roudi.hpp🔗

Namespaces🔗

Name
iox
iox::roudi
Classes🔗

	Name
class	iox::roudi::RouDi
struct	iox::roudi::RouDi::RoudiStartupParameters
Source code🔗

// Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
// Copyright (c) 2021 by Apex.AI Inc. 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.
//
// SPDX-License-Identifier: Apache-2.0
#ifndef IOX_POSH_ROUDI_ROUDI_MULTI_PROCESS_HPP
#define IOX_POSH_ROUDI_ROUDI_MULTI_PROCESS_HPP

#include "iceoryx_posh/iceoryx_posh_types.hpp"
#include "iceoryx_posh/internal/capro/capro_message.hpp"
#include "iceoryx_posh/internal/roudi/introspection/mempool_introspection.hpp"
#include "iceoryx_posh/internal/roudi/process_manager.hpp"
#include "iceoryx_posh/internal/runtime/ipc_interface_creator.hpp"
#include "iceoryx_posh/mepoo/mepoo_config.hpp"
#include "iceoryx_posh/roudi/memory/roudi_memory_interface.hpp"
#include "iceoryx_posh/roudi/memory/roudi_memory_manager.hpp"
#include "iceoryx_posh/roudi/roudi_app.hpp"
#include "iceoryx_utils/cxx/generic_raii.hpp"
#include "iceoryx_utils/internal/concurrent/smart_lock.hpp"
#include "iceoryx_utils/internal/relocatable_pointer/relative_pointer.hpp"
#include "iceoryx_utils/platform/file.hpp"
#include "iceoryx_utils/posix_wrapper/posix_access_rights.hpp"

#include <cstdint>
#include <cstdio>
#include <thread>

namespace iox
{
namespace roudi
{
using namespace iox::units::duration_literals;

class RouDi
{
  public:
    enum class RuntimeMessagesThreadStart
    {
        IMMEDIATE,
        DEFER_START
    };

    struct RoudiStartupParameters
    {
        RoudiStartupParameters(
            const roudi::MonitoringMode monitoringMode = roudi::MonitoringMode::ON,
            const bool killProcessesInDestructor = true,
            const RuntimeMessagesThreadStart RuntimeMessagesThreadStart = RuntimeMessagesThreadStart::IMMEDIATE,
            const version::CompatibilityCheckLevel compatibilityCheckLevel = version::CompatibilityCheckLevel::PATCH,
            const units::Duration processKillDelay = roudi::PROCESS_DEFAULT_KILL_DELAY) noexcept
            : m_monitoringMode(monitoringMode)
            , m_killProcessesInDestructor(killProcessesInDestructor)
            , m_runtimesMessagesThreadStart(RuntimeMessagesThreadStart)
            , m_compatibilityCheckLevel(compatibilityCheckLevel)
            , m_processKillDelay(processKillDelay)
        {
        }

        const roudi::MonitoringMode m_monitoringMode;
        const bool m_killProcessesInDestructor;
        const RuntimeMessagesThreadStart m_runtimesMessagesThreadStart;
        const version::CompatibilityCheckLevel m_compatibilityCheckLevel;
        const units::Duration m_processKillDelay;
    };

    RouDi& operator=(const RouDi& other) = delete;
    RouDi(const RouDi& other) = delete;

    RouDi(RouDiMemoryInterface& roudiMemoryInteface,
          PortManager& portManager,
          RoudiStartupParameters roudiStartupParameters);

    virtual ~RouDi();

  protected:
    void startProcessRuntimeMessagesThread();

    void shutdown();
    virtual void processMessage(const runtime::IpcMessage& message,
                                const iox::runtime::IpcMessageType& cmd,
                                const RuntimeName_t& runtimeName);
    virtual void cyclicUpdateHook();
    void IpcMessageErrorHandler();

    version::VersionInfo parseRegisterMessage(const runtime::IpcMessage& message,
                                              uint32_t& pid,
                                              uid_t& userId,
                                              int64_t& transmissionTimestamp);

    void registerProcess(const RuntimeName_t& name,
                         const uint32_t pid,
                         const posix::PosixUser user,
                         const int64_t transmissionTimestamp,
                         const uint64_t sessionId,
                         const version::VersionInfo& versionInfo);

    static uint64_t getUniqueSessionIdForProcess();

  private:
    void processRuntimeMessages();

    void monitorAndDiscoveryUpdate();

    cxx::GenericRAII m_unregisterRelativePtr{[] {}, [] { rp::BaseRelativePointer::unregisterAll(); }};
    bool m_killProcessesInDestructor;
    std::atomic_bool m_runMonitoringAndDiscoveryThread;
    std::atomic_bool m_runHandleRuntimeMessageThread;

    const units::Duration m_runtimeMessagesThreadTimeout{100_ms};
  protected:
    RouDiMemoryInterface* m_roudiMemoryInterface{nullptr};
    cxx::GenericRAII m_roudiMemoryManagerCleaner{[]() {},
                                                 [this]() {
                                                     if (this->m_roudiMemoryInterface->destroyMemory().has_error())
                                                     {
                                                         LogWarn() << "unable to cleanup roudi memory interface";
                                                     };
                                                 }};
    PortManager* m_portManager{nullptr};
    concurrent::smart_lock<ProcessManager> m_prcMgr;

  private:
    std::thread m_monitoringAndDiscoveryThread;
    std::thread m_handleRuntimeMessageThread;

  protected:
    ProcessIntrospectionType m_processIntrospection;
    MemPoolIntrospectionType m_mempoolIntrospection;

  private:
    roudi::MonitoringMode m_monitoringMode{roudi::MonitoringMode::ON};
    units::Duration m_processKillDelay;
};

} // namespace roudi
} // namespace iox

#endif // IOX_POSH_ROUDI_ROUDI_MULTI_PROCESS_HPP
Updated on 17 June 2021 at 11:15:27 CEST