Merge branch 'iceoryx/master' into iox-eclipse-iceoryx#605-cleanup-re…

…locatable-ptr

Signed-off-by: Marika Lehmann <[email protected]>

iceoryx_integrationtest/iceoryx_integrationtest/test_waitset_example.py

@@ -62,12 +62,12 @@ def generate_test_description():
         sigterm_timeout='20')
 
     return launch.LaunchDescription([
+        roudi_process,
         process_list[0],
         process_list[1],
         process_list[2],
         process_list[3],
         process_list[4],
-        roudi_process,
         launch_testing.actions.ReadyToTest()
     ]), {'iox-ex-waitset-publisher': process_list[0], 'iox-ex-waitset-gateway': process_list[1],
          'iox-ex-waitset-grouping': process_list[2], 'iox-ex-waitset-individual': process_list[3],

iceoryx_posh/CMakeLists.txt

@@ -224,7 +224,8 @@ add_library(iceoryx_posh_roudi
     source/roudi/port_pool.cpp
     source/roudi/roudi.cpp
     source/roudi/roudi_lock.cpp
-    source/roudi/roudi_process.cpp
+    source/roudi/process.cpp
+    source/roudi/process_manager.cpp
     source/roudi/service_registry.cpp
     source/roudi/iceoryx_roudi_components.cpp
     source/roudi/roudi_cmd_line_parser.cpp

iceoryx_posh/include/iceoryx_posh/internal/roudi/introspection/mempool_introspection.hpp

@@ -19,7 +19,6 @@
 #include "iceoryx_posh/internal/log/posh_logging.hpp"
 #include "iceoryx_posh/internal/mepoo/memory_manager.hpp"
 #include "iceoryx_posh/internal/roudi/port_manager.hpp"
-#include "iceoryx_posh/internal/roudi/roudi_process.hpp"
 #include "iceoryx_posh/mepoo/mepoo_config.hpp"
 #include "iceoryx_posh/roudi/introspection_types.hpp"
 #include "iceoryx_utils/cxx/method_callback.hpp"

iceoryx_posh/include/iceoryx_posh/internal/roudi/port_manager.hpp

@@ -68,7 +68,7 @@ class PortManager
     acquirePublisherPortData(const capro::ServiceDescription& service,
                              const popo::PublisherOptions& publisherOptions,
                              const ProcessName_t& processName,
-                             mepoo::MemoryManager* payloadMemoryManager,
+                             mepoo::MemoryManager* const payloadMemoryManager,
                              const PortConfigInfo& portConfigInfo) noexcept;
 
     cxx::expected<SubscriberPortType::MemberType_t*, PortPoolError>
@@ -127,8 +127,8 @@ class PortManager
     void removeEntryFromServiceRegistry(const capro::IdString_t& service, const capro::IdString_t& instance) noexcept;
 
     template <typename T, std::enable_if_t<std::is_same<T, iox::build::OneToManyPolicy>::value>* = nullptr>
-    cxx::optional<ProcessName_t>
-    doesViolateCommunicationPolicy(const capro::ServiceDescription& service) const noexcept;
+    cxx::optional<ProcessName_t> doesViolateCommunicationPolicy(const capro::ServiceDescription& service) const
+        noexcept;
 
     template <typename T, std::enable_if_t<std::is_same<T, iox::build::ManyToManyPolicy>::value>* = nullptr>
     cxx::optional<ProcessName_t> doesViolateCommunicationPolicy(const capro::ServiceDescription& service

