channel_buffer.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. 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.
 *****************************************************************************/
 
#ifndef CYBER_DATA_CHANNEL_BUFFER_H_
#define CYBER_DATA_CHANNEL_BUFFER_H_
 
#include <algorithm>
#include <functional>
#include <memory>
#include <vector>
 
#include "cyber/common/global_data.h"
#include "cyber/common/log.h"
#include "cyber/data/data_notifier.h"
 
namespace apollo {
namespace cyber {
namespace data {
 
using apollo::cyber::common::GlobalData;
 
template <typename T>
class ChannelBuffer {
 public:
  using BufferType = CacheBuffer<std::shared_ptr<T>>;
  ChannelBuffer(uint64_t channel_id, BufferType* buffer)
      : channel_id_(channel_id), buffer_(buffer) {}
 
  bool Fetch(uint64_t* index, std::shared_ptr<T>& m);  // NOLINT
 
  bool Latest(std::shared_ptr<T>& m);  // NOLINT
 
  bool FetchMulti(uint64_t fetch_size, std::vector<std::shared_ptr<T>>* vec);
 
  uint64_t channel_id() const { return channel_id_; }
  std::shared_ptr<BufferType> Buffer() const { return buffer_; }
 
 private:
  uint64_t channel_id_;
  std::shared_ptr<BufferType> buffer_;
};
 
template <typename T>
bool ChannelBuffer<T>::Fetch(uint64_t* index,
                             std::shared_ptr<T>& m) {  // NOLINT
  std::lock_guard<std::mutex> lock(buffer_->Mutex());
  if (buffer_->Empty()) {
    return false;
  }
 
  if (*index == 0) {
    *index = buffer_->Tail();
  } else if (*index == buffer_->Tail() + 1) {
    return false;
  } else if (*index < buffer_->Head()) {
    auto interval = buffer_->Tail() - *index;
    AWARN << "channel[" << GlobalData::GetChannelById(channel_id_) << "] "
          << "read buffer overflow, drop_message[" << interval << "] pre_index["
          << *index << "] current_index[" << buffer_->Tail() << "] ";
    *index = buffer_->Tail();
  }
  m = buffer_->at(*index);
  return true;
}
 
template <typename T>
bool ChannelBuffer<T>::Latest(std::shared_ptr<T>& m) {  // NOLINT
  std::lock_guard<std::mutex> lock(buffer_->Mutex());
  if (buffer_->Empty()) {
    return false;
  }
 
  m = buffer_->Back();
  return true;
}
 
template <typename T>
bool ChannelBuffer<T>::FetchMulti(uint64_t fetch_size,
                                  std::vector<std::shared_ptr<T>>* vec) {
  std::lock_guard<std::mutex> lock(buffer_->Mutex());
  if (buffer_->Empty()) {
    return false;
  }
 
  auto num = std::min(buffer_->Size(), fetch_size);
  vec->reserve(num);
  for (auto index = buffer_->Tail() - num + 1; index <= buffer_->Tail();
       ++index) {
    vec->emplace_back(buffer_->at(index));
  }
  return true;
}
 
}  // namespace data
}  // namespace cyber
}  // namespace apollo
 
#endif  // CYBER_DATA_CHANNEL_BUFFER_H_