/***************************************************************************** * PROJECT: Carnegie Mellon Planetary Rover Project * Task Control Architecture * * (c) Copyright 1991 Christopher Fedor and Reid Simmons. All rights reserved. * * MODULE: * * FILE: * * ABSTRACT: * * $Source: /cvsroot/carmen/carmen/src/ipc/basics.h,v $ * $Revision: 1.1.1.1 $ * $Date: 2004/10/15 14:33:14 $ * $Author: tomkol $ * * REVISION HISTORY: * * $Log: basics.h,v $ * Revision 1.1.1.1 2004/10/15 14:33:14 tomkol * Initial Import * * Revision 1.5 2003/04/20 02:28:12 nickr * Upgraded to IPC 3.7.6. * Reversed meaning of central -s to be default silent, * -s turns silent off. * * Revision 2.3 2000/08/14 21:28:32 reids * Added support for making under Windows. * * Revision 2.2 2000/07/03 17:03:21 hersh * Removed all instances of "tca" in symbols and messages, plus changed * the names of all other symbols which conflicted with TCA. This new * version of IPC should be able to interoperate TCA fully. Client * programs can now link to both tca and ipc. * * Revision 2.1.1.1 1999/11/23 19:07:33 reids * Putting IPC Version 2.9.0 under local (CMU) CVS control. * * Revision 1.1.2.2 1996/12/18 15:08:26 reids * Defined common macros to clean up code * * Revision 1.1.2.1 1996/10/08 14:23:29 reids * Changes for IPC operating under Lispworks on the PPC. Mainly changes * (LISPWORKS_FFI_HACK) due to the fact that Lispworks on the PPC is currently * missing the foreign-callable function. * * Revision 1.1 1996/05/09 01:01:09 reids * Moved all the X_IPC files over to the IPC directory. * Fixed problem with sending NULL data. * Added function IPC_setCapacity. * VxWorks m68k version released. * * Revision 1.1 1996/03/03 04:30:51 reids * First release of IPC files. X_IPC code (8.5), modified to support NM-DS1 IPC. * * Revision 1.19 1996/01/05 16:30:59 rich * Added windows NT port. * * Revision 1.18 1995/07/25 20:08:45 rich * Changes for NeXT machine (3.0). * * Revision 1.17 1995/07/06 22:08:06 rich * Missing directive. * * Revision 1.16 1995/07/06 21:39:26 rich * Fixes ported from 7.9. * * Revision 1.15 1995/07/06 21:15:40 rich * Solaris and Linux changes. * * Revision 1.14 1995/05/31 19:34:53 rich * Fixed problem with reply data being freed early from replys. * Initial work on getting the PC version to work. * * Revision 1.13 1995/04/21 03:53:00 rich * Added central commands to kill the task tree and close a module. * Added x_ipcGetContext and x_ipcSetContext to support connections to multiple * central servers. x_ipcConnectModules can be called multiple times. * Fixed a bug in the resource limit pending. * Created seperate routines to print help and option messages. * * Revision 1.12 1995/04/19 14:27:36 rich * Fixed problems with lisp encode/decode functions. * Added types int32 and int16 for use where the size of the integer matters. * * Revision 1.11 1995/04/08 02:06:10 rich * Added x_ipc_waitForReplyFrom to be able to block on replies from only one * source. Useful when querying for the msg info information. Added a * x_ipcQueryCentral that only accepts input from the central server. Fixed * timing problems with direct connections. * * Revision 1.10 1995/04/07 05:02:39 rich * Fixed GNUmakefiles to find the release directory. * Cleaned up libc.h file for sgi and vxworks. Moved all system includes * into libc.h * Got direct queries to work. * Fixed problem in allocating/initializing generic mats. * The direct flag (-c) now mostly works. Connect message has been extended to * indicate when direct connections are the default. * Problem with failures on sunOS machines. * Fixed problem where x_ipcError would not print out its message if logging had * not been initialized. * Fixed another memory problem in modVar.c. * Fixed problems found in by sgi cc compiler. Many type problems. * * Revision 1.9 1995/03/30 15:42:21 rich * DBMALLOC works. To use "gmake -k -w DBMALLOC=DBMALLOC install" * Added simple list of strings data structure that can be passed via x_ipc * messages. * Use the string list to maintain a global variable of messages with taps. * Tapped messages are not sent via direct connections. * Implemented code to vectorize data to be sent so that it does not have * to be copied. Currently, only flat, packed data structures are * vectored. This can now be easily extended. * Changed Boolean -> BOOLEAN for consistency and to avoid conflicts with x11. * Fixed bug were central would try and free the "***New Module***" and * "*** Unkown Host***" strings when a module crashed on startup. * Fixed a bug reported by Jay Gowdy where the code to find the size of a * variable lenght array would access already freed data when called from * x_ipcFreeData. * * Revision 1.8 1995/03/28 01:14:09 rich * - Added ability to log data with direct connections. Also fixed some * problems with global variables. It now