iceoryx_posh/include/iceoryx_posh/internal/roudi/process.hpp

@@ -0,0 +1,95 @@
+// 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_PROCESS_HPP
+#define IOX_POSH_ROUDI_PROCESS_HPP
+
+#include "iceoryx_posh/internal/mepoo/segment_manager.hpp"
+#include "iceoryx_posh/internal/roudi/introspection/process_introspection.hpp"
+#include "iceoryx_posh/internal/roudi/port_manager.hpp"
+#include "iceoryx_posh/internal/runtime/ipc_interface_user.hpp"
+#include "iceoryx_posh/mepoo/chunk_header.hpp"
+#include "iceoryx_posh/version/compatibility_check_level.hpp"
+#include "iceoryx_posh/version/version_info.hpp"
+#include "iceoryx_utils/cxx/list.hpp"
+#include "iceoryx_utils/error_handling/error_handling.hpp"
+#include "iceoryx_utils/posix_wrapper/posix_access_rights.hpp"
+
+#include <cstdint>
+#include <ctime>
+
+namespace iox
+{
+namespace roudi
+{
+class Process
+{
+  public:
+    /// @brief This class represents an application which has registered at RouDi and manages the communication to the
+    /// application
+    /// @param [in] name of the process; this is equal to the IPC channel name, which is used for communication
+    /// @param [in] pid is the host system process id
+    /// @param [in] payloadMemoryManager is a pointer to the payload memory manager for this process
+    /// @param [in] isMonitored indicates if the process should be monitored for being alive
+    /// @param [in] payloadSegmentId is an identifier for the shm payload segment
+    /// @param [in] sessionId is an ID generated by RouDi to prevent sending outdated IPC channel transmission
+    Process(const ProcessName_t& name,
+            const uint32_t pid,
+            mepoo::MemoryManager& payloadMemoryManager,
+            const bool isMonitored,
+            const uint64_t payloadSegmentId,
+            const uint64_t sessionId) noexcept;
+
+    Process(const Process& other) = delete;
+    Process& operator=(const Process& other) = delete;
+    /// @note the move cTor and assignment operator are already implicitly deleted because of the atomic
+    Process(Process&& other) = delete;
+    Process& operator=(Process&& other) = delete;
+    ~Process() = default;
+
+    uint32_t getPid() const noexcept;
+
+    const ProcessName_t getName() const noexcept;
+
+    void sendViaIpcChannel(const runtime::IpcMessage& data) noexcept;
+
+    /// @brief The session ID which is used to check outdated IPC channel transmissions for this process
+    /// @return the session ID for this process
+    uint64_t getSessionId() noexcept;
+
+    void setTimestamp(const mepoo::TimePointNs_t timestamp) noexcept;
+
+    mepoo::TimePointNs_t getTimestamp() noexcept;
+
+    mepoo::MemoryManager& getPayloadMemoryManager() const noexcept;
+    uint64_t getPayloadSegmentId() const noexcept;
+
+    bool isMonitored() const noexcept;
+
+  private:
+    const uint32_t m_pid{0U};
+    runtime::IpcInterfaceUser m_ipcChannel;
+    mepoo::TimePointNs_t m_timestamp;
+    mepoo::MemoryManager& m_payloadMemoryManager;
+    bool m_isMonitored{true};
+    uint64_t m_payloadSegmentId{0U};
+    std::atomic<uint64_t> m_sessionId{0U};
+};
+
+} // namespace roudi
+} // namespace iox
+
+#endif // IOX_POSH_ROUDI_PROCESS_HPP

iceoryx_posh/include/iceoryx_posh/internal/roudi/roudi_process.hpp → iceoryx_posh/include/iceoryx_posh/internal/roudi/process_manager.hpp

@@ -14,12 +14,13 @@
 // limitations under the License.
 //
 // SPDX-License-Identifier: Apache-2.0
-#ifndef IOX_POSH_ROUDI_ROUDI_PROCESS_HPP
-#define IOX_POSH_ROUDI_ROUDI_PROCESS_HPP
+#ifndef IOX_POSH_ROUDI_PROCESS_MANAGER_HPP
+#define IOX_POSH_ROUDI_PROCESS_MANAGER_HPP
 
 #include "iceoryx_posh/internal/mepoo/segment_manager.hpp"
 #include "iceoryx_posh/internal/roudi/introspection/process_introspection.hpp"
 #include "iceoryx_posh/internal/roudi/port_manager.hpp"
+#include "iceoryx_posh/internal/roudi/process.hpp"
 #include "iceoryx_posh/internal/runtime/ipc_interface_user.hpp"
 #include "iceoryx_posh/mepoo/chunk_header.hpp"
 #include "iceoryx_posh/version/compatibility_check_level.hpp"
@@ -35,60 +36,6 @@ namespace iox
 {
 namespace roudi
 {
-class RouDiProcess
-{
-  public:
-    /// @brief This class represents an application which has registered at RouDi and manages the communication to the
-    /// application
-    /// @param [in] name of the process; this is equal to the IPC channel name, which is used for communication
-    /// @param [in] pid is the host system process id
-    /// @param [in] payloadMemoryManager is a pointer to the payload memory manager for this process
-    /// @param [in] isMonitored indicates if the process should be monitored for being alive
-    /// @param [in] payloadSegmentId is an identifier for the shm payload segment
-    /// @param [in] sessionId is an ID generated by RouDi to prevent sending outdated IPC channel transmission
-    RouDiProcess(const ProcessName_t& name,
-                 int32_t pid,
-                 mepoo::MemoryManager* payloadMemoryManager,
-                 bool isMonitored,
-                 const uint64_t payloadSegmentId,
-                 const uint64_t sessionId) noexcept;
-
-    RouDiProcess(const RouDiProcess& other) = delete;
-    RouDiProcess& operator=(const RouDiProcess& other) = delete;
-    /// @note the move cTor and assignment operator are already implicitly deleted because of the atomic
-    RouDiProcess(RouDiProcess&& other) = delete;
-    RouDiProcess& operator=(RouDiProcess&& other) = delete;
-    ~RouDiProcess() = default;
-
-    int32_t getPid() const noexcept;
-
-    const ProcessName_t getName() const noexcept;
-
-    void sendViaIpcChannel(const runtime::IpcMessage& data) noexcept;
-
-    /// @brief The session ID which is used to check outdated IPC channel transmissions for this process
-    /// @return the session ID for this process
-    uint64_t getSessionId() noexcept;
-
-    void setTimestamp(const mepoo::TimePointNs_t timestamp) noexcept;
-
-    mepoo::TimePointNs_t getTimestamp() noexcept;
-
-    mepoo::MemoryManager* getPayloadMemoryManager() const noexcept;
-    uint64_t getPayloadSegmentId() const noexcept;
-
-    bool isMonitored() const noexcept;
-
-  private:
-    int m_pid;
-    runtime::IpcInterfaceUser m_ipcChannel;
-    mepoo::TimePointNs_t m_timestamp;
-    mepoo::MemoryManager* m_payloadMemoryManager{nullptr};
-    bool m_isMonitored{true};
-    uint64_t m_payloadSegmentId;
-    std::atomic<uint64_t> m_sessionId;
-};
-
 class ProcessManagerInterface
 {
   public:
@@ -101,9 +48,15 @@ class ProcessManagerInterface
 class ProcessManager : public ProcessManagerInterface
 {
   public:
-    using ProcessList_t = cxx::list<RouDiProcess, MAX_PROCESS_NUMBER>;
+    using ProcessList_t = cxx::list<Process, MAX_PROCESS_NUMBER>;
     using PortConfigInfo = iox::runtime::PortConfigInfo;
 
