS_INLINE_IMPL
void vcos_tls_delete(VCOS_TLS_KEY_T tls) {
   pthread_key_delete(tls);
}

VCOS_INLINE_IMPL
VCOS_STATUS_T vcos_tls_set(VCOS_TLS_KEY_T tls, void *v) {
   pthread_setspecific(tls, v);
   return VCOS_SUCCESS;
}

VCOS_INLINE_IMPL
void *vcos_tls_get(VCOS_TLS_KEY_T tls) {
   return pthread_getspecific(tls);
}

/***********************************************************
 *
 * Timers
 *
 ***********************************************************/

//Other platforms can call compatible OS implementations directly
//from inline functions with minimal overhead.
//Pthreads needs a little bit more, so call functions
//in vcos_pthreads.c from the inline functions.
VCOS_STATUS_T vcos_pthreads_timer_create(VCOS_TIMER_T *timer,
                                const char *name,
                                void (*expiration_routine)(void *context),
                                void *context);
void vcos_pthreads_timer_set(VCOS_TIMER_T *timer, VCOS_UNSIGNED delay_ms);
void vcos_pthreads_timer_cancel(VCOS_TIMER_T *timer);
void vcos_pthreads_timer_reset(VCOS_TIMER_T *timer, VCOS_UNSIGNED delay_ms);
void vcos_pthreads_timer_delete(VCOS_TIMER_T *timer);

/** Create a timer.
  *
  * Note that we just cast the expiry function - this assumes that UNSIGNED
  * and VOID* are the same size.
  */


VCOS_INLINE_IMPL
VCOS_STATUS_T vcos_timer_create(VCOS_TIMER_T *timer,
                                const char *name,
                                void (*expiration_routine)(void *context),
                                void *context) {
   return vcos_pthreads_timer_create(timer, name, expiration_routine, context);
}

VCOS_INLINE_IMPL
void vcos_timer_set(VCOS_TIMER_T *timer, VCOS_UNSIGNED delay_ms) {
   return vcos_pthreads_timer_set(timer, delay_ms);
}

VCOS_INLINE_IMPL
void vcos_timer_cancel(VCOS_TIMER_T *timer) {
   return vcos_pthreads_timer_cancel(timer);
}

VCOS_INLINE_IMPL
void vcos_timer_reset(VCOS_TIMER_T *timer, VCOS_UNSIGNED delay) {
   vcos_timer_set(timer, delay);
}

VCOS_INLINE_IMPL
void vcos_timer_delete(VCOS_TIMER_T *timer) {
   vcos_pthreads_timer_delete(timer);
}

#if VCOS_HAVE_ATOMIC_FLAGS

/*
 * Atomic flags
 */

/* TODO implement properly... */

VCOS_INLINE_IMPL
VCOS_STATUS_T vcos_atomic_flags_create(VCOS_ATOMIC_FLAGS_T *atomic_flags)
{
   atomic_flags->flags = 0;
   return vcos_mutex_create(&atomic_flags->mutex, "VCOS_ATOMIC_FLAGS_T");
}

VCOS_INLINE_IMPL
void vcos_atomic_flags_or(VCOS_ATOMIC_FLAGS_T *atomic_flags, uint32_t flags)
{
   vcos_mutex_lock(&atomic_flags->mutex);
   atomic_flags->flags |= flags;
   vcos_mutex_unlock(&atomic_flags->mutex);
}

VCOS_INLINE_IMPL
uint32_t vcos_atomic_flags_get_and_clear(VCOS_ATOMIC_FLAGS_T *atomic_flags)
{
   uint32_t flags;
   vcos_mutex_lock(&atomic_flags->mutex);
   flags = atomic_flags->flags;
   atomic_flags->flags = 0;
   vcos_mutex_unlock(&atomic_flags->mutex);
   return flags;
}

VCOS_INLINE_IMPL
void vcos_atomic_flags_delete(VCOS_ATOMIC_FLAGS_T *atomic_flags)
{
   vcos_mutex_delete(&atomic_flags->mutex);
}

#endif

#ifdef VCOS_PTHREADS_WANT_HISR_EMULATION
VCOS_STATUS_T vcos_legacy_hisr_create(VCOS_HISR_T *hisr, const char *name,
                                      void (*entry)(void),
                                      VCOS_UNSIGNED pri,
                                      void *stack, VCOS_UNSIGNED stack_size);

void vcos_legacy_hisr_activate(VCOS_HISR_T *hisr);

void vcos_legacy_hisr_delete(VCOS_HISR_T *hisr);

#endif

#undef VCOS_ASSERT_LOGGING_DISABLE
#define VCOS_ASSERT_LOGGING_DISABLE 0

#endif /* VCOS_INLINE_BODIES */

#define  vcos_log_platform_init()               _vcos_log_platform_init()
VCOSPRE_ void VCOSPOST_             _vcos_log_platform_init(void);

VCOS_INLINE_DECL void _vcos_thread_sem_wait(void);
VCOS_INLINE_DECL void _vcos_thread_sem_post(VCOS_THREAD_T *);

#define VCOS_APPLICATION_ARGC          vcos_get_argc()
#define VCOS_APPLICATION_ARGV          vcos_get_argv()

#include "interface/vcos/generic/vcos_generic_reentrant_mtx.h"
#include "interface/vcos/generic/vcos_generic_named_sem.h"
#include "interface/vcos/generic/vcos_generic_quickslow_mutex.h"
#include "interface/vcos/generic/vcos_common.h"

#define _VCOS_LOG_LEVEL() getenv("VC_LOGLEVEL")

VCOS_STATIC_INLINE
char *vcos_strdup(const char *str)
{
   size_t len = strlen(str) + 1;
   void *p = malloc(len);

   if (p == NULL)
      return NULL;

   return (char *)memcpy(p, str, len);
}

typedef void (*VCOS_ISR_HANDLER_T)(VCOS_UNSIGNED vecnum);

#define VCOS_DL_LAZY RTLD_LAZY
#define VCOS_DL_NOW  RTLD_NOW
#define VCOS_DL_LOCAL  RTLD_LOCAL
#define VCOS_DL_GLOBAL  RTLD_GLOBAL

#ifdef __cplusplus
}
#endif
#endif /* VCOS_PLATFORM_H */