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173
unitree_SDK/include/dds/ddsrt/atomics/arm.h Normal file
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/*
* Copyright(c) 2006 to 2020 ZettaScale Technology and others
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License v. 2.0 which is available at
* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
* v. 1.0 which is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
*/
#ifndef DDSRT_ATOMICS_ARM_H
#define DDSRT_ATOMICS_ARM_H
#if defined (__cplusplus)
extern "C" {
#endif
#if !defined(__arm__)
#define __arm__
#endif
/* IAR documentation states that __CPU_MODE__ is a predefined preprocessor
symbol reflecting the selected CPU mode and is defined to 1 for Thumb and
2 for ARM. */
#if !defined(__thumb__) && __CPU_MODE__ == 1
#define __thumb__
#endif
/* LD, ST */
inline uint32_t ddsrt_atomic_ld32 (const volatile ddsrt_atomic_uint32_t *x) { return x->v; }
inline uintptr_t ddsrt_atomic_ldptr (const volatile ddsrt_atomic_uintptr_t *x) { return x->v; }
inline void *ddsrt_atomic_ldvoidp (const volatile ddsrt_atomic_voidp_t *x) { return (void *) ddsrt_atomic_ldptr (x); }
inline void ddsrt_atomic_st32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) { x->v = v; }
inline void ddsrt_atomic_stptr (volatile ddsrt_atomic_uintptr_t *x, uintptr_t v) { x->v = v; }
inline void ddsrt_atomic_stvoidp (volatile ddsrt_atomic_voidp_t *x, void *v) { ddsrt_atomic_stptr (x, (uintptr_t) v); }
/* CAS */
inline int ddsrt_atomic_cas32 (volatile ddsrt_atomic_uint32_t *x, uint32_t exp, uint32_t des) {
register int result;
asm volatile ("ldrex r0, [%1]\n\t" /*exclusive load of ptr */
"cmp r0, %2\n\t" /*compare the oldval == *ptr */
#if defined(__thumb__)
"ite eq\n\t"
#endif
"strexeq %0, %3, [%1]\n\t" /*store if eq, strex+eq*/
#if defined(__thumb__)
"clrexne"
#endif
: "=&r" (result)
: "r"(&x->v), "r"(exp),"r"(des)
: "r0");
return result == 0;
}
inline int ddsrt_atomic_casptr (volatile ddsrt_atomic_uintptr_t *x, uintptr_t exp, uintptr_t des) {
return ddsrt_atomic_cas32 ((volatile ddsrt_atomic_uint32_t *) x, exp, des);
}
inline int ddsrt_atomic_casvoidp (volatile ddsrt_atomic_voidp_t *x, void *exp, void *des) {
return ddsrt_atomic_casptr ((volatile ddsrt_atomic_uintptr_t *) x, (uintptr_t) exp, (uintptr_t) des);
}
/* ADD */
inline uint32_t ddsrt_atomic_add32_nv (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
register unsigned int result;
asm volatile ("1: ldrex %0, [%1]\n\t"
"add %0, %0, %2\n\t"
"strex r1, %0, [%1]\n\t"
"cmp r1, #0\n\t"
"bne 1b"
: "=&r" (result)
: "r"(&x->v), "r"(v)
: "r1");
return result;
}
inline void ddsrt_atomic_add32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
(void) ddsrt_atomic_add32_nv (x, v);
}
inline uint32_t ddsrt_atomic_add32_ov (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return ddsrt_atomic_add32_nv (x, v) - v;
}
/* SUB */
inline uint32_t ddsrt_atomic_sub32_nv (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return ddsrt_atomic_add32_nv (x, -v);
}
inline void ddsrt_atomic_sub32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
ddsrt_atomic_add32 (x, -v);
}
/* INC */
inline uint32_t ddsrt_atomic_inc32_ov (volatile ddsrt_atomic_uint32_t *x) {
return ddsrt_atomic_add32_nv (x, 1) - 1;
}
inline uint32_t ddsrt_atomic_inc32_nv (volatile ddsrt_atomic_uint32_t *x) {
return ddsrt_atomic_add32_nv (x, 1);
}
inline void ddsrt_atomic_inc32 (volatile ddsrt_atomic_uint32_t *x) {
(void) ddsrt_atomic_inc32_nv (x);
}
/* DEC */
inline uint32_t ddsrt_atomic_dec32_ov (volatile ddsrt_atomic_uint32_t *x) {
return ddsrt_atomic_sub32_nv (x, 1) + 1;
}
inline uint32_t ddsrt_atomic_dec32_nv (volatile ddsrt_atomic_uint32_t *x) {
return ddsrt_atomic_sub32_nv (x, 1);
}
inline void ddsrt_atomic_dec32 (volatile ddsrt_atomic_uint32_t *x) {
(void) ddsrt_atomic_dec32_nv (x);
}
/* AND */
inline uint32_t ddsrt_atomic_and32_ov (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
uint32_t oldval, newval;
do { oldval = x->v; newval = oldval & v; } while (!ddsrt_atomic_cas32 (x, oldval, newval));
return oldval;
}
inline uint32_t ddsrt_atomic_and32_nv (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
uint32_t oldval, newval;
