classic_context.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_SCHEDULER_POLICY_CLASSIC_CONTEXT_H_
#define CYBER_SCHEDULER_POLICY_CLASSIC_CONTEXT_H_
 
#include <array>
#include <functional>
#include <memory>
#include <mutex>
#include <string>
#include <unordered_map>
#include <vector>
 
#include "cyber/base/atomic_rw_lock.h"
#include "cyber/croutine/croutine.h"
#include "cyber/scheduler/common/cv_wrapper.h"
#include "cyber/scheduler/common/mutex_wrapper.h"
#include "cyber/scheduler/processor_context.h"
 
namespace apollo {
namespace cyber {
namespace scheduler {
 
static constexpr uint32_t MAX_PRIO = 20;
 
#define DEFAULT_GROUP_NAME "default_grp"
 
using CROUTINE_QUEUE = std::vector<std::shared_ptr<CRoutine>>;
using MULTI_PRIO_QUEUE = std::array<CROUTINE_QUEUE, MAX_PRIO>;
using CR_GROUP = std::unordered_map<std::string, MULTI_PRIO_QUEUE>;
using LOCK_QUEUE = std::array<base::AtomicRWLock, MAX_PRIO>;
using RQ_LOCK_GROUP = std::unordered_map<std::string, LOCK_QUEUE>;
 
using GRP_WQ_MUTEX = std::unordered_map<std::string, MutexWrapper>;
using GRP_WQ_CV = std::unordered_map<std::string, CvWrapper>;
using NOTIFY_GRP = std::unordered_map<std::string, int>;
 
class ClassicContext : public ProcessorContext {
 public:
  ClassicContext();
  explicit ClassicContext(const std::string &group_name);
 
  std::shared_ptr<CRoutine> NextRoutine() override;
  void Wait() override;
  void Shutdown() override;
 
  static void Notify(const std::string &group_name);
  static bool RemoveCRoutine(const std::shared_ptr<CRoutine> &cr);
 
  alignas(CACHELINE_SIZE) static CR_GROUP cr_group_;
  alignas(CACHELINE_SIZE) static RQ_LOCK_GROUP rq_locks_;
  alignas(CACHELINE_SIZE) static GRP_WQ_CV cv_wq_;
  alignas(CACHELINE_SIZE) static GRP_WQ_MUTEX mtx_wq_;
  alignas(CACHELINE_SIZE) static NOTIFY_GRP notify_grp_;
 
 private:
  void InitGroup(const std::string &group_name);
 
  std::chrono::steady_clock::time_point wake_time_;
  bool need_sleep_ = false;
 
  MULTI_PRIO_QUEUE *multi_pri_rq_ = nullptr;
  LOCK_QUEUE *lq_ = nullptr;
  MutexWrapper *mtx_wrapper_ = nullptr;
  CvWrapper *cw_ = nullptr;
 
  std::string current_grp;
};
 
}  // namespace scheduler
}  // namespace cyber
}  // namespace apollo
 
#endif  // CYBER_SCHEDULER_POLICY_CLASSIC_CONTEXT_H_