1 files changed, 67 insertions, 0 deletions
diff --git a/nsframework/common_library/client/src/cl_sem.c b/nsframework/common_library/client/src/cl_sem.c
new file mode 100644
index 00000000..911daff4
--- /dev/null
+++ b/nsframework/common_library/client/src/cl_sem.c
@@ -0,0 +1,67 @@
+/*
+ * @copyright Copyright (c) 2016-2020 TOYOTA MOTOR CORPORATION.
+ *
+ * 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.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <semaphore.h>
+#include <time.h>
+
+#include <native_service/cl_sem.h>
+#include "cl_error.h"
+
+#define CL_MILLI_TO_NANO(time)  ((time) * 1000000U)
+#define CL_SEC_TO_NANO(time)  ((time) * 1000000000U)
+#define CL_NANO_TO_SEC(time)  ((time) / 1000000000U)
+
+static void cl_TimeoutCalc(struct timespec *ts, unsigned int timeout) {
+  unsigned long long  nsec;
+
+  clock_gettime(CLOCK_REALTIME, ts);
+  nsec = (unsigned long long)ts->tv_nsec + (CL_MILLI_TO_NANO((unsigned long long)timeout));
+  ts->tv_sec = ts->tv_sec + (time_t)CL_NANO_TO_SEC(nsec);
+  ts->tv_nsec = (__syscall_slong_t)(nsec - CL_SEC_TO_NANO((unsigned long long)CL_NANO_TO_SEC(nsec)));
+}
+
+int CL_SemWait(sem_t *semid, unsigned int timeout) {
+  struct timespec ts, tmp;
+  int       ret;
+
+  while (1) {
+    cl_TimeoutCalc(&ts, timeout);
+    if ((ret = sem_timedwait(semid, &ts)) != 0) {  // LCOV_EXCL_BR_LINE 5: fail safe for libc
+      // LCOV_EXCL_START 5: fail safe for libc
+      AGL_ASSERT_NOT_TESTED();  // LCOV_EXCL_LINE 200: test assert
+      if (errno == ETIMEDOUT) {
+        /* Check the time considering the case where the time has been changed by clock_settime/settimeofday */
+        /* If the current time is much larger than the timeout specified time,
+           the system assumes that the time has changed and re-executes the command.
+           (A threshold of 100 is appropriate) */
+        clock_gettime(CLOCK_REALTIME, &tmp);
+        if (difftime(tmp.tv_sec, ts.tv_sec) > 100.0) {
+          CL_DBG_PRINT("detect clock changed\n");
+          continue;
+        }
+      }
+    }
+    // LCOV_EXCL_STOP 5: fail safe for libc
+    break;
+    AGL_ASSERT_NOT_TESTED();  // LCOV_EXCL_LINE 200: test assert
+  } // LCOV_EXCL_LINE 10: end line
+
+  return ret;
+}
+