| Directory: | ./ |
|---|---|
| File: | include/shared_memory/shared_memory.hpp |
| Date: | 2022-06-30 06:29:57 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 28 | 33 | 84.8% |
| Branches: | 18 | 28 | 64.3% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /** | ||
| 2 | * @file shared_memory.hpp | ||
| 3 | * @author Vincent Berenz | ||
| 4 | * @author Maximilien Naveau (maximilien.naveau@gmail.com) | ||
| 5 | * @license License BSD-3-Clause | ||
| 6 | * @copyright Copyright (c) 2019, New York University and Max Planck | ||
| 7 | * Gesellschaft. | ||
| 8 | * @date 2019-05-22 | ||
| 9 | * | ||
| 10 | * @brief This file declares some function that encapsulate the use of the | ||
| 11 | * shared memory using the boost::interprocess package. usage: see demos and | ||
| 12 | * unit tests and documentation | ||
| 13 | */ | ||
| 14 | |||
| 15 | #pragma once | ||
| 16 | |||
| 17 | #ifndef SHARED_MEMORY_HPP | ||
| 18 | #define SHARED_MEMORY_HPP | ||
| 19 | |||
| 20 | #include <chrono> | ||
| 21 | #include <iostream> | ||
| 22 | #include <map> | ||
| 23 | #include <mutex> | ||
| 24 | #include <string> | ||
| 25 | #include <vector> | ||
| 26 | |||
| 27 | #include <Eigen/Dense> | ||
| 28 | |||
| 29 | #include <boost/interprocess/allocators/allocator.hpp> | ||
| 30 | #include <boost/interprocess/containers/deque.hpp> | ||
| 31 | #include <boost/interprocess/containers/string.hpp> | ||
| 32 | #include <boost/interprocess/containers/vector.hpp> | ||
| 33 | #include <boost/interprocess/managed_shared_memory.hpp> | ||
| 34 | |||
| 35 | #include "shared_memory/exceptions.hpp" | ||
| 36 | #include "shared_memory/segment_info.hpp" | ||
| 37 | #include "shared_memory/serializer.hpp" | ||
| 38 | |||
| 39 | #define DEFAULT_SHARED_MEMORY_SIZE 65536 | ||
| 40 | #define MAP_STRING_KEY_SEPARATOR ';' | ||
| 41 | |||
| 42 | // cool doc: | ||
| 43 | // https://theboostcpplibraries.com/boost.interprocess-managed-shared-memory | ||
| 44 | // https://www.boost.org/doc/libs/1_63_0/doc/html/interprocess/quick_guide.html | ||
| 45 | |||
| 46 | /** | ||
| 47 | * All templated types in this namespaces are elementary types: | ||
| 48 | * int, double, float, char*, ... | ||
| 49 | */ | ||
| 50 | namespace shared_memory | ||
| 51 | { | ||
| 52 | /** | ||
| 53 | * @brief sets the size of the segments that will be newly | ||
| 54 | * created via the set methods. | ||
| 55 | * Until this function is called, segments are created | ||
| 56 | * with a size of 65536 bytes. | ||
| 57 | * This function is not interprocess : it will set | ||
| 58 | * the size of segments created in the current process | ||
| 59 | * @param multiplier_1025 the size of create segment | ||
| 60 | * will be multiplier_1025 * 1025 bytes (because memory | ||
| 61 | * segment sizes have to be a multiple of 1025) | ||
| 62 | */ | ||
| 63 | void set_segment_sizes(uint multiplier_1025); | ||
| 64 | |||
| 65 | /** | ||
| 66 | * @brief set the size of segment newly | ||
| 67 | * created to the default size value of 65536 | ||
| 68 | */ | ||
| 69 | void set_default_segment_sizes(); | ||
| 70 | |||
| 71 | /*********************** | ||
| 72 | * Typdef declarations * | ||
| 73 | ***********************/ | ||
| 74 | |||
| 75 | /** | ||
| 76 | * @brief ShmObjects typedef is a simple renaming that ease the for loop | ||
| 77 | * writting. | ||
| 78 | */ | ||
| 79 | typedef std::map<std::string, std::pair<void*, std::size_t>> ShmObjects; | ||
| 80 | |||
| 81 | /** | ||
| 82 | * @brief ShmTypeHelper is a small struct that allow the definition of | ||
