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Use an internal implementation of boost::condition_variable with mono…
…tonic clock (#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
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clients/roscpp/include/ros/internal/condition_variable.h
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| /* | ||
| * 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. | ||
| */ | ||
|
|
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| // 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 | ||
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| #ifndef ROSCPP_INTERNAL_CONDITION_VARIABLE_H | ||
| #define ROSCPP_INTERNAL_CONDITION_VARIABLE_H | ||
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| #include <boost/thread/condition_variable.hpp> | ||
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| namespace ros { | ||
| namespace internal { | ||
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| #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; | ||
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| #else | ||
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| class condition_variable_monotonic { | ||
| private: | ||
| #if defined BOOST_THREAD_PROVIDES_INTERRUPTIONS | ||
| pthread_mutex_t internal_mutex; | ||
| #endif | ||
| pthread_cond_t cond; | ||
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| 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 | ||
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| // 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); | ||
| } | ||
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| 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")); | ||
| } | ||
| } | ||
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| 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)); | ||
| } | ||
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| 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)); | ||
| } | ||
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| 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; | ||
| } | ||
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| 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; | ||
| } | ||
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| 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; | ||
| } | ||
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| 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; | ||
| } | ||
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| 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")); | ||
| } | ||
| } | ||
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| 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)"); | ||
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| #endif | ||
|
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| } // namespace internal | ||
| } // namespaec ros | ||
|
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| #endif // ROSCPP_INTERNAL_CONDITION_VARIABLE_H |
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