openpilot v0.9.6 release
date: 2024-02-21T23:02:42 master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5
This commit is contained in:
FrogAi
236
cereal/messaging/event.cc
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236
cereal/messaging/event.cc
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#include <cassert>
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#include <cstring>
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#include <cstdlib>
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#include <iostream>
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#include <string>
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#include <exception>
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#include <filesystem>
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#include <unistd.h>
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#include <poll.h>
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#include <signal.h>
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#include <fcntl.h>
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#include <sys/mman.h>
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#include <sys/stat.h>
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#include "cereal/messaging/event.h"
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#ifndef __APPLE__
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#include <sys/eventfd.h>
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void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path) {
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const char* op_prefix = std::getenv("OPENPILOT_PREFIX");
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std::string full_path = "/dev/shm/";
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if (op_prefix) {
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full_path += std::string(op_prefix) + "/";
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}
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full_path += CEREAL_EVENTS_PREFIX + "/";
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if (identifier.size() > 0) {
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full_path += identifier + "/";
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}
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std::filesystem::create_directories(full_path);
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full_path += endpoint;
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int shm_fd = open(full_path.c_str(), O_RDWR | O_CREAT, 0664);
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if (shm_fd < 0) {
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throw std::runtime_error("Could not open shared memory file.");
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}
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int rc = ftruncate(shm_fd, sizeof(EventState));
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if (rc < 0){
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close(shm_fd);
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throw std::runtime_error("Could not truncate shared memory file.");
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}
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char * mem = (char*)mmap(NULL, sizeof(EventState), PROT_READ | PROT_WRITE, MAP_SHARED, shm_fd, 0);
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close(shm_fd);
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if (mem == nullptr) {
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throw std::runtime_error("Could not map shared memory file.");
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}
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if (shm_mem != nullptr)
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*shm_mem = mem;
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if (shm_path != nullptr)
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*shm_path = full_path;
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}
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SocketEventHandle::SocketEventHandle(std::string endpoint, std::string identifier, bool override) {
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char *mem;
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event_state_shm_mmap(endpoint, identifier, &mem, &this->shm_path);
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this->state = (EventState*)mem;
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if (override) {
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this->state->fds[0] = eventfd(0, EFD_NONBLOCK);
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this->state->fds[1] = eventfd(0, EFD_NONBLOCK);
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}
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}
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SocketEventHandle::~SocketEventHandle() {
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close(this->state->fds[0]);
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close(this->state->fds[1]);
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munmap(this->state, sizeof(EventState));
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unlink(this->shm_path.c_str());
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}
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bool SocketEventHandle::is_enabled() {
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return this->state->enabled;
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}
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void SocketEventHandle::set_enabled(bool enabled) {
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this->state->enabled = enabled;
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}
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Event SocketEventHandle::recv_called() {
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return Event(this->state->fds[0]);
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}
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Event SocketEventHandle::recv_ready() {
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return Event(this->state->fds[1]);
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}
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void SocketEventHandle::toggle_fake_events(bool enabled) {
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if (enabled)
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setenv("CEREAL_FAKE", "1", true);
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else
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unsetenv("CEREAL_FAKE");
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}
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void SocketEventHandle::set_fake_prefix(std::string prefix) {
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if (prefix.size() == 0) {
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unsetenv("CEREAL_FAKE_PREFIX");
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} else {
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setenv("CEREAL_FAKE_PREFIX", prefix.c_str(), true);
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}
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}
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std::string SocketEventHandle::fake_prefix() {
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const char* prefix = std::getenv("CEREAL_FAKE_PREFIX");
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if (prefix == nullptr) {
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return "";
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} else {
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return std::string(prefix);
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}
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}
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Event::Event(int fd): event_fd(fd) {}
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void Event::set() const {
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throw_if_invalid();
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uint64_t val = 1;
