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msgq: use shared memory mutex and condition variables for synchronization #617

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msgq: use shared memory mutex and condition variables for synchronization #617

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77e5aff
msgq: Use Shared Memory Mutex and Condition Variables for Synchroniza…
deanlee May 30, 2024
16e432d
rebase master
deanlee Jun 29, 2024
a874925
lock mutex
deanlee Jun 29, 2024
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6 changes: 3 additions & 3 deletions SConscript
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@ msgq_objects = env.SharedObject([
'msgq/msgq.cc',
])
msgq = env.Library('msgq', msgq_objects)
msgq_python = envCython.Program('msgq/ipc_pyx.so', 'msgq/ipc_pyx.pyx', LIBS=envCython["LIBS"]+[msgq, "zmq", common])
msgq_python = envCython.Program('msgq/ipc_pyx.so', 'msgq/ipc_pyx.pyx', LIBS=envCython["LIBS"]+[msgq, "zmq", common, 'pthread'])

# Build Vision IPC
vipc_files = ['visionipc.cc', 'visionipc_server.cc', 'visionipc_client.cc', 'visionbuf.cc']
Expand All @@ -31,7 +31,7 @@ visionipc = env.Library('visionipc', vipc_objects)


vipc_frameworks = []
vipc_libs = envCython["LIBS"] + [visionipc, msgq, common, "zmq"]
vipc_libs = envCython["LIBS"] + [visionipc, msgq, common, "zmq", 'pthread']
if arch == "Darwin":
vipc_frameworks.append('OpenCL')
else:
Expand All @@ -40,7 +40,7 @@ envCython.Program(f'{visionipc_dir.abspath}/visionipc_pyx.so', f'{visionipc_dir.
LIBS=vipc_libs, FRAMEWORKS=vipc_frameworks)

if GetOption('extras'):
env.Program('msgq/test_runner', ['msgq/test_runner.cc', 'msgq/msgq_tests.cc'], LIBS=[msgq, common])
env.Program('msgq/test_runner', ['msgq/test_runner.cc', 'msgq/msgq_tests.cc'], LIBS=[msgq, common, 'pthread'])
env.Program(f'{visionipc_dir.abspath}/test_runner',
[f'{visionipc_dir.abspath}/test_runner.cc', f'{visionipc_dir.abspath}/visionipc_tests.cc'],
LIBS=['pthread'] + vipc_libs, FRAMEWORKS=vipc_frameworks)
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39 changes: 8 additions & 31 deletions msgq/impl_msgq.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,6 @@ int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string a
return 0;
}


Message * MSGQSubSocket::receive(bool non_blocking){
msgq_do_exit = 0;

Expand All @@ -81,49 +80,27 @@ Message * MSGQSubSocket::receive(bool non_blocking){
prev_handler_sigterm = std::signal(SIGTERM, sig_handler);
}

int rc = 0;
msgq_msg_t msg;

MSGQMessage *r = NULL;

int rc = msgq_msg_recv(&msg, q);

// Hack to implement blocking read with a poller. Don't use this
while (!non_blocking && rc == 0 && msgq_do_exit == 0){
msgq_pollitem_t items[1];
items[0].q = q;

int t = (timeout != -1) ? timeout : 100;

int n = msgq_poll(items, 1, t);
while (!msgq_do_exit) {
rc = msgq_msg_recv(&msg, q);
if (rc > 0 || non_blocking) break;

// The poll indicated a message was ready, but the receive failed. Try again
if (n == 1 && rc == 0){
continue;
}

if (timeout != -1){
break;
}
int ms = (timeout != -1) ? timeout : 100;
if (!q->shm->waitFor(ms) && timeout != -1) break;
}


if (!non_blocking){
std::signal(SIGINT, prev_handler_sigint);
std::signal(SIGTERM, prev_handler_sigterm);
}

errno = msgq_do_exit ? EINTR : 0;

MSGQMessage *r = nullptr;
if (rc > 0){
if (msgq_do_exit){
msgq_msg_close(&msg); // Free unused message on exit
} else {
r = new MSGQMessage;
r->takeOwnership(msg.data, msg.size);
}
r = new MSGQMessage;
r->takeOwnership(msg.data, msg.size);
}

return (Message*)r;
}

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