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Add exception handling for mutex or condition variable failures #268

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Add exception handling for mutex or condition variable failures #268

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466c2bc
Fix compatibility with MacOSX 10.12 which provides clock_gettime() now
meyerj Dec 29, 2016
a2c9835
os: add exception handling for mutex and condition variable implement…
meyerj Mar 2, 2018
c30aea1
tests: fixed os_test for xenomai
meyerj Mar 3, 2018
a209ca8
os: fixed exception handling in MutexRecursive::timedlock()
meyerj Mar 3, 2018
07d3c4a
tests: fixed os_test for gnulinux/pthread
meyerj Mar 3, 2018
4cd54c0
os: fixed destruction of MutexRecursive in case it was still locked b…
meyerj Mar 3, 2018
e7c0a26
Merge remote-tracking branch 'origin/master' into master-add-mutex-co…
meyerj Jun 26, 2018
7dc9734
Merge branch 'master' into master-add-mutex-condition-exceptions
francisco-miguel-almeida May 24, 2019
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19 changes: 15 additions & 4 deletions config/check_depend.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -57,12 +57,23 @@ OPTION(ORO_NO_EMIT_CORBA_IOR "Do not emit CORBA IORs if name service not used" O
find_package(Boost 1.38 COMPONENTS filesystem system unit_test_framework thread serialization)

# Look for boost
if (NOT Boost_SYSTEM_FOUND)
message(SEND_ERROR "Orocos RTT requires Boost System library, but it was not found.")
endif()
if (NOT Boost_THREAD_FOUND)
message(SEND_ERROR "Orocos RTT requires Boost Thread library, but it was not found.")
endif()
list(APPEND OROCOS-RTT_INCLUDE_DIRS ${Boost_SYSTEM_INCLUDE_DIRS})
list(APPEND OROCOS-RTT_LIBRARIES ${Boost_SYSTEM_LIBRARIES})
if ( PLUGINS_ENABLE )
if (NOT Boost_FILESYSTEM_FOUND OR NOT Boost_SYSTEM_FOUND)
message(SEND_ERROR "Plugins require Boost Filesystem and System libraries, but they were not found.")
if (NOT Boost_FILESYSTEM_FOUND)
message(SEND_ERROR "Plugins require Boost Filesystem library, but it was not found.")
endif()
if (NOT Boost_SERIALIZATION_FOUND)
message(SEND_ERROR "Plugins require Boost Serialization librariy, but it was not found.")
endif()
list(APPEND OROCOS-RTT_INCLUDE_DIRS ${Boost_FILESYSTEM_INCLUDE_DIRS} ${Boost_SYSTEM_INCLUDE_DIRS} ${Boost_SERIALIZATION_INCLUDE_DIRS})
list(APPEND OROCOS-RTT_LIBRARIES ${Boost_FILESYSTEM_LIBRARIES} ${Boost_SYSTEM_LIBRARIES} ${Boost_SERIALIZATION_LIBRARIES})
list(APPEND OROCOS-RTT_INCLUDE_DIRS ${Boost_FILESYSTEM_INCLUDE_DIRS} ${Boost_SERIALIZATION_INCLUDE_DIRS})
list(APPEND OROCOS-RTT_LIBRARIES ${Boost_FILESYSTEM_LIBRARIES} ${Boost_SERIALIZATION_LIBRARIES})
endif()

if(Boost_INCLUDE_DIR)
Expand Down
67 changes: 60 additions & 7 deletions rtt/os/Condition.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,10 @@
#include <boost/date_time/posix_time/posix_time_types.hpp>
#endif

/// @todo Replace boost::system::system_error by std::system_error for C++11 and newer.
#include <boost/system/system_error.hpp>
#include <cassert>

namespace RTT
{ namespace os {

Expand All @@ -68,7 +72,13 @@ namespace RTT
*/
Condition()
{
rtos_cond_init( &c);
int ret = rtos_cond_init( &c);
if ( ret == 0 )
return;
#ifndef ORO_EMBEDDED
throw boost::system::system_error(-ret, boost::system::system_category(),
"Failed to initialize an instance of RTT::os::Condition");
#endif
}

/**
Expand All @@ -78,7 +88,10 @@ namespace RTT
*/
~Condition()
{
rtos_cond_destroy( &c );
int ret = rtos_cond_destroy( &c );
if ( ret == 0 )
return;
assert(false && "Failed to destroy an instance of RTT::os::Condition");
}