| 83 | * templated typedef. | ||
| 84 | */ | ||
| 85 | template <typename ElemType> | ||
| 86 | struct ShmTypeHelper | ||
| 87 | { | ||
| 88 | /** | ||
| 89 | * @brief ShmemAllocator typedef allows to create std::allocator with the | ||
| 90 | * boost interprocess library. | ||
| 91 | */ | ||
| 92 | typedef boost::interprocess::allocator< | ||
| 93 | ElemType, | ||
| 94 | boost::interprocess::managed_shared_memory::segment_manager> | ||
| 95 | ElemTypeAllocator; | ||
| 96 | |||
| 97 | typedef boost::container::deque<ElemType, | ||
| 98 | ShmTypeHelper<ElemType>::ElemTypeAllocator> | ||
| 99 | ShmDeque; | ||
| 100 | |||
| 101 | typedef boost::container::vector<ElemType, | ||
| 102 | ShmTypeHelper<ElemType>::ElemTypeAllocator> | ||
| 103 | ShmVector; | ||
| 104 | }; | ||
| 105 | |||
| 106 | /** | ||
| 107 | * @brief Create a char allocator to ease the creation of strings | ||
| 108 | */ | ||
| 109 | typedef ShmTypeHelper<char>::ElemTypeAllocator ShmCharAllocator; | ||
| 110 | |||
| 111 | /** | ||
| 112 | * @brief Create a basic_string type for the Shared Memory | ||
| 113 | */ | ||
| 114 | typedef std::basic_string<char, std::char_traits<char>, ShmCharAllocator> | ||
| 115 | ShmString; | ||
| 116 | |||
| 117 | /************************************************ | ||
| 118 | * Declaration of the SharedMemorySegment class * | ||
| 119 | ************************************************/ | ||
| 120 | |||
| 121 | /** | ||
| 122 | * @brief The SharedMemorySegment contains the pointers of the shared objects | ||
| 123 | * in on shared memrory segment | ||
| 124 | * | ||
| 125 | * We use unamed mutext (interprocess_mutex) and unamed condition variables | ||
| 126 | * (interprocess_condition) to be able to instanciate them with classic | ||
| 127 | * pointers | ||
| 128 | */ | ||
| 129 | class SharedMemorySegment | ||
| 130 | { | ||
| 131 | public: | ||
| 132 | /** | ||
| 133 | * @brief SharedMemorySegment constructor. | ||
| 134 | */ | ||
| 135 | SharedMemorySegment(std::string segment_id, | ||
| 136 | bool clear_upon_destruction, | ||
| 137 | bool create); | ||
| 138 | |||
| 139 | /** | ||
| 140 | * @brief SharedMemorySegment destructor. | ||
| 141 | */ | ||
| 142 | 48 | ~SharedMemorySegment() | |
| 143 | 48 | { | |
| 144 | 48 | } | |
| 145 | |||
| 146 | /** | ||
| 147 | * @brief clear_memory free the shared memory | ||
| 148 | */ | ||
| 149 | void clear_memory(); | ||
| 150 | |||
| 151 | /** | ||
| 152 | * @brief get_object registers the object in the current struc and in the | ||
| 153 | * shared memory once only. And returns the pointer to the object and its | ||
| 154 | * size. The size will be 1 for simple type and could greater to one for | ||
| 155 | * arrays. | ||
| 156 | * @param[in] object_id: the name of the object in the shared memory. | ||
| 157 | * @param[in][out] get_: the reference to the fetched object. | ||
| 158 | */ | ||
| 159 | template <typename ElemType> | ||
| 160 | void get_object(const std::string& object_id, | ||
| 161 | std::pair<ElemType*, std::size_t>& get_); | ||
| 162 | |||
| 163 | /** | ||
| 164 | * @brief get_object registers the object in the current struc and in the | ||
| 165 | * shared memory once only. And returns the pointer to the object and its | ||
| 166 | * size. The size will be 1 for simple type and could greater to one for | ||
| 167 | * arrays. | ||
| 168 | * @param[in] object_id: the name of the object in the shared memory. | ||
| 169 | * @param[in][out] get_: the reference to the fetched object. | ||
| 170 | */ | ||
| 171 | void get_object(const std::string& object_id, std::string& get_); | ||
