choreography_context.cc

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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.
 *****************************************************************************/
 
#include "cyber/scheduler/policy/choreography_context.h"
 
#include <limits>
#include <unordered_map>
#include <utility>
#include <vector>
 
#include "cyber/common/types.h"
 
namespace apollo {
namespace cyber {
namespace scheduler {
 
using apollo::cyber::base::ReadLockGuard;
using apollo::cyber::base::WriteLockGuard;
 
using apollo::cyber::croutine::RoutineState;
 
std::shared_ptr<CRoutine> ChoreographyContext::NextRoutine() {
  if (cyber_unlikely(stop_.load())) {
    return nullptr;
  }
 
  ReadLockGuard<AtomicRWLock> lock(rq_lk_);
  for (auto it : cr_queue_) {
    auto cr = it.second;
    if (!cr->Acquire()) {
      continue;
    }
 
    if (cr->UpdateState() == RoutineState::READY) {
      return cr;
    }
    cr->Release();
  }
  return nullptr;
}
 
bool ChoreographyContext::Enqueue(const std::shared_ptr<CRoutine>& cr) {
  WriteLockGuard<AtomicRWLock> lock(rq_lk_);
  cr_queue_.emplace(cr->priority(), cr);
  return true;
}
 
void ChoreographyContext::Notify() {
  mtx_wq_.lock();
  notify++;
  mtx_wq_.unlock();
  cv_wq_.notify_one();
}
 
void ChoreographyContext::Wait() {
  std::unique_lock<std::mutex> lk(mtx_wq_);
  cv_wq_.wait_for(lk, std::chrono::milliseconds(1000),
                  [&]() { return notify > 0; });
  if (notify > 0) {
    notify--;
  }
}
 
void ChoreographyContext::Shutdown() {
  stop_.store(true);
  mtx_wq_.lock();
  notify = std::numeric_limits<unsigned char>::max();
  mtx_wq_.unlock();
  cv_wq_.notify_all();
}
 
bool ChoreographyContext::RemoveCRoutine(uint64_t crid) {
  WriteLockGuard<AtomicRWLock> lock(rq_lk_);
  for (auto it = cr_queue_.begin(); it != cr_queue_.end();) {
    auto cr = it->second;
    if (cr->id() == crid) {
      cr->Stop();
      while (!cr->Acquire()) {
        std::this_thread::sleep_for(std::chrono::milliseconds(1));
        AINFO_EVERY(1000) << "waiting for task " << cr->name() << " completion";
      }
      it = cr_queue_.erase(it);
      cr->Release();
      return true;
    }
    ++it;
  }
  return false;
}
}  // namespace scheduler
}  // namespace cyber
}  // namespace apollo