/**
Expand All @@ -89,7 +102,18 @@ namespace RTT
*/
bool wait (Mutex& m)
{
return rtos_cond_wait( &c, &m.m ) == 0 ? true : false;
int ret = rtos_cond_wait( &c, &m.m );
if ( ret == 0 )
return true;
if ( ret == -EBUSY || ret == -EWOULDBLOCK || ret == -ETIMEDOUT || ret == -EINTR )
return false;
#ifndef ORO_EMBEDDED
throw boost::system::system_error(-ret, boost::system::system_category(),
"Failed to wait on an instance of RTT::os::Condition");
#else
assert(false && "Failed to wait on an instance of RTT::os::Condition");
return false;
#endif
}

/**
Expand All @@ -103,16 +127,36 @@ namespace RTT
template<class Predicate>
bool wait (Mutex& m, Predicate& p)
{
while( !p() )
if ( rtos_cond_wait( &c, &m.m ) != 0) return false;
while( !p() ) {
int ret = rtos_cond_wait( &c, &m.m );
if ( ret == 0 )
continue;
if ( ret == -EBUSY || ret == -EWOULDBLOCK || ret == -ETIMEDOUT || ret == -EINTR )
return false;
#ifndef ORO_EMBEDDED
throw boost::system::system_error(-ret, boost::system::system_category(),
"Failed to wait on an instance of RTT::os::Condition");
#else
assert(false && "Failed to wait on an instance of RTT::os::Condition");
return false;
#endif
}
return true;
}
/**
* Wake all threads that are blocking in wait() or wait_until().
*/
void broadcast()
{
rtos_cond_broadcast( &c );
int ret = rtos_cond_broadcast( &c );
if ( ret == 0 )
return;
#ifndef ORO_EMBEDDED
throw boost::system::system_error(-ret, boost::system::system_category(),
"Failed to broadcast an instance of RTT::os::Condition");
#else
assert(false && "Failed to broadcast an instance of RTT::os::Condition");
#endif
}

/**
Expand All @@ -128,9 +172,18 @@ namespace RTT
*/
bool wait_until(Mutex& m, nsecs abs_time)
{
if ( rtos_cond_timedwait( &c, &m.m, abs_time ) == 0 )
int ret = rtos_cond_timedwait( &c, &m.m, abs_time );
if ( ret == 0 )
return true;
if ( ret == -EBUSY || ret == -EWOULDBLOCK || ret == -ETIMEDOUT || ret == -EINTR )
return false;
#ifndef ORO_EMBEDDED
throw boost::system::system_error(-ret, boost::system::system_category(),
"Failed to wait on an instance of RTT::os::Condition");
#else
assert(false && "Failed to wait on an instance of RTT::os::Condition");
return false;
#endif
}
#else
protected:
Expand Down
118 changes: 104 additions & 14 deletions rtt/os/Mutex.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,8 @@
#include "Semaphore.hpp"
#include "Time.hpp"

/// @todo Replace boost::system::system_error by std::system_error for C++11 and newer.
#include <boost/system/system_error.hpp>
#include <cassert>

#ifdef ORO_OS_USE_BOOST_THREAD
Expand Down Expand Up @@ -101,7 +103,13 @@ namespace RTT
*/
Mutex()
{
rtos_mutex_init( &m);
int ret = rtos_mutex_init( &m);
if ( ret == 0 )
return;
#ifndef ORO_EMBEDDED
throw boost::system::system_error(-ret, boost::system::system_category(),
"Failed to initialize an instance of RTT::os::Mutex");
#endif
}

/**
Expand All @@ -113,18 +121,37 @@ namespace RTT
{
if ( trylock() ) {
unlock();
rtos_mutex_destroy( &m );
int ret = rtos_mutex_destroy( &m );
if ( ret == 0 )
return;
assert(false && "Failed to destroy an instance of RTT::os::Mutex");
}
}

virtual void lock ()
{
rtos_mutex_lock( &m );
int ret = rtos_mutex_lock( &m );
if ( ret == 0 )
return;
#ifndef ORO_EMBEDDED
throw boost::system::system_error(-ret, boost::system::system_category(),
"Failed to lock an instance of RTT::os::Mutex");
#else
assert(false && "Failed to lock an instance of RTT::os::Mutex");
#endif
}

virtual void unlock()
{
rtos_mutex_unlock( &m );
int ret = rtos_mutex_unlock( &m );
if ( ret == 0 )
return;
#ifndef ORO_EMBEDDED
throw boost::system::system_error(-ret, boost::system::system_category(),
"Failed to unlock an instance of RTT::os::Mutex");
#else
assert(false && "Failed to unlock an instance of RTT::os::Mutex");
#endif
}

