Merge remote-tracking branch 'michael/iox-#25-chunk-receiver-building…

…-block' into iox-eclipse-iceoryx#25-communication-setup-with-chunk-building-blocks-integration-test

iceoryx_posh/CMakeLists.txt

@@ -72,7 +72,9 @@ add_library(iceoryx_posh
     source/popo/sender_port.cpp
     source/popo/sender_port_data.cpp
     source/popo/receiver_handler.cpp
-    source/popo/building_blocks/chunk_queue.cpp 
+    source/popo/building_blocks/chunk_queue_pusher.cpp
+    source/popo/building_blocks/chunk_queue_popper.cpp    
+    source/popo/building_blocks/chunk_receiver.cpp      
     source/runtime/message_queue_interface.cpp
     source/runtime/message_queue_message.cpp
     source/runtime/port_config_info.cpp

iceoryx_posh/include/iceoryx_posh/iceoryx_posh_types.hpp

@@ -54,8 +54,15 @@ constexpr uint32_t MAX_PORT_NUMBER = 1024u;
 constexpr uint32_t MAX_INTERFACE_NUMBER = 4u;
 constexpr uint32_t MAX_RECEIVERS_PER_SENDERPORT = 256u;
 constexpr uint32_t MAX_CHUNKS_ALLOCATE_PER_SENDER = 8u;
-constexpr uint64_t MAX_SENDER_SAMPLE_HISTORY_CAPACITY = 16u;
-constexpr uint32_t MAX_RECEIVER_QUEUE_CAPACITY = 256u;
+constexpr uint64_t MAX_HISTORY_CAPACITY_OF_CHUNK_DISTRIBUTOR = 16u;
+constexpr uint32_t MAX_CHUNKS_HELD_PER_RECEIVER = 256u;
+constexpr uint32_t MAX_RECEIVER_QUEUE_CAPACITY = MAX_CHUNKS_HELD_PER_RECEIVER;
+/// With MAX_RECEIVER_QUEUE_CAPACITY = MAX_CHUNKS_HELD_PER_RECEIVER we couple the maximum number of chunks a user is
+/// allowed to hold with the maximum queue capacity.
+/// This allows that a polling user can replace all the held chunks in one execution with all new ones
+/// from a completely filled queue. Or the other way round, when we have a contract with the user
+/// regarding how many chunks they are allowed to hold, then the queue size needs not be bigger. We
+/// can provide this number of newest chunks, more the user would not be allowed to hold anyway
 constexpr uint32_t MAX_INTERFACE_CAPRO_FIFO_SIZE = MAX_PORT_NUMBER;
 constexpr uint32_t MAX_APPLICATION_CAPRO_FIFO_SIZE = 128u;
 
@@ -119,4 +126,3 @@ using FindServiceHandler = std::function<void(InstanceContainer&, FindServiceHan
 } // namespace runtime
 
 } // namespace iox
-

iceoryx_posh/include/iceoryx_posh/internal/popo/building_blocks/chunk_distributor.hpp

@@ -12,17 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef IOX_POPO_CHUNK_DISTRIBUTOR_HPP_
+#define IOX_POPO_CHUNK_DISTRIBUTOR_HPP_
 
 #include "iceoryx_posh/internal/mepoo/shared_chunk.hpp"
 #include "iceoryx_posh/internal/popo/building_blocks/chunk_distributor_data.hpp"
+#include "iceoryx_posh/internal/popo/building_blocks/chunk_queue_pusher.hpp"
 
