Add thread annotation macros

Signed-off-by: Emerson Knapp <[email protected]>

CMakeLists.txt

@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(rcpputils)
+
+# Default to C11
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 11)
+endif()
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+if(NOT WIN32)
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+add_library(${PROJECT_NAME} INTERFACE)
+
+install(TARGETS ${PROJECT_NAME}
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib)
+install(DIRECTORY include/ DESTINATION include)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

include/rcpputils/thread_safety_annotations.h

@@ -0,0 +1,96 @@
+// Copyright 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+// NOTE: This is not the final resting place of this file - here to keep proof
+// of concept localized to a single package
+
+#ifndef RCPPUTILS__THREAD_SAFETY_ANNOTATIONS_H_
+#define RCPPUTILS__THREAD_SAFETY_ANNOTATIONS_H_
+
+#include <mutex>
+
+// Enable thread safety attributes only with clang.
+// The attributes can be safely erased when compiling with other compilers.
+// Prefixing all macros to avoid potential conflict with other projects
+
+#if defined(__clang__) && (!defined(SWIG))
+#define RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(x)   __attribute__((x))
+#else
+#define RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(x)   // no-op
+#endif
+
+// libcxx does not define this operator, needed for negative capabilities
+// Here until someone has a better idea
+inline const std::mutex & operator!(const std::mutex & a)
+{
+  return a;
+}
+
+#define RCPPUTILS_CAPABILITY(x) \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(capability(x))
+
+#define RCPPUTILS_SCOPED_CAPABILITY \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(scoped_lockable)
+
+#define RCPPUTILS_GUARDED_BY(x) \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(guarded_by(x))
+
+#define RCPPUTILS_PT_GUARDED_BY(x) \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(pt_guarded_by(x))
+
+#define RCPPUTILS_ACQUIRED_BEFORE(...) \
+  RCPPUTILS_RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(acquired_before(__VA_ARGS__))
+
+#define RCPPUTILS_ACQUIRED_AFTER(...) \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(acquired_after(__VA_ARGS__))
+
+#define RCPPUTILS_REQUIRES(...) \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(requires_capability(__VA_ARGS__))
+
+#define RCPPUTILS_REQUIRES_SHARED(...) \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(requires_shared_capability(__VA_ARGS__))
+
+#define RCPPUTILS_ACQUIRE(...) \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(acquire_capability(__VA_ARGS__))
+
+#define RCPPUTILS_ACQUIRE_SHARED(...) \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(acquire_shared_capability(__VA_ARGS__))
+
+#define RCPPUTILS_RELEASE(...) \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(release_capability(__VA_ARGS__))
+
+#define RCPPUTILS_RELEASE_SHARED(...) \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(release_shared_capability(__VA_ARGS__))
+
+#define RCPPUTILS_TRY_ACQUIRE(...) \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(try_acquire_capability(__VA_ARGS__))
+
+#define RCPPUTILS_TRY_ACQUIRE_SHARED(...) \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(try_acquire_shared_capability(__VA_ARGS__))
+
+#define RCPPUTILS_EXCLUDES(...) \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(locks_excluded(__VA_ARGS__))
+
+#define RCPPUTILS_ASSERT_CAPABILITY(x) \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(assert_capability(x))
+
+#define RCPPUTILS_ASSERT_SHARED_CAPABILITY(x) \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(assert_shared_capability(x))
+
+#define RCPPUTILS_RETURN_CAPABILITY(x) \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(lock_returned(x))
+
+#define RCPPUTILS_NO_THREAD_SAFETY_ANALYSIS \
+  RCPPUTILS_THREAD_ANNOTATION_ATTRIBUTE__(no_thread_safety_analysis)
+
+#endif  // RCPPUTILS__THREAD_SAFETY_ANNOTATIONS_H_

package.xml

@@ -6,4 +6,13 @@
   <description>Package containing various utility types and functions for C++</description>
   <maintainer email="[email protected]">Emerson Knapp</maintainer>
   <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>