Program Listing for File timers_manager.hpp
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// Copyright 2023 iRobot Corporation.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef RCLCPP__EXPERIMENTAL__TIMERS_MANAGER_HPP_
#define RCLCPP__EXPERIMENTAL__TIMERS_MANAGER_HPP_
#include <algorithm>
#include <atomic>
#include <chrono>
#include <condition_variable>
#include <functional>
#include <memory>
#include <mutex>
#include <optional>
#include <thread>
#include <utility>
#include <vector>
#include "rclcpp/context.hpp"
#include "rclcpp/timer.hpp"
namespace rclcpp
{
namespace experimental
{
class TimersManager
{
public:
RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(TimersManager)
RCLCPP_PUBLIC
TimersManager(
std::shared_ptr<rclcpp::Context> context,
std::function<void(const rclcpp::TimerBase *,
const std::shared_ptr<void> &)> on_ready_callback = nullptr);
RCLCPP_PUBLIC
~TimersManager();
RCLCPP_PUBLIC
void add_timer(rclcpp::TimerBase::SharedPtr timer);
RCLCPP_PUBLIC
void remove_timer(rclcpp::TimerBase::SharedPtr timer);
RCLCPP_PUBLIC
void clear();
RCLCPP_PUBLIC
void start();
RCLCPP_PUBLIC
void stop();
RCLCPP_PUBLIC
size_t get_number_ready_timers();
RCLCPP_PUBLIC
bool execute_head_timer();
RCLCPP_PUBLIC
void execute_ready_timer(const rclcpp::TimerBase * timer_id, const std::shared_ptr<void> & data);
RCLCPP_PUBLIC
std::optional<std::chrono::nanoseconds> get_head_timeout();
private:
RCLCPP_DISABLE_COPY(TimersManager)
using TimerPtr = rclcpp::TimerBase::SharedPtr;
using WeakTimerPtr = rclcpp::TimerBase::WeakPtr;
// Forward declaration
class TimersHeap;
class WeakTimersHeap
{
public:
bool add_timer(TimerPtr timer)
{
TimersHeap locked_heap = this->validate_and_lock();
bool added = locked_heap.add_timer(std::move(timer));
if (added) {
// Re-create the weak heap with the new timer added
this->store(locked_heap);
}
return added;
}
bool remove_timer(TimerPtr timer)
{
TimersHeap locked_heap = this->validate_and_lock();
bool removed = locked_heap.remove_timer(std::move(timer));
if (removed) {
// Re-create the weak heap with the timer removed
this->store(locked_heap);
}
return removed;
}
TimerPtr get_timer(const rclcpp::TimerBase * timer_id)
{
for (auto & weak_timer : weak_heap_) {
auto timer = weak_timer.lock();
if (timer.get() == timer_id) {
return timer;
}
}
return nullptr;
}
const WeakTimerPtr & front() const
{
return weak_heap_.front();
}
bool empty() const
{
return weak_heap_.empty();
}
TimersHeap validate_and_lock()
{
TimersHeap locked_heap;
bool any_timer_destroyed = false;
for (auto weak_timer : weak_heap_) {
auto timer = weak_timer.lock();
if (timer) {
// This timer is valid, so add it to the locked heap
// Note: we access friend private `owned_heap_` member field.
locked_heap.owned_heap_.push_back(std::move(timer));
} else {
// This timer went out of scope, so we don't add it to locked heap
// and we mark the corresponding flag.
// It's not needed to erase it from weak heap, as we are going to re-heapify.
// Note: we can't exit from the loop here, as we need to find all valid timers.
any_timer_destroyed = true;
}
}
// If a timer has gone out of scope, then the remaining elements do not represent
// a valid heap anymore. We need to re-heapify the timers heap.
if (any_timer_destroyed) {
locked_heap.heapify();
// Re-create the weak heap now that elements have been heapified again
this->store(locked_heap);
}
return locked_heap;
}
void store(const TimersHeap & heap)
{
weak_heap_.clear();
// Note: we access friend private `owned_heap_` member field.
for (auto t : heap.owned_heap_) {
weak_heap_.push_back(t);
}
}
void clear()
{
weak_heap_.clear();
}
private:
std::vector<WeakTimerPtr> weak_heap_;
};
class TimersHeap
{
public:
bool add_timer(TimerPtr timer)
{
// Nothing to do if the timer is already stored here
auto it = std::find(owned_heap_.begin(), owned_heap_.end(), timer);
if (it != owned_heap_.end()) {
return false;
}
owned_heap_.push_back(std::move(timer));
std::push_heap(owned_heap_.begin(), owned_heap_.end(), timer_greater);
return true;
}
bool remove_timer(TimerPtr timer)
{
// Nothing to do if the timer is not stored here
auto it = std::find(owned_heap_.begin(), owned_heap_.end(), timer);
if (it == owned_heap_.end()) {
return false;
}
owned_heap_.erase(it);
this->heapify();
return true;
}
TimerPtr & front()
{
return owned_heap_.front();
}
const TimerPtr & front() const
{
return owned_heap_.front();
}
bool empty() const
{
return owned_heap_.empty();
}
size_t size() const
{
return owned_heap_.size();
}
size_t get_number_ready_timers() const
{
size_t ready_timers = 0;
for (TimerPtr t : owned_heap_) {
if (t->is_ready()) {
ready_timers++;
}
}
return ready_timers;
}
void heapify_root()
{
// The following code is a more efficient version than doing
// pop_heap, pop_back, push_back, push_heap
// as it removes the need for the last push_heap
// Push the modified element (i.e. the current root) at the bottom of the heap
owned_heap_.push_back(owned_heap_[0]);
// Exchange first and last-1 elements and reheapify
std::pop_heap(owned_heap_.begin(), owned_heap_.end(), timer_greater);
// Remove last element
owned_heap_.pop_back();
}
void heapify()
{
std::make_heap(owned_heap_.begin(), owned_heap_.end(), timer_greater);
}
void clear_timers_on_reset_callbacks()
{
for (TimerPtr & t : owned_heap_) {
t->clear_on_reset_callback();
}
}
friend TimersHeap WeakTimersHeap::validate_and_lock();
friend void WeakTimersHeap::store(const TimersHeap & heap);
private:
static bool timer_greater(TimerPtr a, TimerPtr b)
{
// TODO(alsora): this can cause an error if timers are using different clocks
return a->time_until_trigger() > b->time_until_trigger();
}
std::vector<TimerPtr> owned_heap_;
};
void run_timers();
std::optional<std::chrono::nanoseconds> get_head_timeout_unsafe();
void execute_ready_timers_unsafe();
// Callback to be called when timer is ready
std::function<void(const rclcpp::TimerBase *,
const std::shared_ptr<void> &)> on_ready_callback_ = nullptr;
// Thread used to run the timers execution task
std::thread timers_thread_;
// Protects access to timers
std::mutex timers_mutex_;
// Protects access to stop()
std::mutex stop_mutex_;
// Notifies the timers thread whenever timers are added/removed
std::condition_variable timers_cv_;
// Flag used as predicate by timers_cv_ that denotes one or more timers being added/removed
bool timers_updated_ {false};
// Indicates whether the timers thread is currently running or not
std::atomic<bool> running_ {false};
// Parent context used to understand if ROS is still active
std::shared_ptr<rclcpp::Context> context_;
// Timers heap storage with weak ownership
WeakTimersHeap weak_timers_heap_;
};
} // namespace experimental
} // namespace rclcpp
#endif // RCLCPP__EXPERIMENTAL__TIMERS_MANAGER_HPP_