| 172 | |||
| 173 | /** | ||
| 174 | * @brief set_object registers the object in the current struc and in the | ||
| 175 | * shared memory once only. And returns the pointer to the object and its | ||
| 176 | * size. The size will be 1 for simple type and could greater to one for | ||
| 177 | * arrays. | ||
| 178 | * @param[in] object_id: the name of the object in the shared memory. | ||
| 179 | * @param[in] set_: the reference to the fetched object. | ||
| 180 | */ | ||
| 181 | template <typename ElemType> | ||
| 182 | void set_object(const std::string& object_id, | ||
| 183 | const std::pair<const ElemType*, std::size_t>& set_); | ||
| 184 | |||
| 185 | /** | ||
| 186 | * @brief register_object registers the object in the segment uniquely. | ||
| 187 | * @param object_id is the name of the object to register. | ||
| 188 | * @param obj_ is the object to be registered. | ||
| 189 | * @return true of a new object has been registered | ||
| 190 | */ | ||
| 191 | template <typename ElemType> | ||
| 192 | bool register_object(const std::string& object_id, | ||
| 193 | const std::pair<ElemType*, std::size_t>& obj_); | ||
| 194 | |||
| 195 | /** | ||
| 196 | * @brief register_object_read_only registers the object in the segment | ||
| 197 | * uniquely. | ||
| 198 | * @param object_id is the name of the object to register | ||
| 199 | * @param obj_ is the object to be registered | ||
| 200 | * @return true of a new object has been registered | ||
| 201 | */ | ||
| 202 | template <typename ElemType> | ||
| 203 | bool register_object_read_only(const std::string& object_id); | ||
| 204 | |||
| 205 | /** | ||
| 206 | * @brief delete_object delete and object from the shared memory. | ||
| 207 | * @param[in] object_id: the name of the object in the shared memory. | ||
| 208 | */ | ||
| 209 | template <typename ElemType> | ||
| 210 | void delete_object(const std::string& object_id); | ||
| 211 | |||
| 212 | /** | ||
| 213 | * @brief mutex_ this mutex secure ALL the shared memory. | ||
| 214 | */ | ||
| 215 | boost::interprocess::interprocess_mutex* mutex_; | ||
| 216 | // boost::interprocess::named_mutex named_mtx_; | ||
| 217 | |||
| 218 | /** | ||
| 219 | * @brief create_mutex small factory that allow to make sure that the mutex | ||
| 220 | * is created. | ||
| 221 | */ | ||
| 222 | 77 | void create_mutex() | |
| 223 | { | ||
| 224 | 77 | mutex_ = | |
| 225 | segment_manager_ | ||
| 226 |
1/2✓ Branch 1 taken 77 times.
✗ Branch 2 not taken.
|
154 | .find_or_construct<boost::interprocess::interprocess_mutex>( |
| 227 |
1/2✓ Branch 2 taken 77 times.
✗ Branch 3 not taken.
|
231 | "mutex_")(); |
| 228 | 77 | } | |
| 229 | |||
| 230 | /** | ||
| 231 | * @brief destroy_mutex small destructor of the mutext to make sure that it | ||
| 232 | * is unlock at critical time. | ||
| 233 | */ | ||
| 234 | ✗ | void destroy_mutex() | |
| 235 | { | ||
| 236 | ✗ | segment_manager_.destroy<boost::interprocess::interprocess_mutex>( | |
| 237 | "mutex_"); | ||
| 238 | ✗ | mutex_ = nullptr; | |
| 239 | } | ||
| 240 | |||
| 241 | /** | ||
| 242 | * @brief is_object_registered used to check if the object has been | ||
| 243 | * registered or not. | ||
| 244 | * @param[in] object_id: the name of the object in the shared memory. | ||
| 245 | * @return true if it has been registered | ||
| 246 | */ | ||
| 247 | 18948 | bool is_object_registered(const std::string& object_id) | |
| 248 | { | ||
| 249 |
3/4✓ Branch 1 taken 18865 times.
✓ Branch 2 taken 83 times.
✓ Branch 3 taken 18865 times.
✗ Branch 4 not taken.
|
37813 | return !(objects_.count(object_id) == 0 || |
| 250 | 37813 | objects_[object_id].first == nullptr); | |
| 251 | } | ||
| 252 | |||
| 253 | /** | ||
| 254 | * @brief set_clear_upon_destruction is a standard setter | ||
| 255 | * @param[in] clear_upon_destruction is the value to set | ||
| 256 | */ | ||
| 257 | 18978 | void set_clear_upon_destruction(const bool clear_upon_destruction) | |
| 258 | { | ||
| 259 | 18978 | clear_upon_destruction_ = clear_upon_destruction; | |
| 260 | 18978 | } | |
| 261 | |||
| 262 | /** | ||
| 263 | * @brief get_segment_id is a standard getter | ||
| 264 | * @return the segment name | ||
| 265 | */ | ||
| 266 | ✗ | const std::string& get_segment_id() | |
| 267 | { | ||
| 268 | ✗ | return segment_id_; | |
| 269 | } | ||
| 270 | |||
| 271 | /** | ||
| 272 | * @brief performs introspection on the segment | ||
| 273 | * and return related information | ||
| 274 | */ | ||
| 275 | // dev notes: boost api does not allow for this method | ||
| 276 | // to be const | ||
| 277 | 2 | SegmentInfo get_info() | |
| 278 | { | ||
| 279 |
1/2✓ Branch 1 taken 2 times.
✗ Branch 2 not taken.
|
2 | SegmentInfo si(segment_manager_); |
| 280 | 2 | return si; | |
| 281 | } | ||
| 282 | |||
| 283 | private: | ||
| 284 | /** | ||
| 285 | * @brief shm_segment is the boost object that manages the shared memory | ||
| 286 | * segment | ||
| 287 | */ | ||
| 288 | boost::interprocess::managed_shared_memory segment_manager_; | ||
| 289 | |||
| 290 | /** | ||
| 291 | * @brief objects_ are all the data stored in the segment. WARNING here we | ||
| 292 | * use void* so the use of the set and get functions is the RESPONSABILITY | ||
| 293 | * of the user. | ||
| 294 | * | ||
| 295 | * The user is to use the SAME type when calling set and get using the | ||
| 296 | * shared memory | ||
| 297 | */ | ||
| 298 | ShmObjects objects_; | ||
| 299 | |||
| 300 | /** | ||
| 301 | * @brief segment_id_ is the name of the segment inside the shared memory | ||
| 302 | */ | ||
| 303 | std::string segment_id_; | ||
| 304 | |||
| 305 | /** | ||
| 306 | * @brief clear_upon_destruction_ flag decides if the segment should be | ||
| 307 | * cleared upon destruction. | ||
| 308 | * | ||
| 309 | * Usage: typically only one process should set this flag to true. | ||
| 310 | */ | ||
| 311 | bool clear_upon_destruction_; | ||
| 312 | |||
| 313 | int ravioli_; | ||
| 314 | }; | ||
| 315 | |||
| 316 | /************************************************** | ||
| 317 | * Declaration of all segment management function * | ||
| 318 | **************************************************/ | ||
| 319 | |||
| 320 | /** | ||
| 321 | * @brief get_segment creates or give back a pointer to a SharedMemorySegment | ||
| 322 | * object. | ||
| 323 | * @param segment_id is the name of the shared memory segment. | ||
| 324 | */ | ||
| 325 | SharedMemorySegment& get_segment(const std::string& segment_id, | ||
| 326 | const bool clear_upon_destruction = false, | ||
| 327 | const bool create = true); | ||
| 328 | |||
| 329 | /** | ||
| 330 | * @brief performs introspection on the segment | ||
| 331 | * and return related information. If the segment does not | ||
| 332 | * exists, creates it first. | ||
| 333 | */ | ||
| 334 | SegmentInfo get_segment_info(const std::string& segment_id); | ||
| 335 | |||
| 336 | /** | ||
| 337 | * @brief returns true if a segment exists under this id | ||
| 338 | * @param segment_id is the name of the shared memory segment. | ||
| 339 | */ | ||
| 340 | bool segment_exists(const std::string& segment_id); | ||
| 341 | |||
| 342 | /** | ||
| 343 | * @brief delete_segment deletes the segment of existing shared memory. | ||
| 344 | * it makes sure that all element created in it is destroyed first. | ||
| 345 | * (is this needed? I do not know.) | ||
| 346 | * @param segment_id is the name of the shared memory segment. | ||
| 347 | */ | ||
| 348 | void delete_segment(const std::string& segment_id); | ||
| 349 | |||
| 350 | /** | ||
| 351 | * @brief delete_all_segment delete all mapping to the shared memory used | ||
| 352 | * during the current process | ||
| 353 | */ | ||
| 354 | void delete_all_segments(); | ||
| 355 | |||
| 356 | /** | ||
| 357 | * @brief alias for delete_all_segments (for retro compatibility) | ||
| 358 | */ | ||
| 359 | void delete_all_segment(); | ||
| 360 | |||
| 361 | /** | ||
| 362 | * @brief delete_object deletes a particular object in the shared memory | ||
| 363 | * segment | ||
| 364 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 365 | * @return true if everything went fine. | ||
| 366 | */ | ||
| 367 | template <typename ElemType> | ||
| 368 | bool delete_object(const std::string& segment_id, const std::string& object_id); | ||
| 369 | |||
| 370 | /** | ||
| 371 | * @brief get_sgement_mutex aquiere a reference to the semgent global mutex. | ||
| 372 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 373 | * @return a reference to a boost mutex | ||
| 374 | */ | ||
| 375 | boost::interprocess::interprocess_mutex& get_segment_mutex( | ||
| 376 | const std::string segment_id); | ||
| 377 | |||
| 378 | /** | ||
| 379 | * @brief clear_shared_memory_segment destroys the shared memory | ||
| 380 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 381 | */ | ||
| 382 | void clear_shared_memory(const std::string& segment_id); | ||
| 383 | |||
| 384 | /************************************ | ||
| 385 | * Declaration of all set functions * | ||
| 386 | ************************************/ | ||
| 387 | |||
| 388 | /** | ||
| 389 | * @brief set instanciates or get pointer to any elementary types in the | ||
| 390 | * shared memory. | ||
| 391 | * | ||
| 392 | * All set functions make sure that the pointer is uniquely created to avoid | ||
| 393 | * useless computation time consumption. | ||
| 394 | * | ||
| 395 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 396 | * @param[in] object_id is the name of the shared memory object to set. | ||
| 397 | * @param[in] set_ is the string to be created in the shared memory | ||
| 398 | */ | ||
| 399 | template <typename ElemType> | ||
| 400 | void set(const std::string& segment_id, | ||
| 401 | const std::string& object_id, | ||
| 402 | const ElemType& set_); | ||
| 403 | |||
| 404 | /** | ||
| 405 | * @brief set instanciates or get pointer to a fixed sized | ||
| 406 | * array of the templated type "T" in the shared memory. | ||
| 407 | * | ||
| 408 | * All set functions make sure that the pointer is uniquely created to avoid | ||
| 409 | * useless computation time consumption. | ||
| 410 | * | ||
| 411 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 412 | * @param[in] object_id is the name of the shared memory object to set. | ||
| 413 | * @param[in] set_ is the pointer to the array of objects to set in the | ||
| 414 | * memory. | ||
| 415 | * @param[in] size is the array size. | ||
| 416 | */ | ||
| 417 | template <typename ElemType> | ||
| 418 | void set(const std::string& segment_id, | ||
| 419 | const std::string& object_id, | ||
| 420 | const ElemType* set_, | ||
| 421 | const std::size_t size); | ||
| 422 | |||
| 423 | /** | ||
| 424 | * @brief set instanciates or get pointer to a string in the shared memory. | ||
| 425 | * | ||
| 426 | * All set functions make sure that the pointer is uniquely created to avoid | ||
| 427 | * useless computation time consumption. | ||
| 428 | * | ||
| 429 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 430 | * @param[in] object_id is the name of the shared memory object to set. | ||
| 431 | * @param[in] set_ is the string to be created in the shared memory | ||
| 432 | */ | ||
| 433 | void set(const std::string& segment_id, | ||
| 434 | const std::string& object_id, | ||
| 435 | const std::string& set_); | ||
| 436 | |||
| 437 | /** | ||
| 438 | * @brief set instanciates or get pointer to a std::vector<ElemType> | ||
| 439 | * in the shared memory. | ||
| 440 | * This will translated as a fixed sized array in the shared memory | ||
| 441 | * | ||
| 442 | * All set functions make sure that the pointer is uniquely created to avoid | ||
| 443 | * useless computation time consumption. | ||
| 444 | * | ||
| 445 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 446 | * @param[in] object_id is the name of the shared memory object to set. | ||
| 447 | * @param[in] set_ is the string to be created in the shared memory | ||
| 448 | */ | ||
| 449 | template <typename ElemType> | ||
| 450 | void set(const std::string& segment_id, | ||
| 451 | const std::string& object_id, | ||
| 452 | const std::vector<ElemType>& set_); | ||
| 453 | |||
| 454 | /** | ||
| 455 | * @brief set instanciates or get pointer to a | ||
| 456 | * Eigen::Matrix<ElemType, Eigen::Dynamic, 1> in the shared memory. | ||
| 457 | * This will translated as a fixed sized array in the shared memory | ||
| 458 | * | ||
| 459 | * All set functions make sure that the pointer is uniquely created to avoid | ||
| 460 | * useless computation time consumption. | ||
| 461 | * | ||
| 462 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 463 | * @param[in] object_id is the name of the shared memory object to set. | ||
| 464 | * @param[in] set_ is the string to be created in the shared memory | ||
| 465 | */ | ||
| 466 | template <typename ElemType> | ||
| 467 | void set(const std::string& segment_id, | ||
| 468 | const std::string& object_id, | ||
| 469 | const Eigen::Matrix<ElemType, Eigen::Dynamic, 1>& set_); | ||
| 470 | |||
| 471 | /** | ||
| 472 | * @brief set instanciates or get pointer to a | ||
| 473 | * std::pair<FirstType, SecondType> in the shared memory. | ||
| 474 | * This is very usefull to dump maps in the shared memory | ||
| 475 | * | ||
| 476 | * All set functions make sure that the pointer is uniquely created to avoid | ||
| 477 | * useless computation time consumption. | ||
| 478 | * | ||
| 479 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 480 | * @param[in] object_id is the name of the shared memory object to set. | ||
| 481 | * @param[in] set_ is the string to be created in the shared memory | ||
| 482 | */ | ||
| 483 | template <typename FirstType, typename SecondType> | ||
| 484 | void set(const std::string& segment_id, | ||
| 485 | const std::string& object_id, | ||
| 486 | const std::pair<FirstType, SecondType>& set_); | ||
| 487 | |||
| 488 | /** | ||
| 489 | * @brief set instanciates or get pointer to a std::vector<ElemType> or an | ||
| 490 | * Eigen::Matrix<ElemType, any, any> in the shared memory. | ||
| 491 | * This will translated as a fixed sized array in the shared memory | ||
| 492 | * | ||
| 493 | * All set functions make sure that the pointer is uniquely created to avoid | ||
| 494 | * useless computation time consumption. | ||
| 495 | * | ||
| 496 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 497 | * @param[in] object_id is the name of the shared memory object to set. | ||
| 498 | * @param[in] set_ is the string to be created in the shared memory | ||
| 499 | */ | ||
| 500 | template <typename KeyType, typename ValueType> | ||
| 501 | void set(const std::string& segment_id, | ||
| 502 | const std::string& object_id, | ||
| 503 | const std::map<KeyType, ValueType>& set_); | ||
| 504 | |||
| 505 | /************************************ | ||
| 506 | * Declaration of all get functions * | ||
| 507 | ************************************/ | ||
| 508 | |||
| 509 | /** | ||
| 510 | * @brief get gets a pointer to any elementary types in the | ||
| 511 | * shared memory. | ||
| 512 | * | ||
| 513 | * All set functions make sure that the pointer is uniquely created to avoid | ||
| 514 | * useless computation time consumption. | ||
| 515 | * | ||
| 516 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 517 | * @param[in] object_id is the name of the shared memory object to set. | ||
| 518 | * @param[in] get_ is the string to be created in the shared memory | ||
| 519 | */ | ||
| 520 | template <typename ElemType> | ||
| 521 | void get(const std::string& segment_id, | ||
| 522 | const std::string& object_id, | ||
| 523 | ElemType& get_, | ||
| 524 | bool create = true); | ||
| 525 | |||
| 526 | /** | ||
| 527 | * @brief get gets a pointer to a fixed sized | ||
| 528 | * array of the templated type "T" in the shared memory. | ||
| 529 | * | ||
| 530 | * All set functions make sure that the pointer is uniquely created to avoid | ||
| 531 | * useless computation time consumption. | ||
| 532 | * | ||
| 533 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 534 | * @param[in] object_id is the name of the shared memory object to set. | ||
| 535 | * @param[in] get_ is the pointer to the array of objects to set in the | ||
| 536 | * memory. | ||
| 537 | * @param[in] size is the array size. | ||
| 538 | * @param[in] create : if false, raise a Non_existing_segment_exception | ||
