In a previous question, I asked how to implement asynchronous I/O. This code now works, except that at the end it never stops. It seems that aio_read reads starting at offset, for length, and if it is past the end of the file, the operation succeeds? This code builds and runs on Ubuntu 20.04LTS and successfully reads blocks 1-5, each 512 bytes, then when it runs out of file it keeps oscillating between block 4 and 5. It never terminates.
Here is the code:
#include <aio.h>
#include <fcntl.h>
#include <signal.h>
#include <unistd.h>
#include <condition_variable>
#include <cstring>
#include <iostream>
#include <thread>
using namespace std;
using namespace std::chrono_literals;
constexpr uint32_t blockSize = 512;
mutex readMutex;
bool readReady = false;
condition_variable cv;
bool operation_completed = false;
int fh;
int bytesRead;
void process(char* buf, uint32_t bytesRead) {
cout << "processing..." << endl;
usleep(100000);
}
void aio_completion_handler(sigval_t sigval) {
struct aiocb* req = (struct aiocb*)sigval.sival_ptr;
// check whether asynch operation is complete
int status;
if ((status = aio_error(req)) != 0) {
cout << "Error: " << status << '\n';
return;
}
int ret = aio_return(req);
bytesRead = req->aio_nbytes;
cout << "ret == " << ret << endl;
cout << (char*)req->aio_buf << endl;
unique_lock<mutex> readLock(readMutex);
operation_completed = true;
cv.notify_one();
}
void thready() {
char* buf1 = new char[blockSize];
char* buf2 = new char[blockSize];
aiocb cb;
char* processbuf = buf1;
char* readbuf = buf2;
fh = open("smallfile.dat", O_RDONLY);
if (fh < 0) {
throw std::runtime_error("cannot open file!");
}
memset(&cb, 0, sizeof(aiocb));
cb.aio_fildes = fh;
cb.aio_nbytes = blockSize;
cb.aio_offset = 0;
// Fill in callback information
/*
Using SIGEV_THREAD to request a thread callback function as a notification
method
*/
cb.aio_sigevent.sigev_notify_attributes = nullptr;
cb.aio_sigevent.sigev_notify = SIGEV_THREAD;
cb.aio_sigevent.sigev_notify_function = aio_completion_handler;
/*
The context to be transmitted is loaded into the handler (in this case, a
reference to the aiocb request itself). In this handler, we simply refer to
the arrived sigval pointer and use the AIO function to verify that the request
has been completed.
*/
cb.aio_sigevent.sigev_value.sival_ptr = &cb;
int cursor = 0;
int currentBytesRead = read(fh, buf1, blockSize); // read the 1st block
while (true) {
cb.aio_buf = readbuf;
operation_completed = false; // set predicate to true and wait until asynch changes it
cb.aio_offset = cursor;
aio_read(&cb); // each next block is read asynchronously
process(processbuf, currentBytesRead); // process while waiting
{
unique_lock<mutex> readLock(readMutex);
cv.wait( readLock, []{ return operation_completed; } );
}
if (!operation_completed)
break;
currentBytesRead = bytesRead; // make local copy of global modified by the asynch code
cursor += bytesRead;
if (currentBytesRead < blockSize) {
break; // last time, get out
}
cout << "back from wait" << endl;
swap(processbuf, readbuf); // switch to other buffer for next time
currentBytesRead = bytesRead; // create local copy
}
delete[] buf1;
delete[] buf2;
}
int main() {
try {
thready();
} catch (std::exception& e) {
cerr << e.what() << '\n';
}
return 0;
}
First, is the above code an appropriate way to do this to get the length of the file and figure out exactly how many reads to do?
Second, if this is so, fine, but how can aio_read just return success if I try to read past the end of file? Error status is always zero. I am confused about what it is supposed to do.
with 512 bytes of each of 1,2,3,4,5
Related
In trying to create an asynchronous I/O file reader in C++ under Linux. The example I have has two buffers. The first read blocks. Then, for each time around the main loop, I asynchronously launch the IO and call process() which runs the simulated processing of the current block. When processing is done, we wait for the condition variable. The idea is that the asynchronous handler should notify the condition variable.
