forked from ros/ros_comm
-
Notifications
You must be signed in to change notification settings - Fork 2
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Use an internal implementation of boost::condition_variable with mono…
…tonic clock (ros#1932) * Use an internal implementation of condition_variable with monotonic clock to avoid ODR violation * Fix build of ros/internal/condition_variable.h for Boost <1.65 * Fix "static_assert with no message is a C++17 extension" warning in ros/internal/condition_variable.h
- Loading branch information
Showing
7 changed files
with
233 additions
and
30 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
221 changes: 221 additions & 0 deletions
221
clients/roscpp/include/ros/internal/condition_variable.h
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,221 @@ | ||
| /* | ||
| * Copyright (C) 2020, Willow Garage, Inc. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * * Redistributions of source code must retain the above copyright notice, | ||
| * this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in the | ||
| * documentation and/or other materials provided with the distribution. | ||
| * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived from | ||
| * this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
|
||
| // Distributed under the Boost Software License, Version 1.0. (See | ||
| // accompanying file LICENSE_1_0.txt or copy at | ||
| // http://www.boost.org/LICENSE_1_0.txt) | ||
| // (C) Copyright 2007-10 Anthony Williams | ||
| // (C) Copyright 2011-2012 Vicente J. Botet Escriba | ||
|
|
||
| #ifndef ROSCPP_INTERNAL_CONDITION_VARIABLE_H | ||
| #define ROSCPP_INTERNAL_CONDITION_VARIABLE_H | ||
|
|
||
| #include <boost/thread/condition_variable.hpp> | ||
|
|
||
| namespace ros { | ||
| namespace internal { | ||
|
|
||
| #if !defined(BOOST_THREAD_PLATFORM_PTHREAD) || \ | ||
| defined(BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC) || \ | ||
| defined(BOOST_THREAD_INTERNAL_CLOCK_IS_MONO) | ||
| using condition_variable_monotonic = boost::condition_variable; | ||
|
|
||
| #else | ||
|
|
||
| class condition_variable_monotonic { | ||
| private: | ||
| #if defined BOOST_THREAD_PROVIDES_INTERRUPTIONS | ||
| pthread_mutex_t internal_mutex; | ||
| #endif | ||
| pthread_cond_t cond; | ||
|
|
||
| public: | ||
| condition_variable_monotonic() { | ||
| int res; | ||
| #if defined BOOST_THREAD_PROVIDES_INTERRUPTIONS | ||
| res = pthread_mutex_init(&internal_mutex, NULL); | ||
| if (res) | ||
| { | ||
| boost::throw_exception(boost::thread_resource_error(res, "ros::internal::condition_variable_monotonic::condition_variable_monotonic() constructor failed in pthread_mutex_init")); | ||
| } | ||
| #endif | ||
|
|
||
| // res = boost::detail::monotonic_pthread_cond_init(cond); | ||
| pthread_condattr_t attr; | ||
| res = pthread_condattr_init(&attr); | ||
| if (res == 0) { | ||
| pthread_condattr_setclock(&attr, CLOCK_MONOTONIC); | ||
| res = pthread_cond_init(&cond, &attr); | ||
| pthread_condattr_destroy(&attr); | ||
| } | ||
|
|
||
| if (res) | ||
| { | ||
| #if defined BOOST_THREAD_PROVIDES_INTERRUPTIONS | ||
| BOOST_VERIFY(!pthread_mutex_destroy(&internal_mutex)); | ||
| #endif | ||
| boost::throw_exception(boost::thread_resource_error(res, "ros::internal::condition_variable_monotonic::condition_variable() constructor failed in detail::monotonic_pthread_cond_init")); | ||
| } | ||
| } | ||
|
|
||
| void notify_one() BOOST_NOEXCEPT | ||
| { | ||
| #if defined BOOST_THREAD_PROVIDES_INTERRUPTIONS | ||
| boost::pthread::pthread_mutex_scoped_lock internal_lock(&internal_mutex); | ||
| #endif | ||
| BOOST_VERIFY(!pthread_cond_signal(&cond)); | ||
| } | ||
|
|
||
| void notify_all() BOOST_NOEXCEPT | ||
| { | ||
| #if defined BOOST_THREAD_PROVIDES_INTERRUPTIONS | ||
| boost::pthread::pthread_mutex_scoped_lock internal_lock(&internal_mutex); | ||
| #endif | ||
| BOOST_VERIFY(!pthread_cond_broadcast(&cond)); | ||
| } | ||
|
|
||
| template <class Duration> | ||
| boost::cv_status wait_until( | ||
| boost::unique_lock<boost::mutex> &lock, | ||
| const boost::chrono::time_point<boost::chrono::steady_clock, Duration> &t) | ||
| { | ||
| using namespace boost::chrono; | ||
| typedef time_point<steady_clock, nanoseconds> nano_sys_tmpt; | ||
| wait_until(lock, | ||
