openpilot/selfdrive/common/buffering.c

439 lines
8.6 KiB
C

#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <assert.h>
#include <string.h>
#include <unistd.h>
#include "common/efd.h"
#include "buffering.h"
void tbuffer_init(TBuffer *tb, int num_bufs, const char* name) {
assert(num_bufs >= 3);
memset(tb, 0, sizeof(TBuffer));
tb->reading = (bool*)calloc(num_bufs, sizeof(bool));
assert(tb->reading);
tb->pending_idx = -1;
tb->num_bufs = num_bufs;
tb->name = name;
pthread_mutex_init(&tb->lock, NULL);
pthread_cond_init(&tb->cv, NULL);
tb->efd = efd_init();
assert(tb->efd >= 0);
}
void tbuffer_init2(TBuffer *tb, int num_bufs, const char* name,
void (*release_cb)(void* c, int idx),
void* cb_cookie) {
tbuffer_init(tb, num_bufs, name);
tb->release_cb = release_cb;
tb->cb_cookie = cb_cookie;
}
int tbuffer_efd(TBuffer *tb) {
return tb->efd;
}
int tbuffer_select(TBuffer *tb) {
pthread_mutex_lock(&tb->lock);
int i;
for (i=0; i<tb->num_bufs; i++) {
if (!tb->reading[i] && i != tb->pending_idx) {
break;
}
}
assert(i < tb->num_bufs);
pthread_mutex_unlock(&tb->lock);
return i;
}
void tbuffer_dispatch(TBuffer *tb, int idx) {
pthread_mutex_lock(&tb->lock);
if (tb->pending_idx != -1) {
//printf("tbuffer (%s) dropped!\n", tb->name ? tb->name : "?");
if (tb->release_cb) {
tb->release_cb(tb->cb_cookie, tb->pending_idx);
}
tb->pending_idx = -1;
}
tb->pending_idx = idx;
efd_write(tb->efd);
pthread_cond_signal(&tb->cv);
pthread_mutex_unlock(&tb->lock);
}
int tbuffer_acquire(TBuffer *tb) {
pthread_mutex_lock(&tb->lock);
if (tb->stopped) {
pthread_mutex_unlock(&tb->lock);
return -1;
}
while (tb->pending_idx == -1) {
pthread_cond_wait(&tb->cv, &tb->lock);
if (tb->stopped) {
pthread_mutex_unlock(&tb->lock);
return -1;
}
}
efd_clear(tb->efd);
int ret = tb->pending_idx;
assert(ret < tb->num_bufs);
tb->reading[ret] = true;
tb->pending_idx = -1;
pthread_mutex_unlock(&tb->lock);
return ret;
}
static void tbuffer_release_locked(TBuffer *tb, int idx) {
assert(idx < tb->num_bufs);
if (!tb->reading[idx]) {
printf("!! releasing tbuffer we aren't reading %d\n", idx);
}
if (tb->release_cb) {
tb->release_cb(tb->cb_cookie, idx);
}
tb->reading[idx] = false;
}
void tbuffer_release(TBuffer *tb, int idx) {
pthread_mutex_lock(&tb->lock);
tbuffer_release_locked(tb, idx);
pthread_mutex_unlock(&tb->lock);
}
void tbuffer_release_all(TBuffer *tb) {
pthread_mutex_lock(&tb->lock);
for (int i=0; i<tb->num_bufs; i++) {
if (tb->reading[i]) {
tbuffer_release_locked(tb, i);
}
}
pthread_mutex_unlock(&tb->lock);
}
void tbuffer_stop(TBuffer *tb) {
pthread_mutex_lock(&tb->lock);
tb->stopped = true;
efd_write(tb->efd);
pthread_cond_signal(&tb->cv);
pthread_mutex_unlock(&tb->lock);
}
void pool_init(Pool *s, int num_bufs) {
assert(num_bufs > 3);
memset(s, 0, sizeof(*s));
s->num_bufs = num_bufs;
s->refcnt = (int*)calloc(num_bufs, sizeof(int));
s->ts = (int*)calloc(num_bufs, sizeof(int));
s->counter = 1;
pthread_mutex_init(&s->lock, NULL);
}
void pool_init2(Pool *s, int num_bufs,
void (*release_cb)(void* c, int idx), void* cb_cookie) {
pool_init(s, num_bufs);
s->cb_cookie = cb_cookie;
s->release_cb = release_cb;
}
void pool_acquire(Pool *s, int idx) {
pthread_mutex_lock(&s->lock);
assert(idx >= 0 && idx < s->num_bufs);
s->refcnt[idx]++;
pthread_mutex_unlock(&s->lock);
}
static void pool_release_locked(Pool *s, int idx) {
// printf("release %d refcnt %d\n", idx, s->refcnt[idx]);
assert(idx >= 0 && idx < s->num_bufs);
assert(s->refcnt[idx] > 0);
s->refcnt[idx]--;
// printf("release %d -> %d, %p\n", idx, s->refcnt[idx], s->release_cb);
if (s->refcnt[idx] == 0 && s->release_cb) {
// printf("call %p\b", s->release_cb);
s->release_cb(s->cb_cookie, idx);
}
}
void pool_release(Pool *s, int idx) {
pthread_mutex_lock(&s->lock);
pool_release_locked(s, idx);
pthread_mutex_unlock(&s->lock);
}
TBuffer* pool_get_tbuffer(Pool *s) {
pthread_mutex_lock(&s->lock);
assert(s->num_tbufs < POOL_MAX_TBUFS);
TBuffer* tbuf = &s->tbufs[s->num_tbufs];
s->num_tbufs++;
tbuffer_init2(tbuf, s->num_bufs,
"pool", (void (*)(void *, int))pool_release, s);
bool stopped = s->stopped;
pthread_mutex_unlock(&s->lock);
// Stop the tbuffer so we can return a valid object.
