2 * @copyright Copyright (c) 2016-2020 TOYOTA MOTOR CORPORATION.
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
8 * http://www.apache.org/licenses/LICENSE-2.0
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
20 #include <semaphore.h>
23 #include <native_service/cl_sem.h>
26 #define CL_MILLI_TO_NANO(time) ((time) * 1000000U)
27 #define CL_SEC_TO_NANO(time) ((time) * 1000000000U)
28 #define CL_NANO_TO_SEC(time) ((time) / 1000000000U)
30 static void cl_TimeoutCalc(struct timespec *ts, unsigned int timeout) {
31 unsigned long long nsec;
33 clock_gettime(CLOCK_REALTIME, ts);
34 nsec = (unsigned long long)ts->tv_nsec + (CL_MILLI_TO_NANO((unsigned long long)timeout));
35 ts->tv_sec = ts->tv_sec + (time_t)CL_NANO_TO_SEC(nsec);
36 ts->tv_nsec = (__syscall_slong_t)(nsec - CL_SEC_TO_NANO((unsigned long long)CL_NANO_TO_SEC(nsec)));
39 int CL_SemWait(sem_t *semid, unsigned int timeout) {
40 struct timespec ts, tmp;
44 cl_TimeoutCalc(&ts, timeout);
45 if ((ret = sem_timedwait(semid, &ts)) != 0) { // LCOV_EXCL_BR_LINE 5: fail safe for libc
46 // LCOV_EXCL_START 5: fail safe for libc
47 AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
48 if (errno == ETIMEDOUT) {
49 /* Check the time considering the case where the time has been changed by clock_settime/settimeofday */
50 /* If the current time is much larger than the timeout specified time,
51 the system assumes that the time has changed and re-executes the command.
52 (A threshold of 100 is appropriate) */
53 clock_gettime(CLOCK_REALTIME, &tmp);
54 if (difftime(tmp.tv_sec, ts.tv_sec) > 100.0) {
55 CL_DBG_PRINT("detect clock changed\n");
60 // LCOV_EXCL_STOP 5: fail safe for libc
62 AGL_ASSERT_NOT_TESTED(); // LCOV_EXCL_LINE 200: test assert
63 } // LCOV_EXCL_LINE 10: end line