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smorita-esolsmorita-esol
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Decoupled the additional feature from rcl to rcutils, reflecting on the pointing out below.
ros2/rclcpp#2205 (comment) Signed-off-by: Shoji Morita <[email protected]>
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‎CMakeLists.txt

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@@ -72,6 +72,7 @@ set(rcutils_sources
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src/strerror.c
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src/string_array.c
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src/string_map.c
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src/thread_attr.c
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src/testing/fault_injection.c
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src/time.c
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${time_impl_c}

‎include/rcutils/thread_attr.h

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// Copyright 2023 eSOL Co.,Ltd.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCUTILS__THREAD_ATTR_H_
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#define RCUTILS__THREAD_ATTR_H_
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#include "rcutils/visibility_control.h"
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#include "rcutils/allocator.h"
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#include "rcutils/macros.h"
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#include "rcutils/types/rcutils_ret.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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typedef enum rcutils_thread_scheduling_policy_e
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{
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RCUTILS_THREAD_SCHEDULING_POLICY_UNKNOWN = 0,
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RCUTILS_THREAD_SCHEDULING_POLICY_FIFO = 1,
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RCUTILS_THREAD_SCHEDULING_POLICY_RR = 2,
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RCUTILS_THREAD_SCHEDULING_POLICY_SPORADIC = 3,
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RCUTILS_THREAD_SCHEDULING_POLICY_OTHER = 4,
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RCUTILS_THREAD_SCHEDULING_POLICY_IDLE = 5,
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RCUTILS_THREAD_SCHEDULING_POLICY_BATCH = 6,
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RCUTILS_THREAD_SCHEDULING_POLICY_DEADLINE = 7
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} rcutils_thread_scheduling_policy_t;
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typedef struct rcutils_thread_attr_s
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{
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/// Thread core affinity
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int core_affinity;
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/// Thread scheduling policy.
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rcutils_thread_scheduling_policy_t scheduling_policy;
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/// Thread priority.
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int priority;
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/// Thread name
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char const * name;
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} rcutils_thread_attr_t;
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/// Hold thread attribute rules.
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typedef struct rcutils_thread_attrs_s
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{
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/// Private implementation array.
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rcutils_thread_attr_t * attributes;
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/// Number of threads attribute
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size_t num_attributes;
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/// Number of threads attribute capacity
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size_t capacity_attributes;
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/// Allocator used to allocate objects in this struct
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rcutils_allocator_t allocator;
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} rcutils_thread_attrs_t;
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/**
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* \brief Return a rcutils_thread_attrs_t struct with members initialized to zero value.
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* \return a rcutils_thread_attrs_t struct with members initialized to zero value.
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*/
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RCUTILS_PUBLIC
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RCUTILS_WARN_UNUSED
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rcutils_thread_attrs_t
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rcutils_get_zero_initialized_thread_attrs(void);
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/**
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* \brief Initialize list of thread attributes.
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* \param[out] thread_attrs list of thread attributes to be initialized
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* \param[in] allocator memory allocator to be used
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* \return #RCUTILS_RET_OK if the structure was initialized succeessfully, or
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* \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
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* \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
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* \return #RCUTILS_RET_ERROR an unspecified error occur.
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*/
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RCUTILS_PUBLIC
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RCUTILS_WARN_UNUSED
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rcutils_ret_t
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rcutils_thread_attrs_init(
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rcutils_thread_attrs_t * thread_attrs,
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rcutils_allocator_t allocator);
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/**
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* \brief Initialize list of thread attributes with a capacity.
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* \param[out] thread_attrs list of thread attributes to be initialized
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* \param[in] allocator memory allocator to be used
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* \return #RCUTILS_RET_OK if the structure was initialized succeessfully, or
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* \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
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* \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
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* \return #RCUTILS_RET_ERROR an unspecified error occur.
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*/
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RCUTILS_PUBLIC
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RCUTILS_WARN_UNUSED
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rcutils_ret_t
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rcutils_thread_attrs_init_with_capacity(
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rcutils_thread_attrs_t * thread_attrs,
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rcutils_allocator_t allocator,
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size_t capacity);
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/**
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* \brief Free list of thread attributes
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* \param[in] thread_attrs structure to be deallocated.
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* \return #RCUTILS_RET_OK if the memory was successfully freed, or
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* \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid
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*/
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RCUTILS_PUBLIC
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RCUTILS_WARN_UNUSED
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rcutils_ret_t
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rcutils_thread_attrs_fini(
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rcutils_thread_attrs_t * thread_attrs);
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/**
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* \brief Add thread attribute to the list of thread attributes.
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* \param[inout] thread_attrs list of thread attributes to add a thread attribute to
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* \param[in] sched_policy thread scheduling policy of adding attribute
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* \param[in] core_affinity thread core affinity of adding attribute
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* \param[in] priority thread priority of adding attribute
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* \param[in] name thread name of adding attribute
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* \return #RCUTILS_RET_OK if the thread attribute was successfully added, or
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* \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
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* \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
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* \return #RCUTILS_RET_ERROR an unspecified error occur.
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*/
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RCUTILS_PUBLIC
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RCUTILS_WARN_UNUSED
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rcutils_ret_t
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rcutils_thread_attrs_add_attr(
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rcutils_thread_attrs_t * thread_attrs,
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rcutils_thread_scheduling_policy_t sched_policy,
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int core_affinity,
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int priority,
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char const * name);
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#ifdef __cplusplus
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}
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#endif
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#endif // RCUTILS__THREAD_ATTR_H_