+    enum class TerminationFeedback
+    {
+        SEND_ACK_TO_PROCESS,
+        DO_NOT_SEND_ACK_TO_PROCESS
+    };
+
     ProcessManager(RouDiMemoryInterface& roudiMemoryInterface,
                    PortManager& portManager,
                    const version::CompatibilityCheckLevel compatibilityCheckLevel) noexcept;
@@ -120,20 +73,33 @@ class ProcessManager : public ProcessManagerInterface
     /// @param [in] transmissionTimestamp is an ID for the application to check for the expected response
     /// @param [in] sessionId is an ID generated by RouDi to prevent sending outdated IPC channel transmission
     /// @param [in] versionInfo Version of iceoryx used
-    /// @return Returns if the process could be added successfully.
+    /// @return false if process was already registered, true otherwise
     bool registerProcess(const ProcessName_t& name,
-                         int32_t pid,
-                         posix::PosixUser user,
-                         bool isMonitored,
-                         int64_t transmissionTimestamp,
+                         const uint32_t pid,
+                         const posix::PosixUser user,
+                         const bool isMonitored,
+                         const int64_t transmissionTimestamp,
                          const uint64_t sessionId,
                          const version::VersionInfo& versionInfo) noexcept;
 
-    /// @brief Kills all registered processes. First try with a SIGTERM and if they have not terminated after
-    /// processKillDelay they are killed with SIGKILL. If RouDi doesn't have sufficient rights to kill the process, the
+    /// @brief Unregisters a process at the ProcessManager
+    /// @param [in] name of the process which wants to unregister
+    /// @return true if known process was unregistered, false if process is unknown
+    bool unregisterProcess(const ProcessName_t& name) noexcept;
+
+    /// @brief Kills all registered processes. If RouDi doesn't have sufficient rights to kill the process, the
     /// process is considered killed.
-    /// @param [in] processKillDelay Amount of time RouDi will wait before killing
-    void killAllProcesses(const units::Duration processKillDelay) noexcept;
+    void killAllProcesses() noexcept;
+
+    /// @brief Informs the user about the processes which are registered and then clears the process list
+    void printWarningForRegisteredProcessesAndClearProcessList() noexcept;
+
+    /// @brief Is one or more of the registered processes running?
+    /// @return true if one or more of the registered processes is running, false otherwise
+    bool isAnyRegisteredProcessStillRunning() noexcept;
+
+    /// @brief Tries to gracefully terminate all registered processes
+    void requestShutdownOfAllProcesses() noexcept;
 
     void updateLivelinessOfProcess(const ProcessName_t& name) noexcept;
 
@@ -171,7 +137,10 @@ class ProcessManager : public ProcessManagerInterface
     void sendServiceRegistryChangeCounterToProcess(const ProcessName_t& process_name) noexcept override;
 
   private:
-    RouDiProcess* getProcessFromList(const ProcessName_t& name) noexcept;
+    bool searchForProcessAndThen(const ProcessName_t& name,
+                                 cxx::function_ref<void(Process&)> AndThenCallable,
+                                 cxx::function_ref<void()> OrElseCallable) noexcept;
+
     void monitorProcesses() noexcept;
     void discoveryUpdate() noexcept override;
 