 namespace iox
 {
 namespace popo
 {
 /// @brief The ChunkDistributor is the low layer building block to send SharedChunks to a dynamic number of ChunkQueus.
-/// Together with the ChunkQueue, the ChunkDistributor builds the infrastructure to exchange memory chunks between
+/// Together with the ChunkQueuePusher, the ChunkDistributor builds the infrastructure to exchange memory chunks between
 /// different data producers and consumers that could be located in different processes. Besides a modifiable container
 /// of ChunkQueues to which a SharedChunk can be deliverd, it holds a configurable history of last sent chunks. This
 /// allows to provide a newly added queue a number of last chunks to start from. This is needed for functionality
@@ -31,22 +33,26 @@ namespace popo
 ///
 /// About Concurrency:
 /// This ChunkDistributor can be used with different LockingPolicies for different scenarios
-/// When different threads operate on it (e.g. application sends chunks and RouDi adds and removes queues), 
-/// a locking policy must be used that ensures consistent data in the ChunkDistributorData. 
+/// When different threads operate on it (e.g. application sends chunks and RouDi adds and removes queues),
+/// a locking policy must be used that ensures consistent data in the ChunkDistributorData.
 /// @todo There are currently some challenge:
-/// For the stored queues and the history, containers are used which are not thread safe. Therefore we use an inter-process
-/// mutex. But this can lead to deadlocks if a user process gets terminated while one of its threads is in the ChunkDistributor 
-/// and holds a lock. An easier setup would be if changing the queues by a middleware thread and sending chunks by the user process
-/// would not interleave. I.e. there is no concurrent access to the containers. Then a memory synchronization would be sufficient
-/// The cleanup() call is the biggest challenge. This is used to free chunks that are still held by a not properly terminated
-/// user application. Even if access from middleware and user threads do not overlap, the history container to cleanup could be
-/// in an inconsistent state as the application was hard terminated while changing it. We would need a container like the
-/// UsedChunkList to have one that is robust against such inconsistencies.... A perfect job for our future selves
-template <uint32_t MaxQueues, typename LockingPolicy>
+/// For the stored queues and the history, containers are used which are not thread safe. Therefore we use an
+/// inter-process mutex. But this can lead to deadlocks if a user process gets terminated while one of its
+/// threads is in the ChunkDistributor and holds a lock. An easier setup would be if changing the queues
+/// by a middleware thread and sending chunks by the user process would not interleave. I.e. there is no concurrent
+/// access to the containers. Then a memory synchronization would be sufficient.
+/// The cleanup() call is the biggest challenge. This is used to free chunks that are still held by a not properly
+/// terminated user application. Even if access from middleware and user threads do not overlap, the history
+/// container to cleanup could be in an inconsistent state as the application was hard terminated while changing it.
+/// We would need a container like the UsedChunkList to have one that is robust against such inconsistencies....
+/// A perfect job for our future selves
+template <typename ChunkDistributorDataType>
 class ChunkDistributor
 {
   public:
-    using MemberType_t = ChunkDistributorData<MaxQueues, LockingPolicy>;
+    using MemberType_t = ChunkDistributorDataType;
+    using ChunkQueueData_t = typename ChunkDistributorDataType::ChunkQueueData_t;
+    using ChunkQueuePusher_t = typename ChunkDistributorDataType::ChunkQueuePusher_t;
 
     ChunkDistributor(MemberType_t* const chunkDistrubutorDataPtr) noexcept;
 
@@ -62,11 +68,11 @@ class ChunkDistributor
     /// @param[in] requestedHistory number of last chunks from history to send if available. If history size is smaller
     /// then the available history size chunks are provided
     /// @return true on success otherwise false
-    bool addQueue(ChunkQueue::MemberType_t* const queueToAdd, uint64_t requestedHistory = 0) noexcept;
+    bool addQueue(ChunkQueueData_t* const queueToAdd, uint64_t requestedHistory = 0) noexcept;
 
     /// @brief Remove a queue from the internal list of chunk queues
     /// @param[in] chunk queue to remove from the list
-    void removeQueue(ChunkQueue::MemberType_t* const queueToRemove) noexcept;
+    void removeQueue(ChunkQueueData_t* const queueToRemove) noexcept;
 
     /// @brief Delete all the stored chunk queues
     void removeAllQueues() noexcept;
@@ -84,7 +90,7 @@ class ChunkDistributor
     /// history
     /// @param[in] chunk queue to which this chunk shall be delivered
     /// @param[in] shared chunk to be delivered
-    void deliverToQueue(ChunkQueue::MemberType_t* const queue, mepoo::SharedChunk chunk) noexcept;
+    void deliverToQueue(ChunkQueueData_t* const queue, mepoo::SharedChunk chunk) noexcept;
 
     /// @brief Update the chunk history but do not deliver the chunk to any chunk queue. E.g. use case is to to update a
     /// non offered field in ara
@@ -117,3 +123,5 @@ class ChunkDistributor
 } // namespace iox
 
 #include "iceoryx_posh/internal/popo/building_blocks/chunk_distributor.inl"
+
+#endif

iceoryx_posh/include/iceoryx_posh/internal/popo/building_blocks/chunk_distributor.inl

@@ -17,58 +17,57 @@ namespace iox
 {
 namespace popo
 {
-template <uint32_t MaxQueues, typename LockingPolicy>
-inline ChunkDistributor<MaxQueues, LockingPolicy>::ChunkDistributor(
+template <typename ChunkDistributorDataType>
+inline ChunkDistributor<ChunkDistributorDataType>::ChunkDistributor(
     MemberType_t* const chunkDistrubutorDataPtr) noexcept
     : m_chunkDistrubutorDataPtr(chunkDistrubutorDataPtr)
 {
 }
 