‎src/thread_attr.c

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// Copyright 2023 eSOL Co.,Ltd.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <limits.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <yaml.h>
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#include "rcutils/allocator.h"
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#include "rcutils/error_handling.h"
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#include "rcutils/strdup.h"
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#include "rcutils/thread_attr.h"
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#include "rcutils/types/rcutils_ret.h"
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#define INIT_NUM_THREAD_ATTRIBUTE 0U
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rcutils_thread_attrs_t
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rcutils_get_zero_initialized_thread_attrs(void)
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{
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rcutils_thread_attrs_t ret = {
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NULL,
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};
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return ret;
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}
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rcutils_ret_t
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rcutils_thread_attrs_init(
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rcutils_thread_attrs_t * thread_attrs,
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rcutils_allocator_t allocator)
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{
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return rcutils_thread_attrs_init_with_capacity(
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thread_attrs, allocator, INIT_NUM_THREAD_ATTRIBUTE);
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}
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rcutils_ret_t
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rcutils_thread_attrs_init_with_capacity(
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rcutils_thread_attrs_t * thread_attrs,
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rcutils_allocator_t allocator,
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size_t capacity)
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{
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(thread_attrs, RCUTILS_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ALLOCATOR_WITH_MSG(
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&allocator, "invalid allocator", return RCUTILS_RET_INVALID_ARGUMENT);
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thread_attrs->allocator = allocator;
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thread_attrs->num_attributes = 0U;
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thread_attrs->capacity_attributes = capacity;
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if (capacity > 0) {
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thread_attrs->attributes =
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allocator.zero_allocate(capacity, sizeof(rcutils_thread_attr_t), allocator.state);
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if (NULL == thread_attrs->attributes) {
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*thread_attrs = rcutils_get_zero_initialized_thread_attrs();
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RCUTILS_SET_ERROR_MSG("Failed to allocate memory for thread attributes");
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return RCUTILS_RET_BAD_ALLOC;
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}
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}
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return RCUTILS_RET_OK;
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}
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rcutils_ret_t
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rcutils_thread_attrs_fini(rcutils_thread_attrs_t * thread_attrs)
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{
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(thread_attrs, RCUTILS_RET_INVALID_ARGUMENT);
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rcutils_allocator_t * allocator = &thread_attrs->allocator;
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if (NULL == thread_attrs->attributes) {
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return RCUTILS_RET_OK;
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}
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// check the allocator only if attributes is available to avoid checking after zero-initialized
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RCUTILS_CHECK_ALLOCATOR(allocator, return RCUTILS_RET_INVALID_ARGUMENT);
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for (size_t i = 0; i < thread_attrs->num_attributes; ++i) {
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rcutils_thread_attr_t * attr = thread_attrs->attributes + i;
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if (NULL != attr->name) {
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allocator->deallocate((char *)attr->name, allocator->state);
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}
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}
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allocator->deallocate(thread_attrs->attributes, allocator->state);
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*thread_attrs = rcutils_get_zero_initialized_thread_attrs();
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return RCUTILS_RET_OK;
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}
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static inline rcutils_ret_t extend_thread_attrs_capacity(
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rcutils_thread_attrs_t * attrs,
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size_t new_cap)
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{
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size_t cap = attrs->capacity_attributes;
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size_t size = cap * sizeof(rcutils_thread_attr_t);
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size_t new_size = new_cap * sizeof(rcutils_thread_attr_t);
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rcutils_thread_attr_t * new_attrs = attrs->allocator.reallocate(
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attrs->attributes, new_size, attrs->allocator.state);
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if (NULL == new_attrs) {
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RCUTILS_SET_ERROR_MSG("Failed to allocate memory for thread attributes");
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return RCUTILS_RET_BAD_ALLOC;
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}
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memset(new_attrs + cap, 0, new_size - size);
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attrs->capacity_attributes = new_cap;
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attrs->attributes = new_attrs;
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return RCUTILS_RET_OK;
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}
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rcutils_ret_t
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rcutils_thread_attrs_add_attr(
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rcutils_thread_attrs_t * thread_attrs,
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rcutils_thread_scheduling_policy_t sched_policy,
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int core_affinity,
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int priority,
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char const * name)
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{
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(thread_attrs, RCUTILS_RET_INVALID_ARGUMENT);
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RCUTILS_CHECK_ARGUMENT_FOR_NULL(name, RCUTILS_RET_INVALID_ARGUMENT);
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if (thread_attrs->num_attributes == thread_attrs->capacity_attributes) {
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size_t new_cap = 0;
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if (0 == thread_attrs->capacity_attributes) {
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new_cap = 1;
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} else {
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new_cap = thread_attrs->capacity_attributes * 2;
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}
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// Extend the capacity
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rcutils_ret_t ret = extend_thread_attrs_capacity(thread_attrs, new_cap);
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if (RCUTILS_RET_OK != ret) {
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return ret;
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}
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}
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char const * dup_name = rcutils_strdup(name, thread_attrs->allocator);
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if (NULL == dup_name) {
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return RCUTILS_RET_BAD_ALLOC;
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}
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rcutils_thread_attr_t * attr = thread_attrs->attributes + thread_attrs->num_attributes;
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attr->scheduling_policy = sched_policy;
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attr->core_affinity = core_affinity;
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attr->priority = priority;
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attr->name = dup_name;
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return RCUTILS_RET_OK;
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}

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