do { oldval = x->v; newval = oldval & v; } while (!ddsrt_atomic_cas32 (x, oldval, newval));
return newval;
}
inline void ddsrt_atomic_and32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
(void) ddsrt_atomic_and32_nv (x, v);
}
/* OR */
inline uint32_t ddsrt_atomic_or32_ov (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
uint32_t oldval, newval;
do { oldval = x->v; newval = oldval | v; } while (!ddsrt_atomic_cas32 (x, oldval, newval));
return oldval;
}
inline uint32_t ddsrt_atomic_or32_nv (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
uint32_t oldval, newval;
do { oldval = x->v; newval = oldval | v; } while (!ddsrt_atomic_cas32 (x, oldval, newval));
return newval;
}
inline void ddsrt_atomic_or32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
(void) ddsrt_atomic_or32_nv (x, v);
}
/* FENCES */
inline void ddsrt_atomic_fence (void) {
__asm volatile ("dmb" : : : "memory");
}
inline void ddsrt_atomic_fence_ldld (void) {
ddsrt_atomic_fence ();
}
inline void ddsrt_atomic_fence_stst (void) {
ddsrt_atomic_fence ();
}
inline void ddsrt_atomic_fence_acq (void) {
ddsrt_atomic_fence ();
}
inline void ddsrt_atomic_fence_rel (void) {
ddsrt_atomic_fence ();
}
#if defined (__cplusplus)
}
#endif
#endif /* DDSRT_ATOMICS_ARM_H */

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unitree_SDK/include/dds/ddsrt/atomics/gcc.h Normal file
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/*
* Copyright(c) 2006 to 2021 ZettaScale Technology and others
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License v. 2.0 which is available at
* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
* v. 1.0 which is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
*/
#ifndef DDSRT_ATOMICS_GCC_H
#define DDSRT_ATOMICS_GCC_H
#include "dds/ddsrt/misc.h"
#include "dds/ddsrt/attributes.h"
#if defined (__cplusplus)
extern "C" {
DDSRT_WARNING_GNUC_OFF(old-style-cast)
DDSRT_WARNING_CLANG_OFF(old-style-cast)
#endif
#if ( DDSRT_HAVE_ATOMIC64 && __GCC_HAVE_SYNC_COMPARE_AND_SWAP_16) || \
(!DDSRT_HAVE_ATOMIC64 && __GCC_HAVE_SYNC_COMPARE_AND_SWAP_8)
# define DDSRT_HAVE_ATOMIC_LIFO 1
#endif
/* LD, ST */
DDS_INLINE_EXPORT ddsrt_attribute_no_sanitize (("thread"))
inline uint32_t ddsrt_atomic_ld32(const volatile ddsrt_atomic_uint32_t *x)
{
return x->v;
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT ddsrt_attribute_no_sanitize (("thread"))
inline uint64_t ddsrt_atomic_ld64(const volatile ddsrt_atomic_uint64_t *x)
{
return x->v;
}
#endif
DDS_INLINE_EXPORT ddsrt_attribute_no_sanitize (("thread"))
inline uintptr_t ddsrt_atomic_ldptr(const volatile ddsrt_atomic_uintptr_t *x)
{
return x->v;
}
DDS_INLINE_EXPORT ddsrt_attribute_no_sanitize (("thread"))
inline void *ddsrt_atomic_ldvoidp(const volatile ddsrt_atomic_voidp_t *x)
{
return (void *) ddsrt_atomic_ldptr(x);
}
DDS_INLINE_EXPORT ddsrt_attribute_no_sanitize (("thread"))
inline void ddsrt_atomic_st32(volatile ddsrt_atomic_uint32_t *x, uint32_t v)
{
x->v = v;
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT ddsrt_attribute_no_sanitize (("thread"))
inline void ddsrt_atomic_st64(volatile ddsrt_atomic_uint64_t *x, uint64_t v)
{
x->v = v;
}
#endif
DDS_INLINE_EXPORT ddsrt_attribute_no_sanitize (("thread"))
inline void ddsrt_atomic_stptr(volatile ddsrt_atomic_uintptr_t *x, uintptr_t v)
{
x->v = v;
}
DDS_INLINE_EXPORT ddsrt_attribute_no_sanitize (("thread"))
inline void ddsrt_atomic_stvoidp(volatile ddsrt_atomic_voidp_t *x, void *v)
{
ddsrt_atomic_stptr(x, (uintptr_t)v);
}
/* INC */
DDS_INLINE_EXPORT inline void ddsrt_atomic_inc32(volatile ddsrt_atomic_uint32_t *x) {
__sync_fetch_and_add (&x->v, 1);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline void ddsrt_atomic_inc64 (volatile ddsrt_atomic_uint64_t *x) {
__sync_fetch_and_add (&x->v, 1);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_inc32_ov (volatile ddsrt_atomic_uint32_t *x) {
return __sync_fetch_and_add (&x->v, 1);
}
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_inc32_nv (volatile ddsrt_atomic_uint32_t *x) {
return __sync_add_and_fetch (&x->v, 1);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_inc64_nv (volatile ddsrt_atomic_uint64_t *x) {
return __sync_add_and_fetch (&x->v, 1);
}
#endif
/* DEC */