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size_t count = write(this->event_fd, &val, sizeof(uint64_t));
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assert(count == sizeof(uint64_t));
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}
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int Event::clear() const {
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throw_if_invalid();
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uint64_t val = 0;
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// read the eventfd to clear it
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read(this->event_fd, &val, sizeof(uint64_t));
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return val;
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}
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void Event::wait(int timeout_sec) const {
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throw_if_invalid();
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int event_count;
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struct pollfd fds = { this->event_fd, POLLIN, 0 };
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struct timespec timeout = { timeout_sec, 0 };;
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sigset_t signals;
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sigfillset(&signals);
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sigdelset(&signals, SIGALRM);
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sigdelset(&signals, SIGINT);
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sigdelset(&signals, SIGTERM);
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sigdelset(&signals, SIGQUIT);
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event_count = ppoll(&fds, 1, timeout_sec < 0 ? nullptr : &timeout, &signals);
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if (event_count == 0) {
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throw std::runtime_error("Event timed out pid: " + std::to_string(getpid()));
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} else if (event_count < 0) {
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throw std::runtime_error("Event poll failed, errno: " + std::to_string(errno) + " pid: " + std::to_string(getpid()));
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}
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}
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bool Event::peek() const {
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throw_if_invalid();
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int event_count;
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struct pollfd fds = { this->event_fd, POLLIN, 0 };
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// poll with timeout zero to return status immediately
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event_count = poll(&fds, 1, 0);
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return event_count != 0;
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}
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bool Event::is_valid() const {
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return event_fd != -1;
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}
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int Event::fd() const {
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return event_fd;
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}
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int Event::wait_for_one(const std::vector<Event>& events, int timeout_sec) {
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struct pollfd fds[events.size()];
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for (size_t i = 0; i < events.size(); i++) {
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fds[i] = { events[i].fd(), POLLIN, 0 };
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}
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struct timespec timeout = { timeout_sec, 0 };
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sigset_t signals;
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sigfillset(&signals);
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sigdelset(&signals, SIGALRM);
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sigdelset(&signals, SIGINT);
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sigdelset(&signals, SIGTERM);
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sigdelset(&signals, SIGQUIT);
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int event_count = ppoll(fds, events.size(), timeout_sec < 0 ? nullptr : &timeout, &signals);
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if (event_count == 0) {
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throw std::runtime_error("Event timed out pid: " + std::to_string(getpid()));
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} else if (event_count < 0) {
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throw std::runtime_error("Event poll failed, errno: " + std::to_string(errno) + " pid: " + std::to_string(getpid()));
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}
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for (size_t i = 0; i < events.size(); i++) {
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if (fds[i].revents & POLLIN) {
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return i;
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}
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}
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throw std::runtime_error("Event poll failed, no events ready");
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}
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#else
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// Stub implementation for Darwin, which does not support eventfd
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void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path) {}
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SocketEventHandle::SocketEventHandle(std::string endpoint, std::string identifier, bool override) {
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std::cerr << "SocketEventHandle not supported on macOS" << std::endl;
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assert(false);
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}
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SocketEventHandle::~SocketEventHandle() {}
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bool SocketEventHandle::is_enabled() { return this->state->enabled; }
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void SocketEventHandle::set_enabled(bool enabled) {}
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Event SocketEventHandle::recv_called() { return Event(); }
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Event SocketEventHandle::recv_ready() { return Event(); }
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void SocketEventHandle::toggle_fake_events(bool enabled) {}
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void SocketEventHandle::set_fake_prefix(std::string prefix) {}
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std::string SocketEventHandle::fake_prefix() { return ""; }
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Event::Event(int fd): event_fd(fd) {}
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void Event::set() const {}
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int Event::clear() const { return 0; }
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void Event::wait(int timeout_sec) const {}
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bool Event::peek() const { return false; }
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bool Event::is_valid() const { return false; }
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int Event::fd() const { return this->event_fd; }
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int Event::wait_for_one(const std::vector<Event>& events, int timeout_sec) { return -1; }
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#endif
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