Diff: embeddedRTPS/include/rtps/ThreadPool.h

Revision:

0:580aba13d1a1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/embeddedRTPS/include/rtps/ThreadPool.h	Thu Dec 30 21:06:29 2021 +0900
@@ -0,0 +1,97 @@
+/*
+The MIT License
+Copyright (c) 2019 Lehrstuhl Informatik 11 - RWTH Aachen University
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE
+
+This file is part of embeddedRTPS.
+
+Author: i11 - Embedded Software, RWTH Aachen University
+*/
+
+#ifndef RTPS_THREADPOOL_H
+#define RTPS_THREADPOOL_H
+
+#ifdef __MBED__
+#ifdef __cplusplus
+extern "C" {
+#endif
+void sys_msleep(unsigned int ms);
+#ifdef __cplusplus
+}
+#endif
+#endif /* __MBED__ */
+#include "lwip/sys.h"
+#include "rtps/communication/PacketInfo.h"
+#include "rtps/communication/UdpDriver.h"
+#include "rtps/config.h"
+#include "rtps/storages/PBufWrapper.h"
+#include "rtps/storages/ThreadSafeCircularBuffer.h"
+
+#include <array>
+
+namespace rtps {
+
+class Writer;
+
+class ThreadPool {
+public:
+  using receiveJumppad_fp = void (*)(void *callee, const PacketInfo &packet);
+
+  ThreadPool(receiveJumppad_fp receiveCallback, void *callee);
+
+  ~ThreadPool();
+
+  bool startThreads();
+  void stopThreads();
+
+  void clearQueues();
+  bool addWorkload(Writer *workload);
+  bool addNewPacket(PacketInfo &&packet);
+
+  static void readCallback(void *arg, udp_pcb *pcb, pbuf *p,
+                           const ip_addr_t *addr, Ip4Port_t port);
+  static void writerThreadFunction(void *arg);
+  static void readerThreadFunction(void *arg);
+
+private:
+  receiveJumppad_fp m_receiveJumppad;
+  void *m_callee;
+  bool m_running = false;
+  std::array<sys_thread_t, Config::THREAD_POOL_NUM_WRITERS> m_writers;
+  std::array<sys_thread_t, Config::THREAD_POOL_NUM_READERS> m_readers;
+
+  sys_sem_t m_readerNotificationSem;
+  sys_sem_t m_writerNotificationSem;
+
+  ThreadSafeCircularBuffer<Writer *, Config::THREAD_POOL_WORKLOAD_QUEUE_LENGTH>
+      m_queueOutgoing;
+  ThreadSafeCircularBuffer<PacketInfo,
+                           Config::THREAD_POOL_WORKLOAD_QUEUE_LENGTH>
+      m_queueIncoming;
+  void doWriterWork();
+  void doReaderWork();
+};
+} // namespace rtps
+#ifdef __cplusplus
+extern "C" {
+#endif
+void callWriterThreadFunction(void *arg);
+void callReaderThreadFunction(void *arg);
+#ifdef __cplusplus
+}
+#endif
+#endif // RTPS_THREADPOOL_H