DDS_INLINE_EXPORT inline void ddsrt_atomic_dec32 (volatile ddsrt_atomic_uint32_t *x) {
__sync_fetch_and_sub (&x->v, 1);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline void ddsrt_atomic_dec64 (volatile ddsrt_atomic_uint64_t *x) {
__sync_fetch_and_sub (&x->v, 1);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_dec32_nv (volatile ddsrt_atomic_uint32_t *x) {
return __sync_sub_and_fetch (&x->v, 1);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_dec64_nv (volatile ddsrt_atomic_uint64_t *x) {
return __sync_sub_and_fetch (&x->v, 1);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_dec32_ov (volatile ddsrt_atomic_uint32_t *x) {
return __sync_fetch_and_sub (&x->v, 1);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_dec64_ov (volatile ddsrt_atomic_uint64_t *x) {
return __sync_fetch_and_sub (&x->v, 1);
}
#endif
/* ADD */
DDS_INLINE_EXPORT inline void ddsrt_atomic_add32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
__sync_fetch_and_add (&x->v, v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline void ddsrt_atomic_add64 (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
__sync_fetch_and_add (&x->v, v);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_add32_ov (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return __sync_fetch_and_add (&x->v, v);
}
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_add32_nv (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return __sync_add_and_fetch (&x->v, v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_add64_nv (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
return __sync_add_and_fetch (&x->v, v);
}
#endif
/* SUB */
DDS_INLINE_EXPORT inline void ddsrt_atomic_sub32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
__sync_fetch_and_sub (&x->v, v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline void ddsrt_atomic_sub64 (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
__sync_fetch_and_sub (&x->v, v);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_sub32_ov (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return __sync_fetch_and_sub (&x->v, v);
}
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_sub32_nv (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return __sync_sub_and_fetch (&x->v, v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_sub64_nv (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
return __sync_sub_and_fetch (&x->v, v);
}
#endif
/* AND */
DDS_INLINE_EXPORT inline void ddsrt_atomic_and32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
__sync_fetch_and_and (&x->v, v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline void ddsrt_atomic_and64 (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
__sync_fetch_and_and (&x->v, v);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_and32_ov (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return __sync_fetch_and_and (&x->v, v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_and64_ov (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
return __sync_fetch_and_and (&x->v, v);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_and32_nv (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return __sync_and_and_fetch (&x->v, v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_and64_nv (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
return __sync_and_and_fetch (&x->v, v);
}
#endif
/* OR */
DDS_INLINE_EXPORT inline void ddsrt_atomic_or32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
__sync_fetch_and_or (&x->v, v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline void ddsrt_atomic_or64 (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
__sync_fetch_and_or (&x->v, v);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_or32_ov (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return __sync_fetch_and_or (&x->v, v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_or64_ov (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
return __sync_fetch_and_or (&x->v, v);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_or32_nv (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return __sync_or_and_fetch (&x->v, v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_or64_nv (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
