ShmemInputStream.cpp

Go to the documentation of this file.

/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#include "ShmemInputStream.h"
#include "ShmemLogComponent.h"
 
#include <yarp/os/Bytes.h>
#include <yarp/os/impl/PlatformTime.h>
 
#include <ace/Lib_Find.h>
// In one the ACE headers there is a definition of "main" for WIN32
# ifdef main
#  undef main
# endif
 
 
 
ShmemInputStreamImpl::ShmemInputStreamImpl() :
        m_bOpen(false),
        m_ResizeNum(0),
        m_Port(-1),
        m_pAccessMutex(nullptr),
        m_pWaitDataMutex(nullptr),
        m_pMap(nullptr),
        m_pData(nullptr),
        m_pHeader(nullptr),
        m_pSock(nullptr)
{
}
 
ShmemInputStreamImpl::~ShmemInputStreamImpl()
{
    close();
}
 
bool ShmemInputStreamImpl::isOk() const
{
    return m_bOpen;
}
 
bool ShmemInputStreamImpl::open(int port, ACE_SOCK_Stream* pSock, int size)
{
    m_pSock = pSock;
 
    m_pAccessMutex = m_pWaitDataMutex = nullptr;
    m_pMap = nullptr;
    m_pData = nullptr;
    m_pHeader = nullptr;
    m_ResizeNum = 0;
 
    m_Port = port;
 
    char obj_name[2048];
    char temp_dir_path[1024];
 
    if (ACE::get_temp_dir(temp_dir_path, 1024) == -1) {
        yCError(SHMEMCARRIER, "ShmemHybridStream: no temp directory found.");
        return false;
    }
 
#ifdef ACE_LACKS_SYSV_SHMEM
 
    snprintf(obj_name, 2048, "%sSHMEM_FILE_%d_%d", temp_dir_path, port, 0);
 
    m_pMap = new ACE_Shared_Memory_MM(obj_name, //const ACE_TCHAR *filename,
                                      size + sizeof(ShmemHeader_t), //int len = -1,
                                      O_RDWR, //int flags = O_RDWR | O_CREAT,
                                      ACE_DEFAULT_FILE_PERMS, //int mode = ACE_DEFAULT_FILE_PERMS,
                                      PROT_RDWR, //int prot = PROT_RDWR,
                                      ACE_MAP_SHARED); //int share = ACE_MAP_PRIVATE,
 
#else
 
    m_pMap = new ACE_Shared_Memory_SV(port, size + sizeof(ShmemHeader_t));
 
#endif
 
    m_pHeader = (ShmemHeader_t*)m_pMap->malloc();
    m_pData = (char*)(m_pHeader + 1);
 
#ifdef _ACE_USE_SV_SEM
    snprintf(obj_name, 2048, "%sSHMEM_ACCESS_MUTEX_%d", temp_dir_path, port);
    m_pAccessMutex = new ACE_Mutex(USYNC_PROCESS, obj_name);
    snprintf(obj_name, 2048, "%sSHMEM_WAITDATA_MUTEX_%d", temp_dir_path, port);
    m_pWaitDataMutex = new ACE_Mutex(USYNC_PROCESS, obj_name);
#else
    snprintf(obj_name, 2048, "SHMEM_ACCESS_MUTEX_%d", port);
    m_pAccessMutex = new ACE_Process_Mutex(obj_name);
    snprintf(obj_name, 2048, "SHMEM_WAITDATA_MUTEX_%d", port);
    m_pWaitDataMutex = new ACE_Process_Mutex(obj_name);
#endif
 
    m_pWaitDataMutex->acquire();
 
    m_bOpen = true;
 
    return true;
}
 
bool ShmemInputStreamImpl::Resize()
{
    ++m_ResizeNum;
 
    ACE_Shared_Memory* pNewMap;
 
    yCDebug(SHMEMCARRIER, "input stream resize %d to %d", m_ResizeNum, m_pHeader->newsize);
 