-template <uint32_t MaxQueues, typename LockingPolicy>
-inline const typename ChunkDistributor<MaxQueues, LockingPolicy>::MemberType_t*
-ChunkDistributor<MaxQueues, LockingPolicy>::getMembers() const noexcept
+template <typename ChunkDistributorDataType>
+inline const typename ChunkDistributor<ChunkDistributorDataType>::MemberType_t*
+ChunkDistributor<ChunkDistributorDataType>::getMembers() const noexcept
 {
     return m_chunkDistrubutorDataPtr;
 }
 
-template <uint32_t MaxQueues, typename LockingPolicy>
-inline typename ChunkDistributor<MaxQueues, LockingPolicy>::MemberType_t*
-ChunkDistributor<MaxQueues, LockingPolicy>::getMembers() noexcept
+template <typename ChunkDistributorDataType>
+inline typename ChunkDistributor<ChunkDistributorDataType>::MemberType_t*
+ChunkDistributor<ChunkDistributorDataType>::getMembers() noexcept
 {
     return m_chunkDistrubutorDataPtr;
 }
 
-template <uint32_t MaxQueues, typename LockingPolicy>
-inline bool ChunkDistributor<MaxQueues, LockingPolicy>::addQueue(ChunkQueue::MemberType_t* const queueToAdd,
+template <typename ChunkDistributorDataType>
+inline bool ChunkDistributor<ChunkDistributorDataType>::addQueue(ChunkQueueData_t* const queueToAdd,
                                                                  uint64_t requestedHistory) noexcept
 {
-    typename MemberType_t::lockGuard_t lock(*getMembers());
+    typename MemberType_t::LockGuard_t lock(*getMembers());
 
     if (nullptr == queueToAdd)
     {
         return false;
     }
 
-    auto l_alreadyKnownReceiver =
-        std::find_if(getMembers()->m_queues.begin(),
-                     getMembers()->m_queues.end(),
-                     [&](ChunkQueue::MemberType_t* const queue) { return queue == queueToAdd; });
+    auto alreadyKnownReceiver = std::find_if(getMembers()->m_queues.begin(),
+                                             getMembers()->m_queues.end(),
+                                             [&](ChunkQueueData_t* const queue) { return queue == queueToAdd; });
 
     // check if the queue is not already in the list
-    if (l_alreadyKnownReceiver == getMembers()->m_queues.end())
+    if (alreadyKnownReceiver == getMembers()->m_queues.end())
     {
         if (getMembers()->m_queues.size() < getMembers()->m_queues.capacity())
         {
             getMembers()->m_queues.push_back(queueToAdd);
 
-            uint64_t currChunkHistorySize = getMembers()->m_sampleHistory.size();
+            uint64_t currChunkHistorySize = getMembers()->m_history.size();
 
             // if the current history is large enough we send the requested number of chunks, else we send the
             // total history
             auto startIndex = (requestedHistory <= currChunkHistorySize) ? currChunkHistorySize - requestedHistory : 0u;
             for (auto i = startIndex; i < currChunkHistorySize; ++i)
             {
-                deliverToQueue(queueToAdd, getMembers()->m_sampleHistory[i]);
+                deliverToQueue(queueToAdd, getMembers()->m_history[i]);
             }
         }
         else
@@ -81,39 +80,38 @@ inline bool ChunkDistributor<MaxQueues, LockingPolicy>::addQueue(ChunkQueue::Mem
     return true;
 }
 
-template <uint32_t MaxQueues, typename LockingPolicy>
-inline void
-ChunkDistributor<MaxQueues, LockingPolicy>::removeQueue(ChunkQueue::MemberType_t* const queueToRemove) noexcept
+template <typename ChunkDistributorDataType>
+inline void ChunkDistributor<ChunkDistributorDataType>::removeQueue(ChunkQueueData_t* const queueToRemove) noexcept
 {
-    typename MemberType_t::lockGuard_t lock(*getMembers());
+    typename MemberType_t::LockGuard_t lock(*getMembers());
 
-    auto l_iter = std::find(getMembers()->m_queues.begin(), getMembers()->m_queues.end(), queueToRemove);
-    if (l_iter != getMembers()->m_queues.end())
+    auto iter = std::find(getMembers()->m_queues.begin(), getMembers()->m_queues.end(), queueToRemove);
+    if (iter != getMembers()->m_queues.end())
     {
-        getMembers()->m_queues.erase(l_iter);
+        getMembers()->m_queues.erase(iter);
     }
 }
 