return __sync_or_and_fetch (&x->v, v);
}
#endif
/* CAS */
DDS_INLINE_EXPORT inline int ddsrt_atomic_cas32 (volatile ddsrt_atomic_uint32_t *x, uint32_t exp, uint32_t des) {
return __sync_bool_compare_and_swap (&x->v, exp, des);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline int ddsrt_atomic_cas64 (volatile ddsrt_atomic_uint64_t *x, uint64_t exp, uint64_t des) {
return __sync_bool_compare_and_swap (&x->v, exp, des);
}
#endif
DDS_INLINE_EXPORT inline int ddsrt_atomic_casptr (volatile ddsrt_atomic_uintptr_t *x, uintptr_t exp, uintptr_t des) {
return __sync_bool_compare_and_swap (&x->v, exp, des);
}
DDS_INLINE_EXPORT inline int ddsrt_atomic_casvoidp (volatile ddsrt_atomic_voidp_t *x, void *exp, void *des) {
return ddsrt_atomic_casptr (x, (uintptr_t) exp, (uintptr_t) des);
}
#if DDSRT_HAVE_ATOMIC_LIFO
#if DDSRT_HAVE_ATOMIC64
#if defined(__s390__) || defined(__s390x__) || defined(__zarch__)
typedef __int128_t __attribute__((aligned(16))) ddsrt_atomic_int128_t;
#else
typedef __int128_t ddsrt_atomic_int128_t;
#endif
typedef union { ddsrt_atomic_int128_t x; struct { uintptr_t a, b; } s; } ddsrt_atomic_uintptr2_t;
#else
typedef union { uint64_t x; struct { uintptr_t a, b; } s; } ddsrt_atomic_uintptr2_t;
#endif
typedef struct {
ddsrt_atomic_uintptr2_t aba_head;
} ddsrt_atomic_lifo_t;
DDS_EXPORT void ddsrt_atomic_lifo_init(ddsrt_atomic_lifo_t *head);
DDS_EXPORT void ddsrt_atomic_lifo_push(ddsrt_atomic_lifo_t *head, void *elem, size_t linkoff);
DDS_EXPORT void *ddsrt_atomic_lifo_pop(ddsrt_atomic_lifo_t *head, size_t linkoff);
DDS_EXPORT void ddsrt_atomic_lifo_pushmany(ddsrt_atomic_lifo_t *head, void *first, void *last, size_t linkoff);
DDS_INLINE_EXPORT inline int ddsrt_atomic_casvoidp2 (volatile ddsrt_atomic_uintptr2_t *x, uintptr_t a0, uintptr_t b0, uintptr_t a1, uintptr_t b1) {
ddsrt_atomic_uintptr2_t o, n;
o.s.a = a0; o.s.b = b0;
n.s.a = a1; n.s.b = b1;
#if defined(__s390__) || defined(__s390x__) || defined(__zarch__)
return __sync_bool_compare_and_swap ((ddsrt_atomic_int128_t*)__builtin_assume_aligned(&x->x, 16), o.x, n.x);
#else
return __sync_bool_compare_and_swap (&x->x, o.x, n.x);
#endif
}
#endif
/* FENCES */
DDS_INLINE_EXPORT inline void ddsrt_atomic_fence (void) {
__sync_synchronize ();
}
DDS_INLINE_EXPORT inline void ddsrt_atomic_fence_ldld (void) {
#if !(defined __i386__ || defined __x86_64__ || defined _M_IX86 || defined _M_X64)
__sync_synchronize ();
#endif
}
DDS_INLINE_EXPORT inline void ddsrt_atomic_fence_stst (void) {
#if !(defined __i386__ || defined __x86_64__ || defined _M_IX86 || defined _M_X64)
__sync_synchronize ();
#endif
}
DDS_INLINE_EXPORT inline void ddsrt_atomic_fence_acq (void) {
#if !(defined __i386__ || defined __x86_64__ || defined _M_IX86 || defined _M_X64)
ddsrt_atomic_fence ();
#else
asm volatile ("" ::: "memory");
#endif
}
DDS_INLINE_EXPORT inline void ddsrt_atomic_fence_rel (void) {
#if !(defined __i386__ || defined __x86_64__ || defined _M_IX86 || defined _M_X64)
ddsrt_atomic_fence ();
#else
asm volatile ("" ::: "memory");
#endif
}
#if defined (__cplusplus)
DDSRT_WARNING_CLANG_ON(old-style-cast)
DDSRT_WARNING_GNUC_ON(old-style-cast)
}
#endif
#endif /* DDSRT_ATOMICS_GCC_H */

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/*
* Copyright(c) 2006 to 2021 ZettaScale Technology and others
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License v. 2.0 which is available at
* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
* v. 1.0 which is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
*/
#ifndef DDSRT_ATOMICS_MSVC_H
#define DDSRT_ATOMICS_MSVC_H
#include "dds/ddsrt/misc.h"
#if defined (__cplusplus)
extern "C" {
#endif
/* x86 has supported 64-bit CAS for a long time, so Windows ought to
provide all the interlocked operations for 64-bit operands on x86
platforms, but it doesn't. */
#define DDSRT_ATOMIC_OP32(name, ...) name ((volatile long *) __VA_ARGS__)
#if DDSRT_HAVE_ATOMIC64
#define DDSRT_ATOMIC_OP64(name, ...) name##64 ((volatile int64_t *) __VA_ARGS__)
#define DDSRT_ATOMIC_PTROP(name, ...) name##64 ((volatile int64_t *) __VA_ARGS__)
#else
#define DDSRT_ATOMIC_PTROP(name, ...) name ((volatile long *) __VA_ARGS__)