Unfortunately the notify seems to happen before wait, and it seems like this is not the way the condition variable wait() function works. How should I rewrite the code so that the loop waits until the asynchronous io has completed?
#include <aio.h>
#include <fcntl.h>
#include <signal.h>
#include <unistd.h>
#include <condition_variable>
#include <cstring>
#include <iostream>
#include <thread>
using namespace std;
using namespace std::chrono_literals;
constexpr uint32_t blockSize = 512;
mutex readMutex;
condition_variable cv;
int fh;
int bytesRead;
void process(char* buf, uint32_t bytesRead) {
cout << "processing..." << endl;
usleep(100000);
}
void aio_completion_handler(sigval_t sigval) {
struct aiocb* req = (struct aiocb*)sigval.sival_ptr;
// check whether asynch operation is complete
if (aio_error(req) == 0) {
int ret = aio_return(req);
bytesRead = req->aio_nbytes;
cout << "ret == " << ret << endl;
cout << (char*)req->aio_buf << endl;
}
{
unique_lock<mutex> readLock(readMutex);
cv.notify_one();
}
}
void thready() {
char* buf1 = new char[blockSize];
char* buf2 = new char[blockSize];
aiocb cb;
char* processbuf = buf1;
char* readbuf = buf2;
fh = open("smallfile.dat", O_RDONLY);
if (fh < 0) {
throw std::runtime_error("cannot open file!");
}
memset(&cb, 0, sizeof(aiocb));
cb.aio_fildes = fh;
cb.aio_nbytes = blockSize;
cb.aio_offset = 0;
// Fill in callback information
/*
Using SIGEV_THREAD to request a thread callback function as a notification
method
*/
cb.aio_sigevent.sigev_notify_attributes = nullptr;
cb.aio_sigevent.sigev_notify = SIGEV_THREAD;
cb.aio_sigevent.sigev_notify_function = aio_completion_handler;
/*
The context to be transmitted is loaded into the handler (in this case, a
reference to the aiocb request itself). In this handler, we simply refer to
the arrived sigval pointer and use the AIO function to verify that the request
has been completed.
*/
cb.aio_sigevent.sigev_value.sival_ptr = &cb;
int currentBytesRead = read(fh, buf1, blockSize); // read the 1st block
while (true) {
cb.aio_buf = readbuf;
aio_read(&cb); // each next block is read asynchronously
process(processbuf, currentBytesRead); // process while waiting
{
unique_lock<mutex> readLock(readMutex);
cv.wait(readLock);
}
currentBytesRead = bytesRead; // make local copy of global modified by the asynch code
if (currentBytesRead < blockSize) {
break; // last time, get out
}
cout << "back from wait" << endl;
swap(processbuf, readbuf); // switch to other buffer for next time
currentBytesRead = bytesRead; // create local copy
}
delete[] buf1;
delete[] buf2;
}
int main() {
try {
thready();
} catch (std::exception& e) {
cerr << e.what() << '\n';
}
return 0;
}
A condition varible should generally be used for
waiting until it is possible that the predicate (for example a shared variable) has changed, and
notifying waiting threads that the predicate may have changed, so that waiting threads should check the predicate again.
However, you seem to be attempting to use the state of the condition variable itself as the predicate. This is not how condition variables are supposed to be used and may lead to race conditions such as those described in your question. Another reason to always check the predicate is that spurious wakeups are possible with condition variables.
In your case, it would probably be appropriate to create a shared variable
bool operation_completed = false;
and use that variable as the predicate for the condition variable. Access to that variable should always be controlled by the mutex.
You can then change the lines
{
unique_lock<mutex> readLock(readMutex);
cv.notify_one();
}
to
{
unique_lock<mutex> readLock(readMutex);
operation_completed = true;
cv.notify_one();
}
and change the lines
{
unique_lock<mutex> readLock(readMutex);
cv.wait(readLock);
}
to:
{
unique_lock<mutex> readLock(readMutex);
while ( !operation_completed )
cv.wait(readLock);
}
Instead of
while ( !operation_completed )
cv.wait(readLock);
you can also write
cv.wait( readLock, []{ return operation_completed; } );
which is equivalent. See the documentation of std::condition_varible::wait for further information.