| nano_sys_tmpt(ceil<nanoseconds>(t.time_since_epoch()))); | ||
| return steady_clock::now() < t ? boost::cv_status::no_timeout : boost::cv_status::timeout; | ||
| } | ||
|
|
||
| template <class Clock, class Duration> | ||
| boost::cv_status wait_until( | ||
| boost::unique_lock<boost::mutex> &lock, | ||
| const boost::chrono::time_point<Clock, Duration> &t) | ||
| { | ||
| using namespace boost::chrono; | ||
| steady_clock::time_point s_now = steady_clock::now(); | ||
| typename Clock::time_point c_now = Clock::now(); | ||
| wait_until(lock, s_now + ceil<nanoseconds>(t - c_now)); | ||
| return Clock::now() < t ? boost::cv_status::no_timeout : boost::cv_status::timeout; | ||
| } | ||
|
|
||
| template <class Rep, class Period> | ||
| boost::cv_status wait_for( | ||
| boost::unique_lock<boost::mutex> &lock, | ||
| const boost::chrono::duration<Rep, Period> &d) | ||
| { | ||
| using namespace boost::chrono; | ||
| steady_clock::time_point c_now = steady_clock::now(); | ||
| wait_until(lock, c_now + ceil<nanoseconds>(d)); | ||
| return steady_clock::now() - c_now < d ? boost::cv_status::no_timeout : boost::cv_status::timeout; | ||
| } | ||
|
|
||
| boost::cv_status wait_until( | ||
| boost::unique_lock<boost::mutex> &lk, | ||
| boost::chrono::time_point<boost::chrono::steady_clock, boost::chrono::nanoseconds> tp) | ||
| { | ||
| using namespace boost::chrono; | ||
| nanoseconds d = tp.time_since_epoch(); | ||
| timespec ts = boost::detail::to_timespec(d); | ||
| if (do_wait_until(lk, ts)) | ||
| return boost::cv_status::no_timeout; | ||
| else | ||
| return boost::cv_status::timeout; | ||
| } | ||
|
|
||
| void wait(boost::unique_lock<boost::mutex> &m) | ||
| { | ||
| int res = 0; | ||
| { | ||
| #if defined BOOST_THREAD_PROVIDES_INTERRUPTIONS | ||
| boost::thread_cv_detail::lock_on_exit<boost::unique_lock<boost::mutex>> guard; | ||
| boost::detail::interruption_checker check_for_interruption(&internal_mutex, &cond); | ||
| pthread_mutex_t *the_mutex = &internal_mutex; | ||
| guard.activate(m); | ||
| res = pthread_cond_wait(&cond, the_mutex); | ||
| #if BOOST_VERSION >= 106500 | ||
| check_for_interruption.check(); | ||
| guard.deactivate(); | ||
| #endif | ||
| #else | ||
| pthread_mutex_t *the_mutex = m.mutex()->native_handle(); | ||
| res = pthread_cond_wait(&cond, the_mutex); | ||
| #endif | ||
| } | ||
| #if defined BOOST_THREAD_PROVIDES_INTERRUPTIONS | ||
| boost::this_thread::interruption_point(); | ||
| #endif | ||
| if (res && res != EINTR) | ||
| { | ||
| boost::throw_exception(boost::condition_error(res, "ros::internal::condition_variable_monotonic::wait failed in pthread_cond_wait")); | ||
| } | ||
| } | ||
|
|
||
| bool do_wait_until( | ||
| boost::unique_lock<boost::mutex> &m, | ||
| struct timespec const &timeout) | ||
| { | ||
| int cond_res; | ||
| { | ||
| #if defined BOOST_THREAD_PROVIDES_INTERRUPTIONS | ||
| boost::thread_cv_detail::lock_on_exit<boost::unique_lock<boost::mutex>> guard; | ||
| boost::detail::interruption_checker check_for_interruption(&internal_mutex, &cond); | ||
| pthread_mutex_t *the_mutex = &internal_mutex; | ||
| guard.activate(m); | ||
| cond_res = pthread_cond_timedwait(&cond, the_mutex, &timeout); | ||
| #if BOOST_VERSION >= 106500 | ||
| check_for_interruption.check(); | ||
| guard.deactivate(); | ||
| #endif | ||
| #else | ||
| pthread_mutex_t *the_mutex = m.mutex()->native_handle(); | ||
| cond_res = pthread_cond_timedwait(&cond, the_mutex, &timeout); | ||
| #endif | ||
| } | ||
| #if defined BOOST_THREAD_PROVIDES_INTERRUPTIONS | ||
| boost::this_thread::interruption_point(); | ||
| #endif | ||
| if (cond_res == ETIMEDOUT) | ||
| { | ||
| return false; | ||
| } | ||
| if (cond_res) | ||
| { | ||
| boost::throw_exception(boost::condition_error(cond_res, "ros::internal::condition_variable_monotonic::do_wait_until failed in pthread_cond_timedwait")); | ||
| } | ||
| return true; | ||
| } | ||
| }; | ||
| static_assert( | ||
| sizeof(condition_variable_monotonic) == sizeof(boost::condition_variable), | ||
| "sizeof(ros::internal::condition_variable_monotonic) != sizeof(boost::condition_variable)"); | ||
|
|
||
| #endif | ||
|
|
||
| } // namespace internal | ||
| } // namespaec ros | ||
|
|
||
| #endif // ROSCPP_INTERNAL_CONDITION_VARIABLE_H |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters