add multithreaded executor. various improvements
This commit is contained in:
Kurt Wilson
parent
46641d7fea
commit
a151eeee02
7 changed files with 323 additions and 167 deletions
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@ -38,6 +38,18 @@ ament_target_dependencies(priority_executor
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simple_timer
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)
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add_library(multithread_priority_executor src/multithread_priority_executor.cpp src/priority_memory_strategy.cpp)
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target_include_directories(multithread_priority_executor PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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ament_target_dependencies(multithread_priority_executor
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rmw
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rclcpp
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rcl
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simple_timer
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)
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add_executable(usage_example src/usage_example.cpp)
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target_include_directories(usage_example PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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@ -60,7 +72,7 @@ install(TARGETS usage_example
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DESTINATION lib/${PROJECT_NAME}
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)
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install(TARGETS priority_executor
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install(TARGETS priority_executor multithread_priority_executor
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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@ -79,4 +91,5 @@ endif()
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ament_export_include_directories(include)
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ament_export_libraries(priority_executor)
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ament_export_libraries(multithread_priority_executor)
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ament_package()
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@ -0,0 +1,34 @@
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#ifndef RTIS_MULTITHREAD_EXECUTOR
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#define RTIS_MULTITHREAD_EXECUTOR
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#include <priority_executor/priority_executor.hpp>
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#include "rclcpp/detail/mutex_two_priorities.hpp"
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#include <set>
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namespace timed_executor
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{
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class MultithreadTimedExecutor : public TimedExecutor
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{
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public:
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RCLCPP_PUBLIC
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explicit MultithreadTimedExecutor(
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const rclcpp::ExecutorOptions &options = rclcpp::ExecutorOptions(), std::string name = "unnamed executor", int number_of_threads = 2, std::chrono::nanoseconds next_exec_timeout = std::chrono::nanoseconds(-1));
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RCLCPP_PUBLIC size_t get_number_of_threads();
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RCLCPP_PUBLIC void spin() override;
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protected:
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RCLCPP_PUBLIC void run(size_t thread_number);
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private:
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size_t number_of_threads_;
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std::set<rclcpp::TimerBase::SharedPtr> scheduled_timers_;
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static std::unordered_map<MultithreadTimedExecutor *,
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std::shared_ptr<rclcpp::detail::MutexTwoPriorities>>
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wait_mutex_set_;
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static std::mutex shared_wait_mutex_;
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std::chrono::nanoseconds next_exec_timeout_ = std::chrono::microseconds(100); // 0.1 ms
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};
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}
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#endif
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@ -63,21 +63,17 @@ namespace timed_executor
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RCLCPP_PUBLIC
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void
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spin() override;
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unsigned long long get_max_runtime(void);
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std::string name;
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void set_use_priorities(bool use_prio);
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std::shared_ptr<PriorityMemoryStrategy<>> prio_memory_strategy_ = nullptr;
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private:
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RCLCPP_DISABLE_COPY(TimedExecutor)
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// TODO: remove these
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unsigned long long maxRuntime = 0;
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unsigned long long start_time = 0;
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int recording = 0;
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void execute_subscription(rclcpp::AnyExecutable subscription);
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protected:
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bool
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get_next_executable(rclcpp::AnyExecutable &any_executable, std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
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private:
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RCLCPP_DISABLE_COPY(TimedExecutor)
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void
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wait_for_work(std::chrono::nanoseconds timeout);
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@ -89,44 +85,4 @@ namespace timed_executor
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} // namespace timed_executor
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static void
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take_and_do_error_handling(
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const char *action_description,
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const char *topic_or_service_name,
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std::function<bool()> take_action,
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std::function<void()> handle_action)
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{
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bool taken = false;
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try
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{
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taken = take_action();
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}
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catch (const rclcpp::exceptions::RCLError &rcl_error)
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{
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RCLCPP_ERROR(
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rclcpp::get_logger("rclcpp"),
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"executor %s '%s' unexpectedly failed: %s",
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action_description,
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topic_or_service_name,
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rcl_error.what());
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}
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if (taken)
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{
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handle_action();
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}
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else
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{
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// Message or Service was not taken for some reason.
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// Note that this can be normal, if the underlying middleware needs to
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// interrupt wait spuriously it is allowed.
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// So in that case the executor cannot tell the difference in a
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// spurious wake up and an entity actually having data until trying
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// to take the data.
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RCLCPP_DEBUG(
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rclcpp::get_logger("rclcpp"),
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"executor %s '%s' failed to take anything",
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action_description,
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topic_or_service_name);
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}
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}
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#endif // RCLCPP__EXECUTORS__SINGLE_THREADED_EXECUTOR_HPP_
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@ -19,6 +19,7 @@
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#include <vector>
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#include <queue>
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#include <time.h>
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#include <set>
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#include "rcl/allocator.h"
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@ -51,10 +52,10 @@ enum ExecutableType
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enum ExecutableScheduleType
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{
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CHAIN_INDEPENDENT_PRIORITY, // not used here
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DEADLINE = 0,
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CHAIN_AWARE_PRIORITY,
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DEADLINE,
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DEFAULT, // not used here
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CHAIN_INDEPENDENT_PRIORITY, // not used here
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DEFAULT, // not used here
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};
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class PriorityExecutable
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@ -62,7 +63,7 @@ class PriorityExecutable
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public:
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std::shared_ptr<const void> handle;
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ExecutableType type;
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bool can_be_run = true;
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bool can_be_run = false;
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std::shared_ptr<rclcpp::Waitable> waitable;
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ExecutableScheduleType sched_type;
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@ -89,6 +90,11 @@ public:
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PriorityExecutable();
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void increment_counter();
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bool operator==(const PriorityExecutable &other) const;
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static size_t num_executables;
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int executable_id = 0;
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};
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class PriorityExecutableComparator
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@ -138,7 +144,10 @@ public:
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rclcpp::AnyExecutable &any_exec,
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const WeakNodeList &weak_nodes);
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void post_execute(rclcpp::AnyExecutable any_exec);
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/**
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* thread-id is used for logging. if -1, then don't log the thread id
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*/
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void post_execute(rclcpp::AnyExecutable any_exec, int thread_id = -1);
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void
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get_next_subscription(
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@ -161,12 +170,12 @@ public:
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void
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get_next_waitable(rclcpp::AnyExecutable &any_exec, const WeakNodeList &weak_nodes) override;
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PriorityExecutable *get_priority_settings(std::shared_ptr<const void> executable)
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std::shared_ptr<PriorityExecutable> get_priority_settings(std::shared_ptr<const void> executable)
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{
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auto search = priority_map.find(executable);
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if (search != priority_map.end())
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{
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return &(search->second);
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return search->second;
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}
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else
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{
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@ -248,23 +257,20 @@ public:
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void set_executable_priority(std::shared_ptr<const void> handle, int priority, ExecutableType t)
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{
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// TODO: any sanity checks should go here
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// priority_map.insert(executable, priority);
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priority_map[handle] = PriorityExecutable(handle, priority, t);
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priority_map[handle] = std::make_shared<PriorityExecutable>(handle, priority, t);
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}
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void set_executable_priority(std::shared_ptr<const void> handle, int priority, ExecutableType t, ExecutableScheduleType sc, int chain_index)
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{
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// TODO: any sanity checks should go here
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// priority_map.insert(executable, priority);
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priority_map[handle] = PriorityExecutable(handle, priority, t, sc);
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priority_map[handle].chain_id = chain_index;
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priority_map[handle] = std::make_shared<PriorityExecutable>(handle, priority, t, sc);
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priority_map[handle]->chain_id = chain_index;
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}
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void set_executable_deadline(std::shared_ptr<const void> handle, int period, ExecutableType t, int chain_id = 0)
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{
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// TODO: any sanity checks should go here
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// priority_map.insert(executable, priority);
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priority_map[handle] = PriorityExecutable(handle, period, t, DEADLINE);
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priority_map[handle].chain_id = chain_id;
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priority_map[handle] = std::make_shared<PriorityExecutable>(handle, period, t, DEADLINE);
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priority_map[handle]->chain_id = chain_id;
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}
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int get_priority(std::shared_ptr<const void> executable)
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@ -272,7 +278,7 @@ public:
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auto search = priority_map.find(executable);
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if (search != priority_map.end())
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{
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return search->second.priority;
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return search->second->priority;
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}
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else
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{
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@ -283,30 +289,29 @@ public:
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void set_first_in_chain(std::shared_ptr<const void> exec_handle)
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{
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PriorityExecutable *settings = get_priority_settings(exec_handle);
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settings->is_first_in_chain = true;
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get_priority_settings(exec_handle)->is_first_in_chain = true;
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}
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void set_last_in_chain(std::shared_ptr<const void> exec_handle)
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{
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PriorityExecutable *settings = get_priority_settings(exec_handle);
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settings->is_last_in_chain = true;
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get_priority_settings(exec_handle)->is_last_in_chain = true;
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}
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void assign_deadlines_queue(std::shared_ptr<const void> exec_handle, std::deque<uint64_t> *deadlines)
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{
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PriorityExecutable *settings = get_priority_settings(exec_handle);
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settings->deadlines = deadlines;
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get_priority_settings(exec_handle)->deadlines = deadlines;
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}
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private:
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PriorityExecutable *get_and_reset_priority(std::shared_ptr<const void> executable, ExecutableType t)
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std::shared_ptr<PriorityExecutable> get_and_reset_priority(std::shared_ptr<const void> executable, ExecutableType t)
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{
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PriorityExecutable *p = get_priority_settings(executable);
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// PriorityExecutable *p = get_priority_settings(executable);
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std::shared_ptr<PriorityExecutable> p = get_priority_settings(executable);
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if (p == nullptr)
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{
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priority_map[executable] = PriorityExecutable(executable, 0, t);
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p = &(priority_map[executable]);
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// priority_map[executable] = PriorityExecutable(executable, 0, t);
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priority_map[executable] = std::make_shared<PriorityExecutable>(executable, 0, t);
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p = priority_map[executable];
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}
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// p->can_be_run = true;
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return p;
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@ -329,10 +334,16 @@ private:
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// TODO: evaluate using node/subscription namespaced strings as keys
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// holds *all* handle->priority mappings
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std::unordered_map<std::shared_ptr<const void>, PriorityExecutable> priority_map;
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std::map<std::shared_ptr<const void>, std::shared_ptr<PriorityExecutable>> priority_map;
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// hold *only valid* executable+priorities
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std::priority_queue<const PriorityExecutable *, std::vector<const PriorityExecutable *>, PriorityExecutableComparator> all_executables_;
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// std::priority_queue<const PriorityExecutable *, std::vector<const PriorityExecutable *>, PriorityExecutableComparator> all_executables_;
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std::set<const PriorityExecutable *, PriorityExecutableComparator> all_executables_;
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// priority queue doesn't allow iteration. fortunately, std::map is sorted by key, so we can replace the priority queue with a map
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// the key will be the priority. the value doesn't matter.
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// std::map<const PriorityExecutable *, int, PriorityExecutableComparator> all_executables_ = std::map<const PriorityExecutable *, int, PriorityExecutableComparator>(PriorityExecutableComparator());
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void add_executable_to_queue(std::shared_ptr<PriorityExecutable> p);
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};
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#endif // RCLCPP__STRATEGIES__ALLOCATOR_MEMORY_STRATEGY_HPP_
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113
src/priority_executor/src/multithread_priority_executor.cpp
Normal file
113
src/priority_executor/src/multithread_priority_executor.cpp
Normal file
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@ -0,0 +1,113 @@
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#include "priority_executor/multithread_priority_executor.hpp"
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namespace timed_executor
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{
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std::unordered_map<MultithreadTimedExecutor *, std::shared_ptr<rclcpp::detail::MutexTwoPriorities>>
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MultithreadTimedExecutor::wait_mutex_set_;
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std::mutex MultithreadTimedExecutor::shared_wait_mutex_;
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MultithreadTimedExecutor::MultithreadTimedExecutor(
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const rclcpp::ExecutorOptions &options,
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std::string name,
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int number_of_threads, std::chrono::nanoseconds next_exec_timeout)
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: TimedExecutor(options, name)
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{
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std::lock_guard<std::mutex> wait_lock(MultithreadTimedExecutor::shared_wait_mutex_);
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wait_mutex_set_[this] = std::make_shared<rclcpp::detail::MutexTwoPriorities>();
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number_of_threads_ = number_of_threads;
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next_exec_timeout_ = next_exec_timeout;
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}
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size_t MultithreadTimedExecutor::get_number_of_threads()
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{
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return number_of_threads_;
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}
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void MultithreadTimedExecutor::spin()
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{
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if (spinning.exchange(true))
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{
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throw std::runtime_error("spin() called while already spinning");
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}
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std::vector<std::thread> threads;
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size_t thread_id = 0;
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{
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auto wait_mutex = MultithreadTimedExecutor::wait_mutex_set_[this];
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auto low_priority_wait_mutex = wait_mutex->get_low_priority_lockable();
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std::lock_guard<rclcpp::detail::MutexTwoPriorities::LowPriorityLockable> wait_lock(low_priority_wait_mutex);
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for (; thread_id < number_of_threads_ - 1; ++thread_id)
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{
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auto func = std::bind(&MultithreadTimedExecutor::run, this, thread_id);
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threads.emplace_back(func);
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}
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}
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run(thread_id);
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for (auto &thread : threads)
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{
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thread.join();
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}
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}
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void MultithreadTimedExecutor::run(size_t thread_number)
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{
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// set affinity
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cpu_set_t cpuset;
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CPU_ZERO(&cpuset);
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CPU_SET(thread_number, &cpuset);
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int rc = pthread_setaffinity_np(pthread_self(), sizeof(cpu_set_t), &cpuset);
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if (rc != 0)
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{
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std::cout << "Error calling pthread_setaffinity_np: " << rc << "\n";
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}
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while (rclcpp::ok(this->context_) && spinning.load())
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{
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rclcpp::AnyExecutable any_executable;
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{
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auto wait_mutex = MultithreadTimedExecutor::wait_mutex_set_[this];
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auto low_priority_wait_mutex = wait_mutex->get_low_priority_lockable();
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std::lock_guard<rclcpp::detail::MutexTwoPriorities::LowPriorityLockable> wait_lock(low_priority_wait_mutex);
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if (!rclcpp::ok(this->context_) || !spinning.load())
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{
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return;
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}
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if (!get_next_executable(any_executable, next_exec_timeout_))
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{
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continue;
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}
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if (any_executable.timer)
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{
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if (scheduled_timers_.count(any_executable.timer) != 0)
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{
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if (any_executable.callback_group)
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{
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any_executable.callback_group->can_be_taken_from().store(true);
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}
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continue;
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}
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scheduled_timers_.insert(any_executable.timer);
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}
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}
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execute_any_executable(any_executable);
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if (any_executable.timer)
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{
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auto wait_mutex = MultithreadTimedExecutor::wait_mutex_set_[this];
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auto high_priority_wait_mutex = wait_mutex->get_high_priority_lockable();
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std::lock_guard<rclcpp::detail::MutexTwoPriorities::HighPriorityLockable> wait_lock(high_priority_wait_mutex);
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auto it = scheduled_timers_.find(any_executable.timer);
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if (it != scheduled_timers_.end())
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{
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scheduled_timers_.erase(it);
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}
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}
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any_executable.callback_group.reset();
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if (prio_memory_strategy_ != nullptr)
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{
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auto wait_mutex = MultithreadTimedExecutor::wait_mutex_set_[this];
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auto low_priority_wait_mutex = wait_mutex->get_low_priority_lockable();
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std::lock_guard<rclcpp::detail::MutexTwoPriorities::LowPriorityLockable> wait_lock(low_priority_wait_mutex);
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// std::shared_ptr<PriorityMemoryStrategy<>> prio_memory_strategy_ = std::dynamic_pointer_cast<PriorityMemoryStrategy>(memory_strategy_);
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prio_memory_strategy_->post_execute(any_executable, thread_number);
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}
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}
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}
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}
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@ -20,6 +20,8 @@
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#include "rclcpp/exceptions.hpp"
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#include <memory>
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#include <sched.h>
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// for sleep
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#include <unistd.h>
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namespace timed_executor
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{
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@ -60,19 +62,17 @@ namespace timed_executor
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std::cout << "shutdown" << std::endl;
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}
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unsigned long long TimedExecutor::get_max_runtime(void)
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{
|
||||
return maxRuntime;
|
||||
}
|
||||
|
||||
bool TimedExecutor::get_next_executable(rclcpp::AnyExecutable &any_executable, std::chrono::nanoseconds timeout)
|
||||
{
|
||||
bool success = false;
|
||||
// Check to see if there are any subscriptions or timers needing service
|
||||
// TODO(wjwwood): improve run to run efficiency of this function
|
||||
sched_yield();
|
||||
wait_for_work(std::chrono::milliseconds(1));
|
||||
// sched_yield();
|
||||
// sleep for 10us
|
||||
// usleep(20);
|
||||
wait_for_work(timeout);
|
||||
success = get_next_ready_executable(any_executable);
|
||||
// std::cout << "get_next_executable: " << success << std::endl;
|
||||
return success;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,9 +1,12 @@
|
|||
#include "priority_executor/priority_memory_strategy.hpp"
|
||||
#include "simple_timer/rt-sched.hpp"
|
||||
#include <sstream>
|
||||
size_t PriorityExecutable::num_executables;
|
||||
|
||||
PriorityExecutable::PriorityExecutable(std::shared_ptr<const void> h, int p, ExecutableType t, ExecutableScheduleType sched_type)
|
||||
{
|
||||
std::cout << "priority_executable constructor called" << std::endl;
|
||||
std::cout << "type: " << t << std::endl;
|
||||
handle = h;
|
||||
type = t;
|
||||
if (sched_type == CHAIN_INDEPENDENT_PRIORITY || sched_type == CHAIN_AWARE_PRIORITY)
|
||||
|
|
@ -15,6 +18,9 @@ PriorityExecutable::PriorityExecutable(std::shared_ptr<const void> h, int p, Exe
|
|||
period = p;
|
||||
}
|
||||
this->sched_type = sched_type;
|
||||
|
||||
this->executable_id = num_executables;
|
||||
num_executables += 1;
|
||||
}
|
||||
|
||||
PriorityExecutable::PriorityExecutable()
|
||||
|
|
@ -32,14 +38,7 @@ void PriorityExecutable::dont_run()
|
|||
|
||||
void PriorityExecutable::allow_run()
|
||||
{
|
||||
if (this->can_be_run)
|
||||
{
|
||||
// release has been detected
|
||||
}
|
||||
else
|
||||
{
|
||||
this->can_be_run = true;
|
||||
}
|
||||
this->can_be_run = true;
|
||||
}
|
||||
|
||||
void PriorityExecutable::increment_counter()
|
||||
|
|
@ -47,53 +46,58 @@ void PriorityExecutable::increment_counter()
|
|||
this->counter += 1;
|
||||
}
|
||||
|
||||
bool PriorityExecutable::operator==(const PriorityExecutable &other) const
|
||||
{
|
||||
std::cout << "PriorityExecutable::operator== called" << std::endl;
|
||||
if (this->handle == other.handle)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool PriorityExecutableComparator::operator()(const PriorityExecutable *p1, const PriorityExecutable *p2)
|
||||
{
|
||||
// since this will be used in a std::set, also check for equality
|
||||
if (p1 == nullptr || p2 == nullptr)
|
||||
{
|
||||
// TODO: realistic value
|
||||
return 0;
|
||||
std::cout << "PriorityExecutableComparator::operator() called with nullptr" << std::endl;
|
||||
return false;
|
||||
}
|
||||
if (p1->handle == p2->handle)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
if (p1->executable_id == p2->executable_id)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (p1->sched_type != p2->sched_type)
|
||||
{
|
||||
if (p1->sched_type == DEADLINE)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
else if (p2->sched_type == DEADLINE)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
if (p1->sched_type == CHAIN_INDEPENDENT_PRIORITY)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
else if (p2->sched_type == CHAIN_INDEPENDENT_PRIORITY)
|
||||
{
|
||||
return true;
|
||||
}
|
||||
else if (p1->sched_type == CHAIN_AWARE_PRIORITY)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
else
|
||||
{
|
||||
return true;
|
||||
}
|
||||
// in order: DEADLINE, CHAIN_AWARE, CHAIN_INDEPENDENT
|
||||
return p1->sched_type < p2->sched_type;
|
||||
}
|
||||
if (p1->sched_type == CHAIN_INDEPENDENT_PRIORITY)
|
||||
{
|
||||
if (p1->priority == p2->priority)
|
||||
{
|
||||
return p1->executable_id < p2->executable_id;
|
||||
}
|
||||
// lower value runs first
|
||||
return p1->priority > p2->priority;
|
||||
return p1->priority < p2->priority;
|
||||
}
|
||||
if (p1->sched_type == CHAIN_AWARE_PRIORITY)
|
||||
{
|
||||
if (p1->priority != p2->priority)
|
||||
if (p1->priority == p2->priority)
|
||||
{
|
||||
return p1->priority > p2->priority;
|
||||
return p1->executable_id < p2->executable_id;
|
||||
}
|
||||
// return p1->counter > p2->counter;
|
||||
return 0;
|
||||
return p1->priority < p2->priority;
|
||||
}
|
||||
if (p1->sched_type == DEADLINE)
|
||||
{
|
||||
|
|
@ -109,26 +113,27 @@ bool PriorityExecutableComparator::operator()(const PriorityExecutable *p1, cons
|
|||
{
|
||||
p2_deadline = p2->deadlines->front();
|
||||
}
|
||||
if (p1_deadline == p2_deadline)
|
||||
{
|
||||
// this looks bad and is bad, BUT
|
||||
// if we tell std::set these are equal, only one will be added, and we will lose the other.
|
||||
// we need _something_ to make them unique
|
||||
return p1->executable_id < p2->executable_id;
|
||||
}
|
||||
if (p1_deadline == 0)
|
||||
{
|
||||
return true;
|
||||
p1_deadline = std::numeric_limits<uint64_t>::max();
|
||||
}
|
||||
if (p2_deadline == 0)
|
||||
{
|
||||
return false;
|
||||
p2_deadline = std::numeric_limits<uint64_t>::max();
|
||||
}
|
||||
if (p1_deadline == p2_deadline)
|
||||
{
|
||||
// these must be from the same chain
|
||||
// settle the difference with the counter
|
||||
return p1->counter > p2->counter;
|
||||
}
|
||||
return p1_deadline > p2_deadline;
|
||||
return p1_deadline < p2_deadline;
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "invalid compare opration on priority_exec" << std::endl;
|
||||
return 0;
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -158,6 +163,15 @@ void PriorityMemoryStrategy<>::remove_guard_condition(const rcl_guard_condition_
|
|||
}
|
||||
}
|
||||
|
||||
template <>
|
||||
void PriorityMemoryStrategy<>::add_executable_to_queue(std::shared_ptr<PriorityExecutable> e)
|
||||
{
|
||||
// e may have changed. remove and re-add
|
||||
all_executables_.erase(e.get());
|
||||
// convert from shared_ptr to raw pointer
|
||||
all_executables_.insert(e.get());
|
||||
}
|
||||
|
||||
template <>
|
||||
void PriorityMemoryStrategy<>::clear_handles()
|
||||
{
|
||||
|
|
@ -167,14 +181,9 @@ void PriorityMemoryStrategy<>::clear_handles()
|
|||
timer_handles_.clear();
|
||||
waitable_handles_.clear();
|
||||
|
||||
// priority_queue doesn't have a clear function, so we swap it with an empty one. `empty` will go out of scope, and be cleared
|
||||
// all_executables_ = std::priority_queue<const PriorityExecutable *, std::vector<const PriorityExecutable *>, PriorityExecutableComparator>();
|
||||
std::priority_queue<const PriorityExecutable *, std::vector<const PriorityExecutable *>, PriorityExecutableComparator> empty;
|
||||
std::swap(all_executables_, empty);
|
||||
if (!all_executables_.empty())
|
||||
{
|
||||
std::cout << "couldn't clear all exec" << std::endl;
|
||||
}
|
||||
// all_executables_.clear();
|
||||
// all_executables_ = std::map<const PriorityExecutable *, int, PriorityExecutableComparator>(PriorityExecutableComparator());
|
||||
}
|
||||
|
||||
template <>
|
||||
|
|
@ -190,60 +199,60 @@ void PriorityMemoryStrategy<>::remove_null_handles(rcl_wait_set_t *wait_set)
|
|||
{
|
||||
if (!wait_set->subscriptions[i])
|
||||
{
|
||||
priority_map[subscription_handles_[i]].dont_run();
|
||||
priority_map[subscription_handles_[i]]->dont_run();
|
||||
subscription_handles_[i].reset();
|
||||
}
|
||||
else
|
||||
{
|
||||
priority_map[subscription_handles_[i]].allow_run();
|
||||
priority_map[subscription_handles_[i]]->allow_run();
|
||||
}
|
||||
}
|
||||
for (size_t i = 0; i < service_handles_.size(); ++i)
|
||||
{
|
||||
if (!wait_set->services[i])
|
||||
{
|
||||
priority_map[service_handles_[i]].dont_run();
|
||||
priority_map[service_handles_[i]]->dont_run();
|
||||
service_handles_[i].reset();
|
||||
}
|
||||
else
|
||||
{
|
||||
priority_map[service_handles_[i]].allow_run();
|
||||
priority_map[service_handles_[i]]->allow_run();
|
||||
}
|
||||
}
|
||||
for (size_t i = 0; i < client_handles_.size(); ++i)
|
||||
{
|
||||
if (!wait_set->clients[i])
|
||||
{
|
||||
priority_map[client_handles_[i]].dont_run();
|
||||
priority_map[client_handles_[i]]->dont_run();
|
||||
client_handles_[i].reset();
|
||||
}
|
||||
else
|
||||
{
|
||||
priority_map[client_handles_[i]].allow_run();
|
||||
priority_map[client_handles_[i]]->allow_run();
|
||||
}
|
||||
}
|
||||
for (size_t i = 0; i < timer_handles_.size(); ++i)
|
||||
{
|
||||
if (!wait_set->timers[i])
|
||||
{
|
||||
priority_map[timer_handles_[i]].dont_run();
|
||||
priority_map[timer_handles_[i]]->dont_run();
|
||||
timer_handles_[i].reset();
|
||||
}
|
||||
else
|
||||
{
|
||||
priority_map[timer_handles_[i]].allow_run();
|
||||
priority_map[timer_handles_[i]]->allow_run();
|
||||
}
|
||||
}
|
||||
for (size_t i = 0; i < waitable_handles_.size(); ++i)
|
||||
{
|
||||
if (!waitable_handles_[i]->is_ready(wait_set))
|
||||
{
|
||||
priority_map[waitable_handles_[i]].dont_run();
|
||||
priority_map[waitable_handles_[i]]->dont_run();
|
||||
waitable_handles_[i].reset();
|
||||
}
|
||||
else
|
||||
{
|
||||
priority_map[waitable_handles_[i]].allow_run();
|
||||
priority_map[waitable_handles_[i]]->allow_run();
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -293,35 +302,34 @@ bool PriorityMemoryStrategy<>::collect_entities(const WeakNodeList &weak_nodes)
|
|||
{
|
||||
auto subscription_handle = subscription->get_subscription_handle();
|
||||
subscription_handles_.push_back(subscription_handle);
|
||||
all_executables_.push(get_and_reset_priority(subscription_handle, SUBSCRIPTION));
|
||||
|
||||
add_executable_to_queue(get_and_reset_priority(subscription_handle, SUBSCRIPTION));
|
||||
return false;
|
||||
});
|
||||
group->find_service_ptrs_if(
|
||||
[this](const rclcpp::ServiceBase::SharedPtr &service)
|
||||
{
|
||||
all_executables_.push(get_and_reset_priority(service->get_service_handle(), SERVICE));
|
||||
add_executable_to_queue(get_and_reset_priority(service->get_service_handle(), SERVICE));
|
||||
service_handles_.push_back(service->get_service_handle());
|
||||
return false;
|
||||
});
|
||||
group->find_client_ptrs_if(
|
||||
[this](const rclcpp::ClientBase::SharedPtr &client)
|
||||
{
|
||||
all_executables_.push(get_and_reset_priority(client->get_client_handle(), CLIENT));
|
||||
add_executable_to_queue(get_and_reset_priority(client->get_client_handle(), CLIENT));
|
||||
client_handles_.push_back(client->get_client_handle());
|
||||
return false;
|
||||
});
|
||||
group->find_timer_ptrs_if(
|
||||
[this](const rclcpp::TimerBase::SharedPtr &timer)
|
||||
{
|
||||
all_executables_.push(get_and_reset_priority(timer->get_timer_handle(), TIMER));
|
||||
add_executable_to_queue(get_and_reset_priority(timer->get_timer_handle(), TIMER));
|
||||
timer_handles_.push_back(timer->get_timer_handle());
|
||||
return false;
|
||||
});
|
||||
group->find_waitable_ptrs_if(
|
||||
[this](const rclcpp::Waitable::SharedPtr &waitable)
|
||||
{
|
||||
all_executables_.push(get_and_reset_priority(waitable, WAITABLE));
|
||||
add_executable_to_queue(get_and_reset_priority(waitable, WAITABLE));
|
||||
waitable_handles_.push_back(waitable);
|
||||
return false;
|
||||
});
|
||||
|
|
@ -420,10 +428,17 @@ void PriorityMemoryStrategy<>::get_next_executable(
|
|||
{
|
||||
|
||||
const PriorityExecutable *next_exec = nullptr;
|
||||
while (!all_executables_.empty())
|
||||
// std::cout << "all_executables_.size():" << all_executables_.size() << std::endl;
|
||||
// print all_executables_
|
||||
// for (auto exec : all_executables_)
|
||||
// {
|
||||
// std::cout << exec << ": " << exec->handle << " : " << exec->sched_type << std::endl;
|
||||
// }
|
||||
|
||||
// while (!all_executables_.empty())
|
||||
for (auto exec : all_executables_)
|
||||
{
|
||||
next_exec = all_executables_.top();
|
||||
all_executables_.pop();
|
||||
next_exec = exec;
|
||||
if (!next_exec->can_be_run)
|
||||
{
|
||||
continue;
|
||||
|
|
@ -571,22 +586,26 @@ void PriorityMemoryStrategy<>::get_next_executable(
|
|||
}
|
||||
break;
|
||||
default:
|
||||
// std::cout << "Unknown type from priority!!!" << std::endl;
|
||||
break;
|
||||
std::cout << "Unknown type from priority!!!" << std::endl;
|
||||
continue;
|
||||
// break;
|
||||
}
|
||||
if (next_exec->is_first_in_chain && next_exec->sched_type == DEADLINE)
|
||||
{
|
||||
// std::cout << "running first in chain deadline" << std::endl;
|
||||
}
|
||||
// returning with an executable
|
||||
// remove from all_executables_ map
|
||||
all_executables_.erase(exec);
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
template <>
|
||||
void PriorityMemoryStrategy<>::post_execute(rclcpp::AnyExecutable any_exec)
|
||||
void PriorityMemoryStrategy<>::post_execute(rclcpp::AnyExecutable any_exec, int thread_id)
|
||||
{
|
||||
|
||||
PriorityExecutable *next_exec = nullptr;
|
||||
std::shared_ptr<PriorityExecutable> next_exec = nullptr;
|
||||
if (any_exec.subscription)
|
||||
{
|
||||
next_exec = get_priority_settings(any_exec.subscription->get_subscription_handle());
|
||||
|
|
@ -660,7 +679,7 @@ void PriorityMemoryStrategy<>::post_execute(rclcpp::AnyExecutable any_exec)
|
|||
int64_t time_diff = millis - this_deadline;
|
||||
int periods_late;
|
||||
// if time_diff is negative, we completed on time. add one period to the deadline
|
||||
if (time_diff < 0)
|
||||
if (time_diff <= 0)
|
||||
{
|
||||
periods_late = 0;
|
||||
next_deadline = this_deadline + next_exec->period;
|
||||
|
|
@ -670,7 +689,7 @@ void PriorityMemoryStrategy<>::post_execute(rclcpp::AnyExecutable any_exec)
|
|||
else
|
||||
{
|
||||
periods_late = std::ceil(time_diff / (double)next_exec->period);
|
||||
next_deadline = this_deadline + (periods_late + 1) * next_exec->period;
|
||||
next_deadline = this_deadline + (periods_late)*next_exec->period;
|
||||
on_time = false;
|
||||
}
|
||||
// std::chrono::nanoseconds time_until = next_exec->timer_handle->time_until_trigger();
|
||||
|
|
@ -678,9 +697,19 @@ void PriorityMemoryStrategy<>::post_execute(rclcpp::AnyExecutable any_exec)
|
|||
// the next deadline is the current time plus the period, skipping periods that have already passed
|
||||
|
||||
// RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "next deadline: %d", next_deadline);
|
||||
oss << "{\"operation\": \"next_deadline\", \"chain_id\": " << next_exec->chain_id << ", \"deadline\": " << next_deadline << ", \"on_time\": " << on_time << ", \"time_diff\": " << time_diff << ", \"periods_late\": " << periods_late << "}";
|
||||
oss << "{\"operation\": \"next_deadline\", \"chain_id\": " << next_exec->chain_id << ", \"deadline\": " << next_deadline << ", \"on_time\": " << on_time << ", \"time_diff\": " << time_diff << ", \"periods_late\": " << periods_late;
|
||||
if (thread_id != -1)
|
||||
{
|
||||
oss << ", \"thread_id\": " << thread_id;
|
||||
}
|
||||
|
||||
oss << "}";
|
||||
// oss << "{\"operation\": \"next_deadline\", \"chain_id\": " << next_exec->chain_id << ", \"deadline\": " << next_exec->deadlines->front() << "}";
|
||||
log_entry(logger_, oss.str());
|
||||
if (time_diff < -next_exec->period)
|
||||
{
|
||||
// the deadline was much later than it needed to be
|
||||
}
|
||||
next_exec->deadlines->push_back(next_deadline);
|
||||
|
||||
// print chain id and deadline contents
|
||||
|
|
@ -699,7 +728,7 @@ void PriorityMemoryStrategy<>::post_execute(rclcpp::AnyExecutable any_exec)
|
|||
// this is safe, since we popped it earlier
|
||||
// get a mutable reference
|
||||
// TODO: find a cleaner way to do this
|
||||
PriorityExecutable *mut_executable = get_priority_settings(next_exec->handle);
|
||||
std::shared_ptr<PriorityExecutable> mut_executable = get_priority_settings(next_exec->handle);
|
||||
// std::cout << "running chain aware cb" << std::endl;
|
||||
mut_executable->increment_counter();
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue