Merge pull request #174 from dkroenke/iox-#171-Roudi-message-queue-th…

…read-startup iox-#171 added option to defer mq thread startup
eclipse-iceoryx · Jul 9, 2020 · 2c8025b · 2c8025b
2 parents 74c153f + 5ef3f0c
commit 2c8025b
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Showing 2 changed files with 29 additions and 4 deletions.
diff --git a/iceoryx_posh/include/iceoryx_posh/internal/roudi/roudi_multi_process.hpp b/iceoryx_posh/include/iceoryx_posh/internal/roudi/roudi_multi_process.hpp
@@ -41,17 +41,33 @@ using namespace iox::units::duration_literals;
 class RouDiMultiProcess
 {
   public:
+
+    // indicate whether the message queue thread will start directly or deferred
+    // this is important for derived classes which may need to initialize their members before the thread starts
+    enum class MQThreadStart {
+      IMMEDIATE,
+      DEFER_START
+    };
+
+
     RouDiMultiProcess& operator=(const RouDiMultiProcess& other) = delete;
     RouDiMultiProcess(const RouDiMultiProcess& other) = delete;
 
     RouDiMultiProcess(RouDiMemoryInterface& roudiMemoryInteface,
                       PortManager& portManager,
                       const MonitoringMode f_monitoringMode = MonitoringMode::ON,
-                      const bool f_killProcessesInDestructor = true);
+                      const bool f_killProcessesInDestructor = true,
+                      const MQThreadStart mqThreadStart = MQThreadStart::IMMEDIATE);
 
     virtual ~RouDiMultiProcess();
 
   protected:
+
+    /// @brief Starts the roudi message queue thread
+    /// Once this is done, applications can register and Roudi is fully operational.
+    void startMQThread();
+
+
     /// @brief Stops threads and kills all process known to RouDi
     /// Called in d'tor
     ///

diff --git a/iceoryx_posh/source/roudi/roudi_multi_process.cpp b/iceoryx_posh/source/roudi/roudi_multi_process.cpp
@@ -29,7 +29,8 @@ namespace roudi
 RouDiMultiProcess::RouDiMultiProcess(RouDiMemoryInterface& roudiMemoryInterface,
                                      PortManager& portManager,
                                      const MonitoringMode monitoringMode,
-                                     const bool killProcessesInDestructor)
+                                     const bool killProcessesInDestructor,
+                                     const MQThreadStart mqThreadStart)
     : m_killProcessesInDestructor(killProcessesInDestructor)
     , m_runThreads(true)
     , m_roudiMemoryInterface(&roudiMemoryInterface)
@@ -54,15 +55,23 @@ RouDiMultiProcess::RouDiMultiProcess(RouDiMemoryInterface& roudiMemoryInterface,
     m_processManagementThread = std::thread(&RouDiMultiProcess::processThread, this);
     pthread_setname_np(m_processManagementThread.native_handle(), "ProcessMgmt");
 
-    m_processMQThread = std::thread(&RouDiMultiProcess::mqThread, this);
-    pthread_setname_np(m_processMQThread.native_handle(), "MQ-processing");
+    if(mqThreadStart == MQThreadStart::IMMEDIATE) {
+        startMQThread();
+    }
+
 }
 
 RouDiMultiProcess::~RouDiMultiProcess()
 {
     shutdown();
 }
 
+void RouDiMultiProcess::startMQThread() 
+{
+    m_processMQThread = std::thread(&RouDiMultiProcess::mqThread, this);
+    pthread_setname_np(m_processMQThread.native_handle(), "MQ-processing");
+}
+
 void RouDiMultiProcess::shutdown()
 {
     m_processIntrospection.stop();