@@ -185,26 +154,27 @@ class ProcessManager : public ProcessManagerInterface
     /// @param [in] versionInfo Version of iceoryx used
     /// @return Returns if the process could be added successfully.
     bool addProcess(const ProcessName_t& name,
-                    int32_t pid,
-                    mepoo::MemoryManager* payloadMemoryManager,
-                    bool isMonitored,
-                    int64_t transmissionTimestamp,
+                    const uint32_t pid,
+                    cxx::not_null<mepoo::MemoryManager* const> payloadMemoryManager,
+                    const bool isMonitored,
+                    const int64_t transmissionTimestamp,
                     const uint64_t payloadSegmentId,
                     const uint64_t sessionId,
                     const version::VersionInfo& versionInfo) noexcept;
 
     /// @brief Removes the process from the managed client process list, identified by its id.
     /// @param [in] name The process name which should be removed.
+    /// @param [in] sendAckToProcess Informs process that the termination messsage was received
     /// @return Returns true if the process was found and removed from the internal list.
-    bool removeProcess(const ProcessName_t& name) noexcept;
+    bool searchForProcessAndRemoveIt(const ProcessName_t& name, const TerminationFeedback feedback) noexcept;
 
-    /// @brief Removes the given process from the managed client process list without taking the list's lock!
-    /// @param [in] lockGuard This method has to be called within a lock guard context. Providing this lock guard
-    ///                       ensures it can't be called without a lock guard in place. The lock guard is the one
-    ///                       associated with the process list.
+    /// @brief Removes the given process from the managed client process list and the respective resources in shared
+    /// memory
     /// @param [in] processIter The process which should be removed.
+    /// @param [in] sendAckToProcess Informs process that the termination messsage was received
     /// @return Returns true if the process was found and removed from the internal list.
-    bool removeProcess(const std::lock_guard<std::mutex>& lockGuard, ProcessList_t::iterator& processIter) noexcept;
+    bool removeProcessAndDeleteRespectiveSharedMemoryObjects(ProcessList_t::iterator& processIter,
+                                                             const TerminationFeedback feedback) noexcept;
 
     enum class ShutdownPolicy
     {
@@ -217,20 +187,20 @@ class ProcessManager : public ProcessManagerInterface
     /// @param [in] shutdownPolicy Signal passed to the system to shut down the process
     /// @param [in] shutdownLog Defines the logging detail.
     /// @return Returns true if the sent signal was successful.
-    bool requestShutdownOfProcess(const RouDiProcess& process, ShutdownPolicy shutdownPolicy) noexcept;
+    bool requestShutdownOfProcess(Process& process, ShutdownPolicy shutdownPolicy) noexcept;
 
     /// @brief Evaluates with a kill SIGTERM signal to a process if he is still alive.
     /// @param [in] process The process to check.
     /// @return Returns true if the process is still alive, otherwise false.
-    bool isProcessAlive(const RouDiProcess& process) noexcept;
+    bool isProcessAlive(const Process& process) noexcept;
 
-    /// @brief Evaluates eventual upcoming errors from kill() command in requestShutdownOfProcess and isProcessAlive.
+    /// @brief Evaluates eventual upcoming errors from kill() command in requestShutdownOfProcess
     /// Calls the errorhandler.
     /// @param [in] process process where the kill command was run on
     /// @param [in] errnum errorcode of the killcommand
     /// @param [in] errorString errorstring of the killcommand
     /// @param [in] shutdownPolicy enum which tells what termination command was used (e.g. SIGTERM)
-    void evaluateKillError(const RouDiProcess& process,
+    void evaluateKillError(const Process& process,
                            const int32_t& errnum,
                            const char* errorString,
                            ShutdownPolicy shutdownPolicy) noexcept;
@@ -243,15 +213,13 @@ class ProcessManager : public ProcessManagerInterface
     mutable std::mutex m_mutex;
 
     ProcessList_t m_processList;
-
     ProcessIntrospectionType* m_processIntrospection{nullptr};
-
-    // this is currently used for the internal publisher/subscriber ports
+    /// @brief is currently used for the internal publisher/subscriber ports
     mepoo::MemoryManager* m_memoryManagerOfCurrentProcess{nullptr};
     version::CompatibilityCheckLevel m_compatibilityCheckLevel;
 };
 
 } // namespace roudi
 } // namespace iox
 
-#endif // IOX_POSH_ROUDI_ROUDI_PROCESS_HPP
+#endif // IOX_POSH_ROUDI_PROCESS_MANAGER_HPP