-template <uint32_t MaxQueues, typename LockingPolicy>
-inline void ChunkDistributor<MaxQueues, LockingPolicy>::removeAllQueues() noexcept
+template <typename ChunkDistributorDataType>
+inline void ChunkDistributor<ChunkDistributorDataType>::removeAllQueues() noexcept
 {
-    typename MemberType_t::lockGuard_t lock(*getMembers());
+    typename MemberType_t::LockGuard_t lock(*getMembers());
 
     getMembers()->m_queues.clear();
 }
 
-template <uint32_t MaxQueues, typename LockingPolicy>
-inline bool ChunkDistributor<MaxQueues, LockingPolicy>::hasStoredQueues() noexcept
+template <typename ChunkDistributorDataType>
+inline bool ChunkDistributor<ChunkDistributorDataType>::hasStoredQueues() noexcept
 {
-    typename MemberType_t::lockGuard_t lock(*getMembers());
+    typename MemberType_t::LockGuard_t lock(*getMembers());
 
     return !getMembers()->m_queues.empty();
 }
 
-template <uint32_t MaxQueues, typename LockingPolicy>
-inline void ChunkDistributor<MaxQueues, LockingPolicy>::deliverToAllStoredQueues(mepoo::SharedChunk chunk) noexcept
+template <typename ChunkDistributorDataType>
+inline void ChunkDistributor<ChunkDistributorDataType>::deliverToAllStoredQueues(mepoo::SharedChunk chunk) noexcept
 {
-    typename MemberType_t::lockGuard_t lock(*getMembers());
+    typename MemberType_t::LockGuard_t lock(*getMembers());
 
     // send to all the queues
     for (auto& queue : getMembers()->m_queues)
@@ -125,52 +123,52 @@ inline void ChunkDistributor<MaxQueues, LockingPolicy>::deliverToAllStoredQueues
     addToHistoryWithoutDelivery(chunk);
 }
 
-template <uint32_t MaxQueues, typename LockingPolicy>
-inline void ChunkDistributor<MaxQueues, LockingPolicy>::deliverToQueue(ChunkQueue::MemberType_t* const queue,
+template <typename ChunkDistributorDataType>
+inline void ChunkDistributor<ChunkDistributorDataType>::deliverToQueue(ChunkQueueData_t* const queue,
                                                                        mepoo::SharedChunk chunk) noexcept
 {
-    ChunkQueue(queue).push(chunk);
+    ChunkQueuePusher_t(queue).push(chunk);
 }
 
-template <uint32_t MaxQueues, typename LockingPolicy>
-inline void ChunkDistributor<MaxQueues, LockingPolicy>::addToHistoryWithoutDelivery(mepoo::SharedChunk chunk) noexcept
+template <typename ChunkDistributorDataType>
+inline void ChunkDistributor<ChunkDistributorDataType>::addToHistoryWithoutDelivery(mepoo::SharedChunk chunk) noexcept
 {
-    typename MemberType_t::lockGuard_t lock(*getMembers());
+    typename MemberType_t::LockGuard_t lock(*getMembers());
 
     if (0 < getMembers()->m_historyCapacity)
     {
-        if (getMembers()->m_sampleHistory.size() >= getMembers()->m_historyCapacity)
+        if (getMembers()->m_history.size() >= getMembers()->m_historyCapacity)
         {
-            getMembers()->m_sampleHistory.erase(getMembers()->m_sampleHistory.begin());
+            getMembers()->m_history.erase(getMembers()->m_history.begin());
         }
-        getMembers()->m_sampleHistory.push_back(chunk);
+        getMembers()->m_history.push_back(chunk);
     }
 }
 
-template <uint32_t MaxQueues, typename LockingPolicy>
-inline uint64_t ChunkDistributor<MaxQueues, LockingPolicy>::getHistorySize() noexcept
+template <typename ChunkDistributorDataType>
+inline uint64_t ChunkDistributor<ChunkDistributorDataType>::getHistorySize() noexcept
 {
-    typename MemberType_t::lockGuard_t lock(*getMembers());
+    typename MemberType_t::LockGuard_t lock(*getMembers());
 
-    return getMembers()->m_sampleHistory.size();
+    return getMembers()->m_history.size();
 }
 
-template <uint32_t MaxQueues, typename LockingPolicy>
-inline uint64_t ChunkDistributor<MaxQueues, LockingPolicy>::getHistoryCapacity() const noexcept
+template <typename ChunkDistributorDataType>
+inline uint64_t ChunkDistributor<ChunkDistributorDataType>::getHistoryCapacity() const noexcept
 {
     return getMembers()->m_historyCapacity;
 }
 