uses broadcasts for watching variables. * - Added preliminary memory recovery routines to handle out of memory * conditions. It currently purges items from resource queues. Needs to * be tested. * - If the CENTRALHOST environment variable is not set, try the current * host. * - Fixed a problem with central registered messages that caused the parsed * formatters to be lost. * - Added const declarations where needed to the prototypes in x_ipc.h. * - x_ipcGetConnections: Get the fd_set. Needed for direct connections. * - Added x_ipcExecute and x_ipcExecuteWithConstraints. Can "execute" a goal * or command. * - x_ipcPreloadMessage: Preload the definition of a message from the * central server. * * Revision 1.7 1995/01/18 22:39:30 rich * X_IPC 7.9: Speed improvements. * Use unix sockets for communication on the same machine. * Eliminate copying. * Optimize loop for arrays, especially simple, primitive arrays. * Optimize the buffer size. * * Revision 1.6 1994/10/25 17:09:30 reids * Changed the logging functions to accept variable number of arguments. * * Revision 1.5 1994/05/31 03:23:41 rich * Removed CFLAGS_sun4. * Removed cfree and bzero from mem routines. * Set zero wait on both sides of the pipe. Can connect to host using inet * number. * * Revision 1.4 1994/04/28 16:15:10 reids * Changes in X_IPC Version 7.6: * 1) New functions: x_ipcIgnoreLogging and x_ipcResumeLogging * 2) Code for MacIntosh (MPW) version of X_IPC * * Revision 1.3 1993/11/21 20:17:02 rich * Added shared library for sun4c_411 sunos machines. * Added install to the makefile. * Fixed problems with global variables. * * Revision 1.2 1993/08/30 21:52:56 fedor * V7+V6+VXWORKS Everything compiles but there are initialization problems. * * Revision 1.1 1993/08/27 07:13:59 fedor * First Pass at V7 and V6+VXWORKS merge * * Revision 1.4 1993/07/08 05:38:00 rich * Added function prototypes * * Revision 1.3 1993/06/22 13:58:26 rich * Added makefile.depend. Dependencies automatically generated using gcc. * Fixed some warnings. * Updated the -D flags to correspond to those generated * automatically by the makefile. * Changed system includes to the proper format "stdio.h" -> . * This was needed so that the automatic dependency generation can * distinguish between "local" and system headers. The location of the * system headers changes from architecture to architecture and should not * be included in the dependency list. * * Revision 1.2 1993/05/27 22:16:01 rich * Added automatic logging. * *****************************************************************************/ #ifndef INCbasics #define INCbasics #define NMP_IPC /* This is needed because the current version of Lispworks for VxWorks is not able to call Lisp function from C */ #if defined(LISPWORKS) && defined(VXWORKS) #define LISPWORKS_FFI_HACK #endif /* GCC supports inlining of functions.*/ #if defined(__GNUC__) && !defined(__NeXT__) #define INLINE __inline__ #else #define INLINE #endif #ifndef TRUE #define TRUE 1 #endif #ifndef FALSE #define FALSE 0 #endif #if defined(THINK_C) || defined(__TURBOC__) || defined(__svr4__) #define bzero(buf, len) memset((void *)(buf), 0, (size_t)(len)) #define bcopy(from, to, len) memcpy((void *)(to), (void *)(from), (size_t)len) #endif /* THINK_C || __TURBOC__ || __svr4__ */ #define BCOPY(source, dest, length) \ memcpy((void *)(dest), (void *)(source), (size_t)(length)) #ifndef _WINSOCK_ /* windows already has a BOOLEAN type */ typedef int BOOLEAN; #endif /* !_WINSOCK_ */ /* A generic pointer (prints out better than "data_ptr" does in the debugger */ typedef struct { char *dummy; } *value_ptr; #ifndef MAX #define MAX(x,y) ((x) > (y) ? (x) : (y)) #endif #ifndef MIN #define MIN(x,y) ((x) > (y) ? (y) : (x)) #endif #ifndef NEW #define NEW(type) (type *)x_ipcMalloc((unsigned int) sizeof(type)) #endif #ifndef NEW_DB #define NEW_DB(file,line, type) (type *)x_ipcDBMalloc(file,line, (unsigned int) sizeof(type)) #endif #ifndef STREQ #define STREQ(str1, str2) (!(strcmp((str1),(str2)))) #endif /* the new sunos 4.1 for sun3 leaves out tolower/toupper in ctypes.h this is still needed for the 4.0.3 systems */ #ifndef ABS #define ABS(x) ((x) >= 0 ? (x) : -(x)) #endif #ifndef PAUSE_MIN_DELAY #if defined(__sgi) #define PAUSE_MIN_DELAY() sginap(1); /* delay 1/100 sec */ #elif defined(__TURBOC__) || defined(__svr4__) #define PAUSE_MIN_DELAY() sleep(1); /* delay 1 sec */ #elif defined(OS2) #define PAUSE_MIN_DELAY() DosSleep(1); /* delay 0.001 sec - really 0.030 sec */ #elif defined(WIN32) #define PAUSE_MIN_DELAY() Sleep(1); /* delay 0.001 sec - Note Cap "S" */ #else #define PAUSE_MIN_DELAY() usleep(1); /* delay 1/1000000 sec */ #endif /* SGI */ #endif #ifdef _WINSOCK_ #define CLOSE_SOCKET closesocket #else #define CLOSE_SOCKET close #endif #define SHUTDOWN_SOCKET(sd) { shutdown(sd, 2); CLOSE_SOCKET(sd); } #endif /* INCbasics */