// We must stop here because the pool_stop may have already been called,
// in which case tbuffer_stop may never be called again.
if (stopped) {
tbuffer_stop(tbuf);
}
return tbuf;
}
PoolQueue* pool_get_queue(Pool *s) {
pthread_mutex_lock(&s->lock);
int i;
for (i = 0; i < POOL_MAX_QUEUES; i++) {
if (!s->queues[i].inited) {
break;
}
}
assert(i < POOL_MAX_QUEUES);
PoolQueue *c = &s->queues[i];
memset(c, 0, sizeof(*c));
c->pool = s;
c->inited = true;
c->efd = efd_init();
assert(c->efd >= 0);
c->num_bufs = s->num_bufs;
c->num = c->num_bufs+1;
c->idx = (int*)malloc(sizeof(int)*c->num);
memset(c->idx, -1, sizeof(int)*c->num);
pthread_mutex_init(&c->lock, NULL);
pthread_cond_init(&c->cv, NULL);
pthread_mutex_unlock(&s->lock);
return c;
}
void pool_release_queue(PoolQueue *c) {
Pool *s = c->pool;
pthread_mutex_lock(&s->lock);
pthread_mutex_lock(&c->lock);
for (int i=0; i<c->num; i++) {
if (c->idx[i] != -1) {
pool_release_locked(s, c->idx[i]);
}
}
close(c->efd);
free(c->idx);
c->inited = false;
pthread_mutex_unlock(&c->lock);
pthread_mutex_destroy(&c->lock);
pthread_cond_destroy(&c->cv);
pthread_mutex_unlock(&s->lock);
}
int pool_select(Pool *s) {
pthread_mutex_lock(&s->lock);
int i;
for (i=0; i<s->num_bufs; i++) {
if (s->refcnt[i] == 0) {
break;
}
}
if (i >= s->num_bufs) {
// overwrite the oldest
// still being using in a queue or tbuffer :/
int min_k = 0;
int min_ts = s->ts[0];
for (int k=1; k<s->num_bufs; k++) {
if (s->ts[k] < min_ts) {
min_ts = s->ts[k];
min_k = k;
}
}
i = min_k;
printf("pool is full! evicted %d\n", min_k);
// might be really bad if the user is doing pointery stuff
if (s->release_cb) {
s->release_cb(s->cb_cookie, min_k);
}
}
s->refcnt[i]++;
s->ts[i] = s->counter;
s->counter++;
pthread_mutex_unlock(&s->lock);
return i;
}
void pool_push(Pool *s, int idx) {
pthread_mutex_lock(&s->lock);
// printf("push %d head %d tail %d\n", idx, s->head, s->tail);
assert(idx >= 0 && idx < s->num_bufs);
s->ts[idx] = s->counter;
s->counter++;
assert(s->refcnt[idx] > 0);
s->refcnt[idx]--; //push is a implcit release
int num_tbufs = s->num_tbufs;
s->refcnt[idx] += num_tbufs;
// dispatch pool queues
for (int i=0; i<POOL_MAX_QUEUES; i++) {
PoolQueue *c = &s->queues[i];
if (!c->inited) continue;
pthread_mutex_lock(&c->lock);
if (((c->head+1) % c->num) == c->tail) {
// queue is full. skip for now
pthread_mutex_unlock(&c->lock);
continue;
}
s->refcnt[idx]++;
c->idx[c->head] = idx;
c->head = (c->head+1) % c->num;
assert(c->head != c->tail);
pthread_mutex_unlock(&c->lock);
efd_write(c->efd);
pthread_cond_signal(&c->cv);
}
pthread_mutex_unlock(&s->lock);
for (int i=0; i<num_tbufs; i++) {
tbuffer_dispatch(&s->tbufs[i], idx);
}
}
int poolq_pop(PoolQueue *c) {
pthread_mutex_lock(&c->lock);
if (c->stopped) {
pthread_mutex_unlock(&c->lock);
return -1;
}
while (c->head == c->tail) {
pthread_cond_wait(&c->cv, &c->lock);
if (c->stopped) {
pthread_mutex_unlock(&c->lock);
return -1;
}
}
// printf("pop head %d tail %d\n", s->head, s->tail);
assert(c->head != c->tail);
int r = c->idx[c->tail];
c->idx[c->tail] = -1;
c->tail = (c->tail+1) % c->num;
// queue event is level triggered
if (c->head == c->tail) {
efd_clear(c->efd);
}
// printf("pop %d head %d tail %d\n", r, s->head, s->tail);
assert(r >= 0 && r < c->num_bufs);
pthread_mutex_unlock(&c->lock);
return r;
}
int poolq_efd(PoolQueue *c) {
return c->efd;
}
void poolq_release(PoolQueue *c, int idx) {
pool_release(c->pool, idx);
}
void pool_stop(Pool *s) {
for (int i=0; i<s->num_tbufs; i++) {
tbuffer_stop(&s->tbufs[i]);
}
pthread_mutex_lock(&s->lock);
s->stopped = true;
for (int i=0; i<POOL_MAX_QUEUES; i++) {
PoolQueue *c = &s->queues[i];
if (!c->inited) continue;
pthread_mutex_lock(&c->lock);
c->stopped = true;
pthread_mutex_unlock(&c->lock);
efd_write(c->efd);
pthread_cond_signal(&c->cv);
}
pthread_mutex_unlock(&s->lock);
}