Of course, operation_completed should also be set back to false when appropriate, while the mutex is locked.
In a previous questionTrying to write asynchronous I/O in C++ using locks and condition variables. This code calls terminate on the first lock() why?
,
we tried to use two mutexes to have asynchronous code that reads one block of a file into memory, then asynchronously tries to read the next block while processing the current one. Someone made a comment that using read was not the best way to do that. This is an attempt to use POSIX aio_read, but we are trying to wait on a condition_variable and do a notify on the condition variable in the callback after the I/O completes, and it's not working -- in the debugger we can see it blows right past the wait.
#include <aio.h>
#include <fcntl.h>
#include <signal.h>
#include <unistd.h>
#include <condition_variable>
#include <cstring>
#include <iostream>
#include <thread>
using namespace std;
using namespace std::chrono_literals;
constexpr uint32_t blockSize = 512;
mutex readMutex;
mutex procMutex;
condition_variable cv;
int fh;
int bytesRead;
void process(char* buf, uint32_t bytesRead) {
cout << "processing..." << endl;
usleep(100000);
}
void aio_completion_handler(sigval_t sigval) {
struct aiocb* req = (struct aiocb*)sigval.sival_ptr;
// check whether asynch operation is complete
if (aio_error(req) == 0) {
int ret = aio_return(req);
cout << "ret == " << ret << endl;
cout << (char*)req->aio_buf << endl;
}
cv.notify_one();
}
void thready() {
char* buf1 = new char[blockSize];
char* buf2 = new char[blockSize];
aiocb cb;
char* processbuf = buf1;
char* readbuf = buf2;
fh = open("smallfile.dat", O_RDONLY);
if (fh < 0) {
throw std::runtime_error("cannot open file!");
}
memset(&cb, 0, sizeof(aiocb));
cb.aio_fildes = fh;
cb.aio_nbytes = blockSize;
cb.aio_offset = 0;
// Fill in callback information
/*
Using SIGEV_THREAD to request a thread callback function as a notification
method
*/
cb.aio_sigevent.sigev_notify_attributes = nullptr;
cb.aio_sigevent.sigev_notify = SIGEV_THREAD;
cb.aio_sigevent.sigev_notify_function = aio_completion_handler;
/*
The context to be transmitted is loaded into the handler (in this case, a
reference to the aiocb request itself). In this handler, we simply refer to
the arrived sigval pointer and use the AIO function to verify that the request
has been completed.
*/
cb.aio_sigevent.sigev_value.sival_ptr = &cb;
int currentBytesRead = read(fh, buf1, blockSize); // read the 1st block
unique_lock<mutex> readLock(readMutex);
while (true) {
cb.aio_buf = readbuf;
aio_read(&cb); // each next block is read asynchronously
process(processbuf, currentBytesRead); // process while waiting
cv.wait(readLock);
if (currentBytesRead < blockSize) {
break; // last time, get out
}
cout << "back from wait" << endl;
swap(processbuf, readbuf); // switch to other buffer for next time
currentBytesRead = bytesRead; // create local copy
}
delete[] buf1;
delete[] buf2;
}
int main() {
try {
thready();
} catch (std::exception& e) {
cerr << e.what() << '\n';
}
return 0;
}
We were trying to create C++ code that would read a block from a file, and start a thread to asynchronously read the next block while processing the first block.
We started with condition_variable, but it was crashing so we went with straight locks.
The program dies on the first readLock.lock()
Ok, as some comments explained, the following code is wrong because we are not using RAII. Corrected code follows after, with delays put in for each function to force bugs. It still crashes though not on the first lock.