#endif
/* LD, ST */
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_ld32 (const volatile ddsrt_atomic_uint32_t *x) { return x->v; }
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_ld64 (const volatile ddsrt_atomic_uint64_t *x) { return x->v; }
#endif
DDS_INLINE_EXPORT inline uintptr_t ddsrt_atomic_ldptr (const volatile ddsrt_atomic_uintptr_t *x) { return x->v; }
DDS_INLINE_EXPORT inline void *ddsrt_atomic_ldvoidp (const volatile ddsrt_atomic_voidp_t *x) { return (void *) ddsrt_atomic_ldptr (x); }
DDS_INLINE_EXPORT inline void ddsrt_atomic_st32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) { x->v = v; }
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline void ddsrt_atomic_st64 (volatile ddsrt_atomic_uint64_t *x, uint64_t v) { x->v = v; }
#endif
DDS_INLINE_EXPORT inline void ddsrt_atomic_stptr (volatile ddsrt_atomic_uintptr_t *x, uintptr_t v) { x->v = v; }
DDS_INLINE_EXPORT inline void ddsrt_atomic_stvoidp (volatile ddsrt_atomic_voidp_t *x, void *v) { ddsrt_atomic_stptr (x, (uintptr_t) v); }
/* CAS */
DDS_INLINE_EXPORT inline int ddsrt_atomic_cas32 (volatile ddsrt_atomic_uint32_t *x, uint32_t exp, uint32_t des) {
return DDSRT_ATOMIC_OP32 (InterlockedCompareExchange, &x->v, des, exp) == exp;
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline int ddsrt_atomic_cas64 (volatile ddsrt_atomic_uint64_t *x, uint64_t exp, uint64_t des) {
return DDSRT_ATOMIC_OP64 (InterlockedCompareExchange, &x->v, des, exp) == exp;
}
#endif
DDS_INLINE_EXPORT inline int ddsrt_atomic_casptr (volatile ddsrt_atomic_uintptr_t *x, uintptr_t exp, uintptr_t des) {
return DDSRT_ATOMIC_PTROP (InterlockedCompareExchange, &x->v, des, exp) == exp;
}
DDS_INLINE_EXPORT inline int ddsrt_atomic_casvoidp (volatile ddsrt_atomic_voidp_t *x, void *exp, void *des) {
return ddsrt_atomic_casptr ((volatile ddsrt_atomic_uintptr_t *) x, (uintptr_t) exp, (uintptr_t) des);
}
/* INC */
DDS_INLINE_EXPORT inline void ddsrt_atomic_inc32 (volatile ddsrt_atomic_uint32_t *x) {
DDSRT_ATOMIC_OP32 (InterlockedIncrement, &x->v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline void ddsrt_atomic_inc64 (volatile ddsrt_atomic_uint64_t *x) {
DDSRT_ATOMIC_OP64 (InterlockedIncrement, &x->v);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_inc32_ov (volatile ddsrt_atomic_uint32_t *x) {
return DDSRT_ATOMIC_OP32 (InterlockedIncrement, &x->v) - 1;
}
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_inc32_nv (volatile ddsrt_atomic_uint32_t *x) {
return DDSRT_ATOMIC_OP32 (InterlockedIncrement, &x->v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_inc64_nv (volatile ddsrt_atomic_uint64_t *x) {
return DDSRT_ATOMIC_OP64 (InterlockedIncrement, &x->v);
}
#endif
/* DEC */
DDS_INLINE_EXPORT inline void ddsrt_atomic_dec32 (volatile ddsrt_atomic_uint32_t *x) {
DDSRT_ATOMIC_OP32 (InterlockedDecrement, &x->v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline void ddsrt_atomic_dec64 (volatile ddsrt_atomic_uint64_t *x) {
DDSRT_ATOMIC_OP64 (InterlockedDecrement, &x->v);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_dec32_nv (volatile ddsrt_atomic_uint32_t *x) {
return DDSRT_ATOMIC_OP32 (InterlockedDecrement, &x->v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_dec64_nv (volatile ddsrt_atomic_uint64_t *x) {
return DDSRT_ATOMIC_OP64 (InterlockedDecrement, &x->v);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_dec32_ov (volatile ddsrt_atomic_uint32_t *x) {
return DDSRT_ATOMIC_OP32 (InterlockedDecrement, &x->v) + 1;
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_dec64_ov (volatile ddsrt_atomic_uint64_t *x) {
return DDSRT_ATOMIC_OP64 (InterlockedDecrement, &x->v) + 1;
}
#endif
/* ADD */
DDS_INLINE_EXPORT inline void ddsrt_atomic_add32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
DDSRT_ATOMIC_OP32 (InterlockedExchangeAdd, &x->v, v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline void ddsrt_atomic_add64 (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
DDSRT_ATOMIC_OP64 (InterlockedExchangeAdd, &x->v, v);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_add32_ov (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return DDSRT_ATOMIC_OP32 (InterlockedExchangeAdd, &x->v, v);
}
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_add32_nv (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return DDSRT_ATOMIC_OP32 (InterlockedExchangeAdd, &x->v, v) + v;
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_add64_nv (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
return DDSRT_ATOMIC_OP64 (InterlockedExchangeAdd, &x->v, v) + v;
}
#endif
/* SUB */
DDS_INLINE_EXPORT inline void ddsrt_atomic_sub32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
/* disable unary minus applied to unsigned type, result still unsigned */
DDSRT_WARNING_MSVC_OFF(4146)
DDSRT_ATOMIC_OP32 (InterlockedExchangeAdd, &x->v, -v);
DDSRT_WARNING_MSVC_ON(4146)
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline void ddsrt_atomic_sub64 (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
/* disable unary minus applied to unsigned type, result still unsigned */
DDSRT_WARNING_MSVC_OFF(4146)
DDSRT_ATOMIC_OP64 (InterlockedExchangeAdd, &x->v, -v);
DDSRT_WARNING_MSVC_ON(4146)
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_sub32_ov (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
/* disable unary minus applied to unsigned type, result still unsigned */
DDSRT_WARNING_MSVC_OFF(4146)
return DDSRT_ATOMIC_OP32 (InterlockedExchangeAdd, &x->v, -v);
DDSRT_WARNING_MSVC_ON(4146)
}
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_sub32_nv (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
/* disable unary minus applied to unsigned type, result still unsigned */
DDSRT_WARNING_MSVC_OFF(4146)
return DDSRT_ATOMIC_OP32 (InterlockedExchangeAdd, &x->v, -v) - v;
DDSRT_WARNING_MSVC_ON(4146)
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_sub64_nv (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
/* disable unary minus applied to unsigned type, result still unsigned */
DDSRT_WARNING_MSVC_OFF(4146)
return DDSRT_ATOMIC_OP64 (InterlockedExchangeAdd, &x->v, -v) - v;
DDSRT_WARNING_MSVC_ON(4146)
}
#endif
/* AND */
DDS_INLINE_EXPORT inline void ddsrt_atomic_and32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
DDSRT_ATOMIC_OP32 (InterlockedAnd, &x->v, v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline void ddsrt_atomic_and64 (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
DDSRT_ATOMIC_OP64 (InterlockedAnd, &x->v, v);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_and32_ov (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return DDSRT_ATOMIC_OP32 (InterlockedAnd, &x->v, v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_and64_ov (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
return DDSRT_ATOMIC_OP64 (InterlockedAnd, &x->v, v);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_and32_nv (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return DDSRT_ATOMIC_OP32 (InterlockedAnd, &x->v, v) & v;
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_and64_nv (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
return DDSRT_ATOMIC_OP64 (InterlockedAnd, &x->v, v) & v;
}
#endif
/* OR */
DDS_INLINE_EXPORT inline void ddsrt_atomic_or32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
DDSRT_ATOMIC_OP32 (InterlockedOr, &x->v, v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline void ddsrt_atomic_or64 (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
DDSRT_ATOMIC_OP64 (InterlockedOr, &x->v, v);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_or32_ov (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return DDSRT_ATOMIC_OP32 (InterlockedOr, &x->v, v);
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_or64_ov (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
return DDSRT_ATOMIC_OP64 (InterlockedOr, &x->v, v);
}
#endif
DDS_INLINE_EXPORT inline uint32_t ddsrt_atomic_or32_nv (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return DDSRT_ATOMIC_OP32 (InterlockedOr, &x->v, v) | v;
}
#if DDSRT_HAVE_ATOMIC64
DDS_INLINE_EXPORT inline uint64_t ddsrt_atomic_or64_nv (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
return DDSRT_ATOMIC_OP64 (InterlockedOr, &x->v, v) | v;
}
#endif
/* FENCES */
DDS_INLINE_EXPORT inline void ddsrt_atomic_fence (void) {
/* 28113: accessing a local variable tmp via an Interlocked
function: This is an unusual usage which could be reconsidered.