/**
Expand All @@ -134,9 +161,18 @@ namespace RTT
*/
virtual bool trylock()
{
if ( rtos_mutex_trylock( &m ) == 0 )
return true;
return false;
int ret = rtos_mutex_trylock( &m );
if ( ret == 0 )
return true;
if ( ret == -EBUSY || ret == -EWOULDBLOCK || ret == -ETIMEDOUT || ret == -EINTR )
return false;
#ifndef ORO_EMBEDDED
throw boost::system::system_error(-ret, boost::system::system_category(),
"Failed to lock an instance of RTT::os::Mutex");
#else
assert(false && "Failed to lock an instance of RTT::os::Mutex");
return false;
#endif
}

/**
Expand All @@ -148,9 +184,18 @@ namespace RTT
*/
virtual bool timedlock(Seconds s)
{
if ( rtos_mutex_trylock_for( &m, Seconds_to_nsecs(s) ) == 0 )
int ret = rtos_mutex_trylock_for( &m, Seconds_to_nsecs(s) );
if ( ret == 0 )
return true;
if ( ret == -EBUSY || ret == -EWOULDBLOCK || ret == -ETIMEDOUT || ret == -EINTR )
return false;
#ifndef ORO_EMBEDDED
throw boost::system::system_error(-ret, boost::system::system_category(),
"Failed to lock an instance of RTT::os::Mutex");
#else
assert(false && "Failed to lock an instance of RTT::os::Mutex");
return false;
#endif
}
#else
protected:
Expand Down Expand Up @@ -226,7 +271,13 @@ namespace RTT
*/
MutexRecursive()
{
rtos_mutex_rec_init( &recm );
int ret = rtos_mutex_rec_init( &recm );
if ( ret == 0 )
return;
#ifndef ORO_EMBEDDED
throw boost::system::system_error(-ret, boost::system::system_category(),
"Failed to initialize an instance of RTT::os::MutexRecursive");
#endif
}

/**
Expand All @@ -238,18 +289,39 @@ namespace RTT
{
if ( trylock() ) {
unlock();
rtos_mutex_rec_destroy( &recm );
// The calling thread might have locked the mutex more than once.
while(rtos_mutex_rec_unlock( &recm ) == 0);
int ret = rtos_mutex_rec_destroy( &recm );
if ( ret == 0 )
return;
assert(false && "Failed to destroy an instance of RTT::os::MutexRecursive");
}
}

void lock ()
{
rtos_mutex_rec_lock( &recm );
int ret = rtos_mutex_rec_lock( &recm );
if ( ret == 0 )
return;
#ifndef ORO_EMBEDDED
throw boost::system::system_error(-ret, boost::system::system_category(),
"Failed to lock an instance of RTT::os::MutexRecursive");
#else
assert(false && "Failed to lock an instance of RTT::os::MutexRecursive");
#endif
}

virtual void unlock()
{
rtos_mutex_rec_unlock( &recm );
int ret = rtos_mutex_rec_unlock( &recm );
if ( ret == 0 )
return;
#ifndef ORO_EMBEDDED
throw boost::system::system_error(-ret, boost::system::system_category(),
"Failed to unlock an instance of RTT::os::MutexRecursive");
#else
assert(false && "Failed to unlock an instance of RTT::os::MutexRecursive");
#endif
}

/**
Expand All @@ -259,9 +331,18 @@ namespace RTT
*/
virtual bool trylock()
{
if ( rtos_mutex_rec_trylock( &recm ) == 0 )
int ret = rtos_mutex_rec_trylock( &recm );
if ( ret == 0 )
return true;
if ( ret == -EBUSY || ret == -EWOULDBLOCK || ret == -ETIMEDOUT || ret == -EINTR )
return false;
#ifndef ORO_EMBEDDED
throw boost::system::system_error(-ret, boost::system::system_category(),
"Failed to lock an instance of RTT::os::MutexRecursive");
#else
assert(false && "Failed to lock an instance of RTT::os::MutexRecursive");
return false;
#endif
}

/**
Expand All @@ -273,9 +354,18 @@ namespace RTT
*/
virtual bool timedlock(Seconds s)
{
if ( rtos_mutex_rec_trylock_for( &recm, Seconds_to_nsecs(s) ) == 0 )
int ret = rtos_mutex_rec_trylock_for( &recm, Seconds_to_nsecs(s) );
if ( ret == 0 )
return true;
if ( ret == -EBUSY || ret == -EWOULDBLOCK || ret == -ETIMEDOUT || ret == -EINTR )
return false;
#ifndef ORO_EMBEDDED
throw boost::system::system_error(-ret, boost::system::system_category(),
"Failed to lock an instance of RTT::os::MutexRecursive");
#else
assert(false && "Failed to lock an instance of RTT::os::MutexRecursive");
return false;
#endif
}
#else
protected:
Expand Down
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