condition_notifier.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/transport/shm/condition_notifier.h"
 
#include <sys/ipc.h>
#include <sys/shm.h>
#include <thread>
 
#include "cyber/common/log.h"
#include "cyber/common/util.h"
 
namespace apollo {
namespace cyber {
namespace transport {
 
using common::Hash;
 
ConditionNotifier::ConditionNotifier() {
  key_ = static_cast<key_t>(Hash("/apollo/cyber/transport/shm/notifier"));
  ADEBUG << "condition notifier key: " << key_;
  shm_size_ = sizeof(Indicator);
 
  if (!Init()) {
    AERROR << "fail to init condition notifier.";
    is_shutdown_.store(true);
    return;
  }
  next_seq_ = indicator_->next_seq.load();
  ADEBUG << "next_seq: " << next_seq_;
}
 
ConditionNotifier::~ConditionNotifier() { Shutdown(); }
 
void ConditionNotifier::Shutdown() {
  if (is_shutdown_.exchange(true)) {
    return;
  }
 
  std::this_thread::sleep_for(std::chrono::milliseconds(100));
  Reset();
}
 
bool ConditionNotifier::Notify(const ReadableInfo& info) {
  if (is_shutdown_.load()) {
    ADEBUG << "notifier is shutdown.";
    return false;
  }
 
  uint64_t seq = indicator_->next_seq.fetch_add(1);
  uint64_t idx = seq % kBufLength;
  indicator_->infos[idx] = info;
  indicator_->seqs[idx] = seq;
 
  return true;
}
 
bool ConditionNotifier::Listen(int timeout_ms, ReadableInfo* info) {
  if (info == nullptr) {
    AERROR << "info nullptr.";
    return false;
  }
 
  if (is_shutdown_.load()) {
    ADEBUG << "notifier is shutdown.";
    return false;
  }
 
  int timeout_us = timeout_ms * 1000;
  while (!is_shutdown_.load()) {
    uint64_t seq = indicator_->next_seq.load();
    if (seq != next_seq_) {
      auto idx = next_seq_ % kBufLength;
      auto actual_seq = indicator_->seqs[idx];
      if (actual_seq >= next_seq_) {
        next_seq_ = actual_seq;
        *info = indicator_->infos[idx];
        ++next_seq_;
        return true;
      } else {
        ADEBUG << "seq[" << next_seq_ << "] is writing, can not read now.";
      }
    }
 
    if (timeout_us > 0) {
      std::this_thread::sleep_for(std::chrono::microseconds(50));
      timeout_us -= 50;
    } else {
      return false;
    }
  }
  return false;
}
 
bool ConditionNotifier::Init() { return OpenOrCreate(); }
 
bool ConditionNotifier::OpenOrCreate() {
  // create managed_shm_
  int retry = 0;
  int shmid = 0;
  while (retry < 2) {
    shmid = shmget(key_, shm_size_, 0644 | IPC_CREAT | IPC_EXCL);
    if (shmid != -1) {
      break;
    }
 
    if (EINVAL == errno) {
      AINFO << "need larger space, recreate.";
      Reset();
      Remove();
      ++retry;
    } else if (EEXIST == errno) {
      ADEBUG << "shm already exist, open only.";
      return OpenOnly();
    } else {
      break;
    }
  }
 
  if (shmid == -1) {
    AERROR << "create shm failed, error code: " << strerror(errno);
    return false;
  }
 
  // attach managed_shm_
  managed_shm_ = shmat(shmid, nullptr, 0);
  if (managed_shm_ == reinterpret_cast<void*>(-1)) {
    AERROR << "attach shm failed.";
    shmctl(shmid, IPC_RMID, 0);
    return false;
  }
 
  // create indicator_
  indicator_ = new (managed_shm_) Indicator();
  if (indicator_ == nullptr) {
    AERROR << "create indicator failed.";
    shmdt(managed_shm_);
    managed_shm_ = nullptr;
    shmctl(shmid, IPC_RMID, 0);
    return false;
  }
 
  ADEBUG << "open or create true.";
  return true;
}
 
bool ConditionNotifier::OpenOnly() {
  // get managed_shm_
  int shmid = shmget(key_, 0, 0644);
  if (shmid == -1) {
    AERROR << "get shm failed, error: " << strerror(errno);
    return false;
  }
 
  // attach managed_shm_
  managed_shm_ = shmat(shmid, nullptr, 0);
  if (managed_shm_ == reinterpret_cast<void*>(-1)) {
    AERROR << "attach shm failed, error: " << strerror(errno);
    return false;
  }
 
  // get indicator_
  indicator_ = reinterpret_cast<Indicator*>(managed_shm_);
  if (indicator_ == nullptr) {
    AERROR << "get indicator failed.";
    shmdt(managed_shm_);
    managed_shm_ = nullptr;
    return false;
  }
 
  ADEBUG << "open true.";
  return true;
}
 
bool ConditionNotifier::Remove() {
  int shmid = shmget(key_, 0, 0644);
  if (shmid == -1 || shmctl(shmid, IPC_RMID, 0) == -1) {
    AERROR << "remove shm failed, error code: " << strerror(errno);
    return false;
  }
  ADEBUG << "remove success.";
 
  return true;
}
 
void ConditionNotifier::Reset() {
  indicator_ = nullptr;
  if (managed_shm_ != nullptr) {
    shmdt(managed_shm_);
    managed_shm_ = nullptr;
  }
}
 
}  // namespace transport
}  // namespace cyber
}  // namespace apollo