#include <fcntl.h>
#include <unistd.h>
#include <condition_variable>
#include <iostream>
#include <thread>
using namespace std;
using namespace std::chrono_literals;
constexpr uint32_t blockSize = 32768;
char* buf1;
char* buf2;
char* processbuf = buf1;
char* readbuf = buf2;
mutex readMutex;
mutex procMutex;
//condition_variable readCV;
//condition_variable procCV;
int fh;
int bytesRead;
std::unique_lock<std::mutex> readLock;
std::unique_lock<std::mutex> procLock;
void nextRead() {
while (true) {
readLock.lock();
bytesRead = read(fh, readbuf, blockSize);
for (int i = 0; i < 5; i++) {
cerr << "reading..." << endl;
usleep(100000);
readLock.unlock();
}
cerr << "notifying..." << endl;
readLock.unlock();
if (bytesRead != blockSize) // last time, end here!
return;
procLock.lock();
procLock.unlock();
}
}
void process(char* buf, uint32_t bytesRead) { cout << "hit it!" << endl; }
int thready() {
buf1 = new char[blockSize];
buf2 = new char[blockSize];
fh = open("bigfile.dat", O_RDONLY);
if (fh < 0) {
throw std::runtime_error("cannot open file!");
}
int currentBytesRead = read(fh, buf1, blockSize);
thread reader(nextRead);
process(processbuf, currentBytesRead);
while (true) {
readLock.lock();
cout << "back from wait" << endl;
swap(processbuf, readbuf); // switch to other buffer for next time
currentBytesRead =
bytesRead; // copy locally so thread can do the other one
// TODO: is the above a problem? what if
readLock.unlock();
procLock.lock();
process(processbuf, currentBytesRead);
procLock.unlock();
}
reader.join();
delete[] buf1;
delete[] buf2;
}
int main() {
try {
thready();
}catch(std::exception& e) {
cerr << e.what() << '\n';
}
return 0;
}
Here is the corrected code using RAII which still does not work. Now it terminates on the 3rd read? The file is 1Mb of zeros.
I am considering changing block size to 1 byte and having the file be "123456789" for purposes of easy testing
:
#include <fcntl.h>
#include <unistd.h>
#include <condition_variable>
#include <iostream>
#include <thread>
using namespace std;
using namespace std::chrono_literals;
constexpr uint32_t blockSize = 32768;
char* buf1;
char* buf2;
char* processbuf = buf1;
char* readbuf = buf2;
mutex readMutex;
mutex procMutex;
//condition_variable readCV;
//condition_variable procCV;
int fh;
int bytesRead;
void nextRead() {
while (true) {
{
unique_lock<mutex> readLock(readMutex);
bytesRead = read(fh, readbuf, blockSize);
for (int i = 0; i < 5; i++) {
cerr << "reading..." << endl;
usleep(100000);
readLock.unlock();
}
cerr << "notifying..." << endl;
}
if (bytesRead != blockSize) // last time, end here!
return;
// wait for process to complete
unique_lock<mutex> procLock(procMutex);
}
}
void process(char* buf, uint32_t bytesRead) {
cout << "processing..." << endl;
usleep(100000);
}
int thready() {
buf1 = new char[blockSize];
buf2 = new char[blockSize];
fh = open("bigfile.dat", O_RDONLY);
if (fh < 0) {
throw std::runtime_error("cannot open file!");
}
int currentBytesRead = read(fh, buf1, blockSize);
thread reader(nextRead);
process(processbuf, currentBytesRead);
while (true) {
{
unique_lock<mutex> readLock(readMutex);
cout << "back from wait" << endl;
swap(processbuf, readbuf); // switch to other buffer for next time
currentBytesRead = bytesRead; // create local copy
// TODO: is the above a problem? what if
}
unique_lock<mutex> procLock(procMutex);
process(processbuf, currentBytesRead);
}
reader.join();
delete[] buf1;
delete[] buf2;
}
int main() {
try {
thready();
} catch(std::exception& e) {
cerr << e.what() << '\n';
}
return 0;
}
The output is:
processing...
reading...
reading...back from wait
processing...
back from wait
processing...
terminate called after throwing an instance of 'std::system_error'
what(): Operation not permitted
Aborted (core dumped)
Your mutexes are shared between threads as globals. That's fine. But your locks need to be local variables owned by a single thread. Use the fact that unique_lock auto locks the mutex in its constructor and auto-releases it its destructor. Here's a modificaton of your code:
void nextRead() {
while (true) {
{
// acquire the read lock
std::unique_lock<std::mutex> readLock(readMutex);
bytesRead = read(fh, readbuf, blockSize);
for (int i = 0; i < 5; i++) {
cerr << "reading..." << endl;
usleep(100000);
}
// when readLock goes out of scope, the mutex associated with it is unlocked
}
cerr << "notifying..." << endl;
{
// acquire the process lock
std::unique_lock<std::mutex> procLock(procMutex);
if (bytesRead != blockSize) // last time, end here!
return;
// procMutex gets unlocked inmplicitly as procLock goes out of scope
}
}
You'll need to make similar changes in your thready function.
I am trying to communicate with forked child process using message queue from boost interprocess library. When child process calls receive it causes exception with message
boost::interprocess_exception::library_error
I am using GCC 6.3 on Debian 9 x64.
#include <iostream>
#include <unistd.h>
#include <boost/interprocess/ipc/message_queue.hpp>
#include <memory>
int main(int argc, char* argv[])
{
using namespace boost::interprocess;
const char* name = "foo-552b8ae9-6037-4b77-aa0d-d4dc9dad790b";
const int max_num_msg = 100;
const int max_msg_size = 32;
bool is_child = false;
message_queue::remove(name);
auto mq = std::make_unique<message_queue>(create_only, name, max_num_msg, max_msg_size);
auto child_pid = fork();
if (child_pid == -1)
{
std::cout << "fork failed" << std::endl;
return -1;
}
else if (child_pid == 0)
{
is_child = true;
}
if (is_child)
{
// does child needs to reopen it?
mq.reset( new message_queue(open_only, name) );
}
int send_num = 0;
while(true)
{
unsigned int priority = 0;
if (is_child)
{
message_queue::size_type bytes = 0;
try
{
int num;
// Always throws. What is wrong ???????
mq->receive(&num, sizeof(num), bytes, priority);
std::cout << num << std::endl;
}
catch(const std::exception& e)
{
std::cout << "Receive caused execption " << e.what() << std::endl;
}
sleep(1);
}
else
{
mq->send(&send_num, sizeof(send_num), priority);
send_num++;
sleep(5);
}
}
return 0;
}
Also, in child process is it required to reopen the message queue created by the parent process? I tried it both ways and neither worked. I am getting the same exception on receive.
The problem is that your receive buffer is smaller than max_msg_size. Assuming 4-byte integers, this should work:
int num[8];
mq.receive(num, sizeof(num), bytes, priority);
std::cout << *num << std::endl;
Also, I see no reason to play fast and loose with the actual queue instance. Just create it per process:
#include <boost/interprocess/ipc/message_queue.hpp>
#include <boost/exception/diagnostic_information.hpp>
#include <iostream>
#include <memory>
#include <unistd.h>
int main() {
namespace bip = boost::interprocess;
const char *name = "foo-552b8ae9-6037-4b77-aa0d-d4dc9dad790b";
{
const int max_num_msg = 100;
const int max_msg_size = 32;
bip::message_queue::remove(name);
bip::message_queue mq(bip::create_only, name, max_num_msg, max_msg_size);
}
auto child_pid = fork();
if (child_pid == -1) {
std::cout << "fork failed" << std::endl;
return -1;
}
bip::message_queue mq(bip::open_only, name);
if (bool const is_child = (child_pid == 0)) {
while (true) {
unsigned int priority = 0;
bip::message_queue::size_type bytes = 0;
try {
int num[8];
mq.receive(num, sizeof(num), bytes, priority);
std::cout << *num << std::endl;
} catch (const bip::interprocess_exception &e) {
std::cout << "Receive caused execption " << boost::diagnostic_information(e, true) << std::endl;
}
sleep(1);
}
} else {
// parent
int send_num = 0;
while (true) {
unsigned int priority = 0;
mq.send(&send_num, sizeof(send_num), priority);
send_num++;
sleep(5);
}
}
}
I am using boost library to develop a asynchronous udp communication. A data received at the receiver side is being precessed by another thread. Then my problem is when I read the received data in another thread rather than the receiver thread it self it gives a modified data or updated data which is not the data that is supposed to be.
My code is working on unsigned character buffer array at sender side and receiver side. The reason is I need consider unsigned character buffer as a packet of data
e.g buffer[2] = Engine_start_ID
/* global buffer to store the incomming data
unsigned char received_buffer[200];
/*
global buffer accessed by another thread
which contains copy the received_buffer
*/
unsigned char read_hmi_buffer[200];
boost::mutex hmi_buffer_copy_mutex;
void udpComm::start_async_receive() {
udp_socket.async_receive_from(
boost::asio::buffer(received_buffer, max_length), remote_endpoint,
boost::bind(&udpComm::handle_receive_from, this,
boost::asio::placeholders::error,
boost::asio::placeholders::bytes_transferred));
}
/* the data received is stored in the unsigned char received_buffer data buffer*/
void udpComm::handle_receive_from(const boost::system::error_code& error,
size_t bytes_recvd) {
if (!error && bytes_recvd > 0) {
received_bytes = bytes_recvd;
hmi_buffer_copy_mutex.lock();
memcpy(&read_hmi_buffer[0], &received_buffer[0], received_bytes);
hmi_buffer_copy_mutex.unlock();
/*data received here is correct 'cus i printed in the console
checked it
*/
cout<<(int)read_hmi_buffer[2]<<endl;
}
start_async_receive();
}
/* io_service is running in a thread
*/
void udpComm::run_io_service() {
udp_io_service.run();
usleep(1000000);
}
The above code is the asynchronous udp communication running a thread
/* My second thread function is */
void thread_write_to_datalink()
{ hmi_buffer_copy_mutex.lock();
/* here is my problem begins*/
cout<<(int)read_hmi_buffer[2]<<endl;
hmi_buffer_copy_mutex.unlock();
/* all data are already changed */
serial.write_to_serial(read_hmi_buffer, 6);
}
/* threads from my main function
are as below */
int main() {
receive_from_hmi.start_async_receive();
boost::thread thread_receive_from_hmi(&udpComm::run_io_service,
&receive_from_hmi);
boost::thread thread_serial(&thread_write_to_datalink);
thread_serial.join();
thread_receive_from_hmi.join();
return 0;
}
/* The Serial_manager class contains functions for writting and reading from serial port*/
#include <iostream>
#include <boost/thread.hpp>
#include <boost/asio.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
using namespace boost::asio;
class Serial_manager {
public:
Serial_manager(boost::asio::io_service &serial_io_service,char *dev_name);
void open_serial_port();
void write_to_serial(void *data, int size);
size_t read_from_serial(void *data, int size);
void handle_serial_exception(std::exception &ex);
virtual ~Serial_manager();
void setDeviceName(char* deviceName);
protected:
io_service &port_io_service;
serial_port datalink_serial_port;
bool serial_port_open;
char *device_name;
};
void Serial_manager::setDeviceName(char* deviceName) {
device_name = deviceName;
}
Serial_manager::Serial_manager(boost::asio::io_service &serial_io_service,char *dev_name):
port_io_service(serial_io_service),
datalink_serial_port(serial_io_service) {
device_name = dev_name;
serial_port_open = false;
open_serial_port();
}
void Serial_manager::open_serial_port() {
bool temp_port_status = false;
bool serial_port_msg_printed = false;
do {
try {
datalink_serial_port.open(device_name);
temp_port_status = true;
} catch (std::exception &ex) {
if (!serial_port_msg_printed) {
std::cout << "Exception-check the serial port device "
<< ex.what() << std::endl;
serial_port_msg_printed = true;
}
datalink_serial_port.close();
temp_port_status = false;
}
} while (!temp_port_status);
serial_port_open = temp_port_status;
std::cout <<std::endl <<"serial port device opened successfully"<<std::endl;
datalink_serial_port.set_option(serial_port_base::baud_rate(115200));
datalink_serial_port.set_option(
serial_port_base::flow_control(
serial_port_base::flow_control::none));
datalink_serial_port.set_option(
serial_port_base::parity(serial_port_base::parity::none));
datalink_serial_port.set_option(
serial_port_base::stop_bits(serial_port_base::stop_bits::one));
datalink_serial_port.set_option(serial_port_base::character_size(8));
}
void Serial_manager::write_to_serial(void *data, int size) {
boost::asio::write(datalink_serial_port, boost::asio::buffer(data, size));
}
size_t Serial_manager::read_from_serial(void *data, int size) {
return boost::asio::read(datalink_serial_port, boost::asio::buffer(data, size));
}
void Serial_manager::handle_serial_exception(std::exception& ex) {
std::cout << "Exception-- " << ex.what() << std::endl;
std::cout << "Cannot access data-link, check the serial connection"
<< std::endl;
datalink_serial_port.close();
open_serial_port();
}
Serial_manager::~Serial_manager() {
// TODO Auto-generated destructor stub
}
I think my area of problem is about thread synchronization and notification and I will be happy if you help me. You should not worry about the sender it is works perfectly as I already checked it the data is received at the receiver thread. I hope you understand my question.
Edit: Here is the modification.My whole idea here is to develop a simulation for the Manual flight control so according my design i have client application that sends commands through
udp communication. At the receiver side intended to use 3 threads. one thread receives input from sticks i.e void start_hotas() the second thread is a thread that receives commands from sender(client): void udpComm::run_io_service() and 3rd is the void thread_write_to_datalink().
/* a thread that listens for input from sticks*/
void start_hotas() {
Hotas_manager hotasobj;
__s16 event_value; /* value */
__u8 event_number; /* axis/button number */
while (1) {
hotasobj.readData_from_hotas();
event_number = hotasobj.getJoystickEvent().number;
event_value = hotasobj.getJoystickEvent().value;
if (hotasobj.isAxisPressed()) {
if (event_number == 0) {
aileron = (float) event_value / 32767;
} else if (event_number == 1) {
elevator = -(float) event_value / 32767;
} else if (event_number == 2) {
rudder = (float) event_value / 32767;
} else if (event_number == 3) {
brake_left = (float) (32767 - event_value) / 65534;
} else if (event_number == 4) {
} else if (event_number == 6) {
} else if (event_number == 10) {
} else if (event_number == 11) {
} else if (event_number == 12) {
}
} else if (hotasobj.isButtonPressed()) {
}
usleep(1000);
}
}
/*
* Hotas.h
*
* Created on: Jan 31, 2013
* Author: metec
*/
#define JOY_DEV "/dev/input/js0"
#include <iostream>
#include <boost/thread.hpp>
#include <boost/asio.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <linux/joystick.h>
bool message_printed = false;
bool message2_printed = false;
class Hotas_manager {
public:
Hotas_manager();
virtual ~Hotas_manager();
void open_hotas_device();
/*
*
* read from hotas input
* used to the updated event data and status of the joystick from the
* the file.
*
*/
void readData_from_hotas();
js_event getJoystickEvent() {
return joystick_event;
}
int getNumOfAxis() {
return num_of_axis;
}
int getNumOfButtons() {
return num_of_buttons;
}
bool isAxisPressed() {
return axis_pressed;
}
bool isButtonPressed() {
return button_pressed;
}
int* getAxis() {
return axis;
}
char* getButton() {
return button;
}
private:
int fd;
js_event joystick_event;
bool hotas_connected;
int num_of_axis;
int num_of_buttons;
int version;
char devName[80];
/*
* the the variables below indicates
* the state of the joystick.
*/
int axis[30];
char button[30];
bool button_pressed;
bool axis_pressed;
};
Hotas_manager::Hotas_manager() {
// TODO Auto-generated constructor stub
hotas_connected = false;
open_hotas_device();
std::cout << "joystick device detected" << std::endl;
}
Hotas_manager::~Hotas_manager() {
// TODO Auto-generated destructor stub
}
void Hotas_manager::open_hotas_device() {
bool file_open_error_printed = false;
while (!hotas_connected) {
if ((fd = open(JOY_DEV, O_RDONLY)) > 0) {
ioctl(fd, JSIOCGAXES, num_of_axis);
ioctl(fd, JSIOCGBUTTONS, num_of_buttons);
ioctl(fd, JSIOCGVERSION, version);
ioctl(fd, JSIOCGNAME(80), devName);
/*
* NON BLOCKING MODE
*/
ioctl(fd, F_SETFL, O_NONBLOCK);
hotas_connected = true;
} else {
if (!file_open_error_printed) {
std::cout << "hotas device not detected. check "
"whether it is "
"plugged" << std::endl;
file_open_error_printed = true;
}
close(fd);
hotas_connected = false;
}
}
}
void Hotas_manager::readData_from_hotas() {
int result;
result = read(fd, &joystick_event, sizeof(struct js_event));
if (result > 0) {
switch (joystick_event.type & ~JS_EVENT_INIT) {
case JS_EVENT_AXIS:
axis[joystick_event.number] = joystick_event.value;
axis_pressed = true;
button_pressed = false;
break;
case JS_EVENT_BUTTON:
button[joystick_event.number] = joystick_event.value;
button_pressed = true;
axis_pressed = false;
break;
}
message2_printed = false;
message_printed = false;
} else {
if (!message_printed) {
std::cout << "problem in reading the stick file" << std::endl;
message_printed = true;
}
hotas_connected = false;
open_hotas_device();
if (!message2_printed) {
std::cout << "stick re-connected" << std::endl;
message2_printed = true;
}
}
}
I updated the main function to run 3 threads .
int main() {
boost::asio::io_service receive_from_hmi_io;
udpComm receive_from_hmi(receive_from_hmi_io, 6012);
receive_from_hmi.setRemoteEndpoint("127.0.0.1", 6011);
receive_from_hmi.start_async_receive();
boost::thread thread_receive_from_hmi(&udpComm::run_io_service,
&receive_from_hmi);
boost::thread thread_serial(&thread_write_to_datalink);
boost::thread thread_hotas(&start_hotas);
thread_hotas.join();
thread_serial.join();
thread_receive_from_hmi.join();
return 0;
}
The void thread_write_to_datalink() also writes the data come from the hotas_manager(joysticks).
void thread_write_to_datalink() {
/*
* boost serial communication
*/
boost::asio::io_service serial_port_io;
Serial_manager serial(serial_port_io, (char*) "/dev/ttyUSB0");
cout << "aileron " << "throttle " << "elevator " << endl;
while (1) {
// commands from udp communication
serial.write_to_serial(read_hmi_buffer, 6);
// data come from joystick inputs
//cout << aileron<<" "<<throttle<<" "<<elevator<< endl;
memcpy(&buffer_manual_flightcontrol[4], &aileron, 4);
memcpy(&buffer_manual_flightcontrol[8], &throttle, 4);
memcpy(&buffer_manual_flightcontrol[12], &elevator, 4);
unsigned char temp;
try {
serial.write_to_serial(buffer_manual_flightcontrol, 32);
//serial.write_to_serial(buffer_manual_flightcontrol, 32);
} catch (std::exception& exp) {
serial.handle_serial_exception(exp);
}
try {
serial.write_to_serial(buffer_payloadcontrol, 20);
} catch (std::exception& exp) {
serial.handle_serial_exception(exp);
}
usleep(100000);
}
}
My question is how better can I design to synchronize these 3 threads. If your answer says you do not need to use 3 threads I need you to tell me how.
Let's back up a little bit from multi-threading, your program mixes synchronous and asynchronous operations. You don't need to do this, as it will only cause confusion. You can asynchronously write the buffer read from the UDP socket to the serial port. This can all be achieved with a single thread running the io_service, eliminating any concurrency concerns.
You will need to add buffer management to keep the data read from the socket in scope for the lifetime of the async_write for the serial port, study the async UDP server as an example. Also study the documentation, specifically the requirements for buffer lifetime in async_write
buffers
One or more buffers containing the data to be written.
Although the buffers object may be copied as necessary, ownership of
the underlying memory blocks is retained by the caller, which must
guarantee that they remain valid until the handler is called.
Once you have completed that design, then you can move to more advanced techniques such as a thread pool or multiple io_services.
You need to make your access to read_hmi_buffer synchronized.
Therefore you need a mutex (std::mutex, pthread_mutex_t, or the windows equivalent), to lock onto whenever a piece of code read or write in that buffer.
See this question for a few explanations on the concept and links to other tutorials.