It is too heavyweight, true, but it does the trick. */
DDSRT_WARNING_MSVC_OFF(28113)
volatile LONG tmp = 0;
InterlockedExchange (&tmp, 0);
DDSRT_WARNING_MSVC_ON(28113)
}
DDS_INLINE_EXPORT inline void ddsrt_atomic_fence_ldld (void) {
#if !(defined _M_IX86 || defined _M_X64)
ddsrt_atomic_fence ();
#endif
}
DDS_INLINE_EXPORT inline void ddsrt_atomic_fence_stst (void) {
#if !(defined _M_IX86 || defined _M_X64)
ddsrt_atomic_fence ();
#endif
}
DDS_INLINE_EXPORT inline void ddsrt_atomic_fence_acq (void) {
ddsrt_atomic_fence ();
}
DDS_INLINE_EXPORT inline void ddsrt_atomic_fence_rel (void) {
ddsrt_atomic_fence ();
}
#undef DDSRT_ATOMIC_PTROP
#if defined (__cplusplus)
}
#endif
#endif /* DDSRT_ATOMICS_MSVC_H */

199
unitree_SDK/include/dds/ddsrt/atomics/sun.h Normal file
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@@ -0,0 +1,199 @@
/*
* Copyright(c) 2006 to 2020 ZettaScale Technology and others
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License v. 2.0 which is available at
* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
* v. 1.0 which is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
*/
#include <atomic.h>
#if defined (__cplusplus)
extern "C" {
#endif
#define DDSRT_ATOMIC64_SUPPORT 1
/* LD, ST */
inline uint32_t ddsrt_atomic_ld32 (const volatile ddsrt_atomic_uint32_t *x) { return x->v; }
inline uint64_t ddsrt_atomic_ld64 (const volatile ddsrt_atomic_uint64_t *x) { return x->v; }
inline uintptr_t ddsrt_atomic_ldptr (const volatile ddsrt_atomic_uintptr_t *x) { return x->v; }
inline void *ddsrt_atomic_ldvoidp (const volatile ddsrt_atomic_voidp_t *x) { return (void *) ddsrt_atomic_ldptr (x); }
inline void ddsrt_atomic_st32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) { x->v = v; }
inline void ddsrt_atomic_st64 (volatile ddsrt_atomic_uint64_t *x, uint64_t v) { x->v = v; }
inline void ddsrt_atomic_stptr (volatile ddsrt_atomic_uintptr_t *x, uintptr_t v) { x->v = v; }
inline void ddsrt_atomic_stvoidp (volatile ddsrt_atomic_voidp_t *x, void *v) { ddsrt_atomic_stptr (x, (uintptr_t) v); }
/* INC */
inline void ddsrt_atomic_inc32 (volatile ddsrt_atomic_uint32_t *x) {
atomic_inc_32 (&x->v);
}
inline void ddsrt_atomic_inc64 (volatile ddsrt_atomic_uint64_t *x) {
atomic_inc_64 (&x->v);
}
inline uint32_t ddsrt_atomic_inc32_ov (volatile ddsrt_atomic_uint32_t *x) {
uint32_t oldval, newval;
do { oldval = x->v; newval = oldval + 1; } while (atomic_cas_32 (&x->v, oldval, newval) != oldval);
return oldval;
}
inline uint32_t ddsrt_atomic_inc32_nv (volatile ddsrt_atomic_uint32_t *x) {
return atomic_inc_32_nv (&x->v);
}
inline uint64_t ddsrt_atomic_inc64_nv (volatile ddsrt_atomic_uint64_t *x) {
return atomic_inc_64_nv (&x->v);
}
/* DEC */
inline void ddsrt_atomic_dec32 (volatile ddsrt_atomic_uint32_t *x) {
atomic_dec_32 (&x->v);
}
inline void ddsrt_atomic_dec64 (volatile ddsrt_atomic_uint64_t *x) {
atomic_dec_64 (&x->v);
}
inline uint32_t ddsrt_atomic_dec32_nv (volatile ddsrt_atomic_uint32_t *x) {
return atomic_dec_32_nv (&x->v);
}
inline uint64_t ddsrt_atomic_dec64_nv (volatile ddsrt_atomic_uint64_t *x) {
return atomic_dec_64_nv (&x->v);
}
inline uint32_t ddsrt_atomic_dec32_ov (volatile ddsrt_atomic_uint32_t *x) {
uint32_t oldval, newval;
do { oldval = x->v; newval = oldval - 1; } while (atomic_cas_32 (&x->v, oldval, newval) != oldval);
return oldval;
}
inline uint64_t ddsrt_atomic_dec64_ov (volatile ddsrt_atomic_uint64_t *x) {
uint64_t oldval, newval;
do { oldval = x->v; newval = oldval - 1; } while (atomic_cas_64 (&x->v, oldval, newval) != oldval);
return oldval;
}
/* ADD */
inline void ddsrt_atomic_add32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
atomic_add_32 (&x->v, v);
}
inline void ddsrt_atomic_add64 (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
atomic_add_64 (&x->v, v);
}
inline uint32_t ddsrt_atomic_add32_ov (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return atomic_add_32_nv (&x->v, v) - v;