-template <uint32_t MaxQueues, typename LockingPolicy>
-inline void ChunkDistributor<MaxQueues, LockingPolicy>::clearHistory() noexcept
+template <typename ChunkDistributorDataType>
+inline void ChunkDistributor<ChunkDistributorDataType>::clearHistory() noexcept
 {
-    typename MemberType_t::lockGuard_t lock(*getMembers());
+    typename MemberType_t::LockGuard_t lock(*getMembers());
 
-    getMembers()->m_sampleHistory.clear();
+    getMembers()->m_history.clear();
 }
 
-template <uint32_t MaxQueues, typename LockingPolicy>
-inline void ChunkDistributor<MaxQueues, LockingPolicy>::cleanup() noexcept
+template <typename ChunkDistributorDataType>
+inline void ChunkDistributor<ChunkDistributorDataType>::cleanup() noexcept
 {
     if (getMembers()->tryLock())
     {

iceoryx_posh/include/iceoryx_posh/internal/popo/building_blocks/chunk_distributor_data.hpp

@@ -12,12 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#pragma once
+#ifndef IOX_POPO_CHUNK_DISTRIBUTOR_DATA_HPP_
+#define IOX_POPO_CHUNK_DISTRIBUTOR_DATA_HPP_
 
 #include "iceoryx_posh/iceoryx_posh_types.hpp"
 #include "iceoryx_posh/internal/log/posh_logging.hpp"
 #include "iceoryx_posh/internal/mepoo/shared_chunk.hpp"
-#include "iceoryx_posh/internal/popo/building_blocks/chunk_queue.hpp"
+#include "iceoryx_posh/internal/popo/building_blocks/chunk_queue_pusher.hpp"
 #include "iceoryx_utils/cxx/algorithm.hpp"
 #include "iceoryx_utils/cxx/vector.hpp"
 #include "iceoryx_utils/internal/posix_wrapper/mutex.hpp"
@@ -29,8 +30,6 @@ namespace iox
 {
 namespace popo
 {
-struct ChunkQueueData;
-
 class ThreadSafePolicy
 {
   public: // needs to be public since we want to use std::lock_guard
@@ -66,33 +65,37 @@ class SingleThreadedPolicy
     }
 };
 
-template <uint32_t MaxQueues, typename LockingPolicy>
+template <uint32_t MaxQueues, typename LockingPolicy, typename ChunkQueuePusherType = ChunkQueuePusher>
 struct ChunkDistributorData : public LockingPolicy
 {
-    using lockGuard_t = std::lock_guard<ChunkDistributorData<MaxQueues, LockingPolicy>>;
+    using LockGuard_t = std::lock_guard<ChunkDistributorData<MaxQueues, LockingPolicy, ChunkQueuePusherType>>;
+    using ChunkQueuePusher_t = ChunkQueuePusherType;
+    using ChunkQueueData_t = typename ChunkQueuePusherType::MemberType_t;
 
     ChunkDistributorData(uint64_t historyCapacity = 0u) noexcept
-        : m_historyCapacity(algorithm::min(historyCapacity, MAX_SENDER_SAMPLE_HISTORY_CAPACITY))
+        : m_historyCapacity(algorithm::min(historyCapacity, MAX_HISTORY_CAPACITY_OF_CHUNK_DISTRIBUTOR))
     {
         if (m_historyCapacity != historyCapacity)
         {
             LogWarn() << "Chunk history too large, reducing from " << historyCapacity << " to "
-                      << MAX_SENDER_SAMPLE_HISTORY_CAPACITY;
+                      << MAX_HISTORY_CAPACITY_OF_CHUNK_DISTRIBUTOR;
         }
     }
 
     const uint64_t m_historyCapacity;
 
-    using QueueContainer_t = cxx::vector<ChunkQueue::MemberType_t*, MaxQueues>;
+    using QueueContainer_t = cxx::vector<ChunkQueueData_t*, MaxQueues>;
     QueueContainer_t m_queues;
 
     /// @todo using ChunkManagement instead of SharedChunk as in UsedChunkList?
     /// When to store a SharedChunk and when the included ChunkManagement must be used?
     /// If we would make the ChunkDistributor lock-free, can we than extend the UsedChunkList to
     /// be like a ring buffer and use this for the history? This would be needed to be able to safely cleanup
-    using SampleHistoryContainer_t = cxx::vector<mepoo::SharedChunk, MAX_SENDER_SAMPLE_HISTORY_CAPACITY>;
-    SampleHistoryContainer_t m_sampleHistory;
+    using HistoryContainer_t = cxx::vector<mepoo::SharedChunk, MAX_HISTORY_CAPACITY_OF_CHUNK_DISTRIBUTOR>;
+    HistoryContainer_t m_history;
 };
 
 } // namespace popo
 } // namespace iox
+
+#endif