69 lines
1.9 KiB
C++
69 lines
1.9 KiB
C++
#pragma once
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#include <cstdint>
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#include <cstring>
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#include <string>
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#include <atomic>
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#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
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#define NUM_READERS 10
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#define ALIGN(n) ((n + (8 - 1)) & -8)
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#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
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#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF)
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struct msgq_header_t {
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uint64_t num_readers;
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uint64_t write_pointer;
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uint64_t write_uid;
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uint64_t read_pointers[NUM_READERS];
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uint64_t read_valids[NUM_READERS];
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uint64_t read_uids[NUM_READERS];
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};
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struct msgq_queue_t {
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std::atomic<uint64_t> *num_readers;
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std::atomic<uint64_t> *write_pointer;
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std::atomic<uint64_t> *write_uid;
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std::atomic<uint64_t> *read_pointers[NUM_READERS];
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std::atomic<uint64_t> *read_valids[NUM_READERS];
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std::atomic<uint64_t> *read_uids[NUM_READERS];
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char * mmap_p;
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char * data;
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size_t size;
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int reader_id;
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uint64_t read_uid_local;
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uint64_t write_uid_local;
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bool read_conflate;
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std::string endpoint;
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};
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struct msgq_msg_t {
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size_t size;
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char * data;
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};
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struct msgq_pollitem_t {
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msgq_queue_t *q;
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int revents;
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};
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void msgq_wait_for_subscriber(msgq_queue_t *q);
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void msgq_reset_reader(msgq_queue_t *q);
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int msgq_msg_init_size(msgq_msg_t *msg, size_t size);
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int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size);
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int msgq_msg_close(msgq_msg_t *msg);
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int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size);
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void msgq_close_queue(msgq_queue_t *q);
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void msgq_init_publisher(msgq_queue_t * q);
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void msgq_init_subscriber(msgq_queue_t * q);
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int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q);
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int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q);
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int msgq_msg_ready(msgq_queue_t * q);
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int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout);
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bool msgq_all_readers_updated(msgq_queue_t *q);
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