vac_canping: make code more portable to embedded systems.

error function is GNU extension.
fork is not available on NuttX and RTEMS.

Signed-off-by: Pavel Pisa <ppisa@pikron.com>

diff --git a/src/canping.c b/src/canping.c
index b265e8975532c28d8d2479e7dc1e23b7c42eec3a..39322b82c913b88532963124022d48dddf5ec2ee 100644 (file)
--- a/src/canping.c
+++ b/src/canping.c
@@ -13,7 +13,7 @@
     along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
     Copyright 2005 Michal Sojka <sojkam1@fel.cvut.cz>
-    Copyright 2005 Pavel Pisa <pisa@cmp.felk.cvut.cz>
+    Copyright 2005-2023 Pavel Pisa <pisa@cmp.felk.cvut.cz>
 */
 
 #include <string.h>

diff --git a/src/vca_canping.c b/src/vca_canping.c
index 348d641e4163862ae57a7866d5477801358c419d..87c3fd3272ccc679ecef2efb9de02d75434734fe 100644 (file)
--- a/src/vca_canping.c
+++ b/src/vca_canping.c
@@ -3,7 +3,7 @@
 /*                                                                        */
 /* LibVCA - Versatile CAN/CANopen API library                             */
 /* Copyright (C) 2005-2009 Michal Sojka, DCE FEE CTU Prague               */
-/* Copyright (C) 2006-2009 Pavel Pisa <pisa@cmp.felk.cvut.cz>             */
+/* Copyright (C) 2006-2023 Pavel Pisa <pisa@cmp.felk.cvut.cz>             */
 /*                                                                        */
 /* LibVCA is free software; you can redistribute it and/or modify it      */
 /* under terms of the GNU General Public License as published by the      */
@@ -33,7 +33,19 @@
 #include <errno.h>
 #include <semaphore.h>
 #include <stdbool.h>
+#ifndef OMK_FOR_TARGET
 #include <error.h>
+#define error_with_status error
+#else /*OMK_FOR_TARGET*/
+#include <stdarg.h>
+static inline void error_with_status (int __status, int __errnum, const char *__format, ...)
+{
+       va_list ap;
+       va_start (ap, __format);
+       vfprintf (stderr, __format, ap);
+       va_end (ap);
+}
+#endif
 
 /* TODO: Handle the case where there are more canping slaves running
  * on one CAN bus. */
@@ -60,7 +72,12 @@ int sched_rtprio;
 #define dbg(level, fmt, arg...) do { if (level <= DEBUG) { printf("candping: " fmt, ## arg); } } while (0)
 #endif
 
+#if !defined(OMK_FOR_TARGET) || defined(ERESTART)
 #define NOT_INTERRUPTED_SYSCALL (errno != EINTR && errno != ERESTART)
+#else /*OMK_FOR_TARGET*/
+#define NOT_INTERRUPTED_SYSCALL (errno != EINTR)
+#endif /*OMK_FOR_TARGET*/
+
 #define IS_FINISH_FLAG() (finish_flag)
 
 /* Exit codes */
@@ -281,7 +298,7 @@ void *master_thread(void *arg)
        if (option_save_all_times) {
                td->times = malloc(sizeof(*td->times)*option_count);
                if (!td->times)
-                       error(1, errno, "malloc times");
+                       error_with_status(1, errno, "malloc times");
        }
        
        /* Prepare data structures for the select syscall. */
@@ -634,7 +651,9 @@ int parse_options(int argc, char *argv[])
 {
        int c;
        
+#ifndef OMK_FOR_TARGET
        opterr = 0;
+#endif /*OMK_FOR_TARGET*/
        while ((c = getopt (argc, argv, "bc:d:e:g:hi:l:m:n:os:t:vw:yrR:")) != -1)
                switch (c)
                {
@@ -808,7 +827,9 @@ int main(int argc, char *argv[])
        if(sched_policy != SCHED_OTHER) {
                if(set_sched_policy_and_prio(sched_policy, sched_rtprio) <0)
                        exit(EXIT_BAD_PARAM);
+#if !defined(OMK_FOR_TARGET) || (defined(MCL_CURRENT) && defined(MCL_FUTURE))
                mlockall(MCL_CURRENT | MCL_FUTURE);
+#endif /*OMK_FOR_TARGET*/
        }
 #endif
 
@@ -838,17 +859,19 @@ int main(int argc, char *argv[])
        sem_t *child_ready;
        int fork_ret = 0;
        if ((child_ready = sem_open("canping", O_CREAT)) == NULL)
-               error(1, errno, "sem_open");
+               error_with_status(1, errno, "sem_open");
+#ifndef OMK_FOR_TARGET
        if (option_background) {
                /* Go to background when everything is ready */
                fork_ret = fork();
                if (fork_ret < 0)
-                       error(1, errno, "Cannot go to background");
+                       error_with_status(1, errno, "Cannot go to background");
                if (fork_ret == 0) {
                        int devnull = open("/dev/null", O_WRONLY);
                        dup2(devnull, 1);
                }
        }
+#endif /*OMK_FOR_TARGET*/
 
        if (fork_ret == 0) {
                /* Child */