#ifdef ACE_LACKS_SYSV_SHMEM
 
    char file_path[1024];
 
    if (ACE::get_temp_dir(file_path, 1024) == -1) {
        yCError(SHMEMCARRIER, "ShmemHybridStream: no temp directory found.");
        return false;
    }
 
    char file_name[2048];
    snprintf(file_name, 2048, "%sSHMEM_FILE_%d_%d", file_path, m_Port, m_ResizeNum);
 
    pNewMap = new ACE_Shared_Memory_MM(file_name, //const ACE_TCHAR *filename,
                                       m_pHeader->newsize + sizeof(ShmemHeader_t), //int len = -1,
                                       O_RDWR, //int flags = O_RDWR | O_CREAT,
                                       ACE_DEFAULT_FILE_PERMS, //int mode = ACE_DEFAULT_FILE_PERMS,
                                       PROT_RDWR, //int prot = PROT_RDWR,
                                       ACE_MAP_SHARED); //int share = ACE_MAP_PRIVATE,
 
#else
 
    int shmemkey = (m_ResizeNum << 16) + m_Port;
 
    pNewMap = new ACE_Shared_Memory_SV(shmemkey, m_pHeader->size + sizeof(ShmemHeader_t));
 
#endif
 
    if (!pNewMap) {
        yCError(SHMEMCARRIER, "ShmemOutputStream can't create shared memory");
        return false;
    }
 
    auto* pNewHeader = (ShmemHeader_t*)pNewMap->malloc();
    char* pNewData = (char*)(pNewHeader + 1);
 
    m_pMap->close();
    delete m_pMap;
 
    m_pMap = pNewMap;
    m_pHeader = pNewHeader;
    m_pData = pNewData;
 
    return true;
}
 
int ShmemInputStreamImpl::read(char* data, int len)
{
    m_pAccessMutex->acquire();
 
    if (m_pHeader->close) {
        m_pAccessMutex->release();
        close();
        return -1;
    }
 
    while (m_pHeader->resize)
        Resize();
 
    if (m_pHeader->avail < len) {
        ++m_pHeader->waiting;
        m_pAccessMutex->release();
        return 0;
    }
 
    if (m_pHeader->tail + len > m_pHeader->size) {
        int first_block_size = m_pHeader->size - m_pHeader->tail;
 
        memcpy((void*)data, (void*)(m_pData + m_pHeader->tail), first_block_size);
        memcpy((void*)(data + first_block_size), (void*)m_pData, len - first_block_size);
    } else {
        memcpy((void*)data, (void*)(m_pData + m_pHeader->tail), len);
    }
 
    m_pHeader->avail -= len;
    m_pHeader->tail += len;
    m_pHeader->tail %= m_pHeader->size;
 
    m_pAccessMutex->release();
 
    return len;
}
 
yarp::conf::ssize_t ShmemInputStreamImpl::read(yarp::os::Bytes& b)
{
    m_ReadSerializerMutex.lock();
 
    if (!m_bOpen) {
        m_ReadSerializerMutex.unlock();
        return -1;
    }
 
    char* data = b.get();
    char* buf;
    size_t len = b.length();
    yarp::conf::ssize_t ret;
 
    while (!(ret = read(data, (int)len))) {
#ifdef _ACE_USE_SV_SEM
        yarp::os::impl::YARP_timeval tv = ACE_OS::gettimeofday();
        tv.sec(tv.sec() + 1);
#else
        yarp::os::impl::YARP_timeval tv(1);
#endif
 
        m_pWaitDataMutex->acquire(tv);
 
        if (!m_pSock->recv(&buf, 1)) {
            yCDebug(SHMEMCARRIER, "STREAM IS BROKEN");
            close();
            m_ReadSerializerMutex.unlock();
            return -1;
        }
    }
 
    m_ReadSerializerMutex.unlock();
 
    return ret;
}
 
void ShmemInputStreamImpl::close()
{
    if (!m_bOpen)
        return;
 
    m_bOpen = false;
 
    m_pAccessMutex->acquire();
    while (m_pHeader->waiting > 0) {
        --m_pHeader->waiting;
        m_pWaitDataMutex->release();
    }
    m_pHeader->close = true;
    m_pAccessMutex->release();
 
    m_pAccessMutex->remove();
    delete m_pAccessMutex;
    m_pAccessMutex = nullptr;
 
    m_pWaitDataMutex->remove();
    delete m_pWaitDataMutex;
    m_pWaitDataMutex = nullptr;
 
    m_pMap->close();
    delete m_pMap;
    m_pMap = nullptr;
}