}
inline uint32_t ddsrt_atomic_add32_nv (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return atomic_add_32_nv (&x->v, v);
}
inline uint64_t ddsrt_atomic_add64_nv (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
return atomic_add_64_nv (&x->v, v);
}
/* SUB */
inline void ddsrt_atomic_sub32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
atomic_add_32 (&x->v, -v);
}
inline void ddsrt_atomic_sub64 (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
atomic_add_64 (&x->v, -v);
}
inline uint32_t ddsrt_atomic_sub32_ov (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return atomic_add_32_nv (&x->v, -v) + v;
}
inline uint32_t ddsrt_atomic_sub32_nv (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return atomic_add_32_nv (&x->v, -v);
}
inline uint64_t ddsrt_atomic_sub64_nv (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
return atomic_add_64_nv (&x->v, -v);
}
/* AND */
inline void ddsrt_atomic_and32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
atomic_and_32 (&x->v, v);
}
inline void ddsrt_atomic_and64 (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
atomic_and_64 (&x->v, v);
}
inline uint32_t ddsrt_atomic_and32_ov (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
uint32_t oldval, newval;
do { oldval = x->v; newval = oldval & v; } while (atomic_cas_32 (&x->v, oldval, newval) != oldval);
return oldval;
}
inline uint64_t ddsrt_atomic_and64_ov (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
uint64_t oldval, newval;
do { oldval = x->v; newval = oldval & v; } while (atomic_cas_64 (&x->v, oldval, newval) != oldval);
return oldval;
}
inline uint32_t ddsrt_atomic_and32_nv (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return atomic_and_32_nv (&x->v, v);
}
inline uint64_t ddsrt_atomic_and64_nv (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
return atomic_and_64_nv (&x->v, v);
}
/* OR */
inline void ddsrt_atomic_or32 (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
atomic_or_32 (&x->v, v);
}
inline void ddsrt_atomic_or64 (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
atomic_or_64 (&x->v, v);
}
inline uint32_t ddsrt_atomic_or32_ov (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
uint32_t oldval, newval;
do { oldval = x->v; newval = oldval | v; } while (atomic_cas_32 (&x->v, oldval, newval) != oldval);
return oldval;
}
inline uint64_t ddsrt_atomic_or64_ov (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
uint64_t oldval, newval;
do { oldval = x->v; newval = oldval | v; } while (atomic_cas_64 (&x->v, oldval, newval) != oldval);
return oldval;
}
inline uint32_t ddsrt_atomic_or32_nv (volatile ddsrt_atomic_uint32_t *x, uint32_t v) {
return atomic_or_32_nv (&x->v, v);
}
inline uint64_t ddsrt_atomic_or64_nv (volatile ddsrt_atomic_uint64_t *x, uint64_t v) {
return atomic_or_64_nv (&x->v, v);
}
/* CAS */
inline int ddsrt_atomic_cas32 (volatile ddsrt_atomic_uint32_t *x, uint32_t exp, uint32_t des) {
return atomic_cas_32 (&x->v, exp, des) == exp;
}
inline int ddsrt_atomic_cas64 (volatile ddsrt_atomic_uint64_t *x, uint64_t exp, uint64_t des) {
return atomic_cas_64 (&x->v, exp, des) == exp;
}
inline int ddsrt_atomic_casptr (volatile ddsrt_atomic_uintptr_t *x, uintptr_t exp, uintptr_t des) {
return atomic_cas_ulong (&x->v, exp, des) == exp;
}
inline int ddsrt_atomic_casvoidp (volatile ddsrt_atomic_voidp_t *x, void *exp, void *des) {
return atomic_cas_ptr (&x->v, exp, des) == exp;
}
/* FENCES */
inline void ddsrt_atomic_fence (void) {
membar_exit ();
membar_enter ();
}
inline void ddsrt_atomic_fence_ldld (void) {
membar_consumer ();
}
inline void ddsrt_atomic_fence_stst (void) {
membar_producer ();
}
inline void ddsrt_atomic_fence_acq (void) {
membar_enter ();
}
inline void ddsrt_atomic_fence_rel (void) {
membar_exit ();
}
#if defined (__cplusplus)
}
#endif