Fast RTPS  Version 2.9.0
Fast RTPS
TimedConditionVariable.hpp
1// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
19#ifndef _UTILS_TIMEDCONDITIONVARIABLE_HPP_
20#define _UTILS_TIMEDCONDITIONVARIABLE_HPP_
21#include <fastrtps/config.h>
22
23/*
24 NOTE: Windows implementation temporary disabled due to aleatory high CPU consumption when
25 calling _Cnd_timedwait function, making some tests to fail and very poor performance.
26 Related task: #6274
27
28 #if HAVE_STRICT_REALTIME && defined(_WIN32)
29 #include <thr/xthreads.h>
30
31 #define CLOCK_REALTIME 0
32 #define CV_INIT_(x) _Cnd_init(x)
33 #define CV_WAIT_(cv, x) _Cnd_wait(cv, (_Mtx_t)x)
34 #define CV_TIMEDWAIT_(cv, x, y) _Cnd_timedwait(cv, (_Mtx_t)x, (xtime*)y)
35 #define CV_SIGNAL_(cv) _Cnd_signal(cv)
36 #define CV_BROADCAST_(cv) _Cnd_broadcast(cv)
37 #define CV_T_ _Cnd_t
38
39 extern int clock_gettime(int, struct timespec* tv);
40 #elif HAVE_STRICT_REALTIME && defined(__unix__)
41 */
42#if HAVE_STRICT_REALTIME && defined(__unix__)
43#include <pthread.h>
44
45#define CV_INIT_(x) pthread_condattr_init(&cv_attr_); \
46 pthread_condattr_setclock(&cv_attr_, CLOCK_MONOTONIC); \
47 pthread_cond_init(x, &cv_attr_);
48#define CV_WAIT_(cv, x) pthread_cond_wait(&cv, x)
49#define CV_TIMEDWAIT_(cv, x, y) pthread_cond_timedwait(&cv, x, y)
50#define CV_SIGNAL_(cv) pthread_cond_signal(&cv)
51#define CV_BROADCAST_(cv) pthread_cond_broadcast(&cv)
52#define CV_T_ pthread_condattr_t cv_attr_; pthread_cond_t
53#else
54#include <condition_variable>
55#endif // if HAVE_STRICT_REALTIME && defined(__unix__)
56
57#include <mutex>
58#include <chrono>
59#include <functional>
60
61namespace eprosima {
62namespace fastrtps {
63
64#if HAVE_STRICT_REALTIME && (/*defined(_WIN32) ||*/ defined(__unix__))
65
67{
68public:
69
71 {
72 CV_INIT_(&cv_);
73 }
74
75 template<typename Mutex>
76 void wait(
77 std::unique_lock<Mutex>& lock,
78 std::function<bool()> predicate)
79 {
80 while (!predicate())
81 {
82 CV_WAIT_(cv_, lock.mutex()->native_handle());
83 }
84 }
85
86 template<typename Mutex>
87 void wait(
88 std::unique_lock<Mutex>& lock)
89 {
90 CV_WAIT_(cv_, lock.mutex()->native_handle());
91 }
92
93 template<typename Mutex>
94 bool wait_for(
95 std::unique_lock<Mutex>& lock,
96 const std::chrono::nanoseconds& max_blocking_time,
97 std::function<bool()> predicate)
98 {
99 bool ret_value = true;
100 auto nsecs = max_blocking_time;
101 struct timespec max_wait = {
102 0, 0
103 };
104 clock_gettime(CLOCK_MONOTONIC, &max_wait);
105 nsecs = nsecs + std::chrono::nanoseconds(max_wait.tv_nsec);
106 auto secs = std::chrono::duration_cast<std::chrono::seconds>(nsecs);
107 nsecs -= secs;
108 max_wait.tv_sec += secs.count();
109 max_wait.tv_nsec = (long)nsecs.count();
110 while (ret_value && false == (ret_value = predicate()))
111 {
112 ret_value = (0 == CV_TIMEDWAIT_(cv_, lock.mutex()->native_handle(), &max_wait));
113 }
114
115 return ret_value;
116 }
117
118 template<typename Mutex>
119 bool wait_until(
120 std::unique_lock<Mutex>& lock,
121 const std::chrono::steady_clock::time_point& max_blocking_time,
122 std::function<bool()> predicate)
123 {
124 auto secs = std::chrono::time_point_cast<std::chrono::seconds>(max_blocking_time);
125 auto ns = std::chrono::time_point_cast<std::chrono::nanoseconds>(max_blocking_time) -
126 std::chrono::time_point_cast<std::chrono::nanoseconds>(secs);
127 struct timespec max_wait = {
128 secs.time_since_epoch().count(), ns.count()
129 };
130 bool ret_value = true;
131 while (ret_value && false == (ret_value = predicate()))
132 {
133 ret_value = (CV_TIMEDWAIT_(cv_, lock.mutex()->native_handle(), &max_wait) == 0);
134 }
135
136 return ret_value;
137 }
138
139 template<typename Mutex>
140 bool wait_until(
141 std::unique_lock<Mutex>& lock,
142 const std::chrono::steady_clock::time_point& max_blocking_time)
143 {
144 auto secs = std::chrono::time_point_cast<std::chrono::seconds>(max_blocking_time);
145 auto ns = std::chrono::time_point_cast<std::chrono::nanoseconds>(max_blocking_time) -
146 std::chrono::time_point_cast<std::chrono::nanoseconds>(secs);
147 struct timespec max_wait = {
148 secs.time_since_epoch().count(), ns.count()
149 };
150 return (CV_TIMEDWAIT_(cv_, lock.mutex()->native_handle(), &max_wait) == 0);
151 }
152
153 void notify_one()
154 {
155 CV_SIGNAL_(cv_);
156 }
157
158 void notify_all()
159 {
160 CV_BROADCAST_(cv_);
161 }
162
163private:
164
165 CV_T_ cv_;
166};
167#else
168using TimedConditionVariable = std::condition_variable_any;
169#endif // HAVE_STRICT_REALTIME && (/*defined(_WIN32)*/ || defined(__unix__))
170
171} // namespace fastrtps
172} // namespace eprosima
173
174#endif // _UTILS_TIMEDCONDITIONVARIABLE_HPP_
std::condition_variable_any TimedConditionVariable
Definition: TimedConditionVariable.hpp:168
eProsima namespace.
Definition: LibrarySettingsAttributes.h:23