1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
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;
}
|