| 539 | if the segment does not already exist | ||
| 540 | */ | ||
| 541 | template <typename ElemType> | ||
| 542 | void get(const std::string& segment_id, | ||
| 543 | const std::string& object_id, | ||
| 544 | ElemType* get_, | ||
| 545 | const std::size_t expected_size, | ||
| 546 | bool create = true); | ||
| 547 | |||
| 548 | /** | ||
| 549 | * @brief get gets a pointer to a string in the shared memory. | ||
| 550 | * | ||
| 551 | * All set functions make sure that the pointer is uniquely created to avoid | ||
| 552 | * useless computation time consumption. | ||
| 553 | * | ||
| 554 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 555 | * @param[in] object_id is the name of the shared memory object to set. | ||
| 556 | * @param[in] get_ is the string to be created in the shared memory | ||
| 557 | * @param[in] create : if false, raise a Non_existing_segment_exception | ||
| 558 | if the segment does not already exist | ||
| 559 | */ | ||
| 560 | void get(const std::string& segment_id, | ||
| 561 | const std::string& object_id, | ||
| 562 | std::string& get_, | ||
| 563 | bool create = true); | ||
| 564 | |||
| 565 | /** | ||
| 566 | * @brief get gets a pointer to a std::vector<ElemType> | ||
| 567 | * in the shared memory. | ||
| 568 | * This will translated as a fixed sized array in the shared memory | ||
| 569 | * | ||
| 570 | * All set functions make sure that the pointer is uniquely created to avoid | ||
| 571 | * useless computation time consumption. | ||
| 572 | * | ||
| 573 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 574 | * @param[in] object_id is the name of the shared memory object to set. | ||
| 575 | * @param[in] set_ is the string to be created in the shared memory | ||
| 576 | * @param[in] create : if false, raise a Non_existing_segment_exception | ||
| 577 | if the segment does not already exist | ||
| 578 | */ | ||
| 579 | template <typename ElemType> | ||
| 580 | void get(const std::string& segment_id, | ||
| 581 | const std::string& object_id, | ||
| 582 | std::vector<ElemType>& get_, | ||
| 583 | bool create = true); | ||
| 584 | |||
| 585 | /** | ||
| 586 | * @brief get gets a pointer to a | ||
| 587 | * Eigen::Matrix<ElemType, Eigen::Dynamic, 1> in the shared memory. | ||
| 588 | * This will translated as a fixed sized array in the shared memory | ||
| 589 | * | ||
| 590 | * All set functions make sure that the pointer is uniquely created to avoid | ||
| 591 | * useless computation time consumption. | ||
| 592 | * | ||
| 593 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 594 | * @param[in] object_id is the name of the shared memory object to set. | ||
| 595 | * @param[in] set_ is the string to be created in the shared memory | ||
| 596 | * @param[in] create : if false, raise a Non_existing_segment_exception | ||
| 597 | if the segment does not already exist | ||
| 598 | */ | ||
| 599 | template <typename ElemType> | ||
| 600 | void get(const std::string& segment_id, | ||
| 601 | const std::string& object_id, | ||
| 602 | Eigen::Matrix<ElemType, Eigen::Dynamic, 1>& get_, | ||
| 603 | bool create = true); | ||
| 604 | |||
| 605 | /** | ||
| 606 | * @brief get instanciates or get pointer to a | ||
| 607 | * std::pair<FirstType, SecondType> in the shared memory. | ||
| 608 | * This is very usefull to dump maps in the shared memory | ||
| 609 | * | ||
| 610 | * All set functions make sure that the pointer is uniquely created to avoid | ||
| 611 | * useless computation time consumption. | ||
| 612 | * | ||
| 613 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 614 | * @param[in] object_id is the name of the shared memory object to set. | ||
| 615 | * @param[in] get_ is the string to be created in the shared memory | ||
| 616 | * @param[in] create : if false, raise a Non_existing_segment_exception | ||
| 617 | if the segment does not already exist | ||
| 618 | */ | ||
| 619 | template <typename FirstType, typename SecondType> | ||
| 620 | void get(const std::string& segment_id, | ||
| 621 | const std::string& object_id, | ||
| 622 | std::pair<FirstType, SecondType>& get_, | ||
| 623 | bool create = true); | ||
| 624 | |||
| 625 | /** | ||
| 626 | * @brief get gets a pointer to a std::vector<ElemType> or an | ||
| 627 | * Eigen::Matrix<ElemType, any, any> in the shared memory. | ||
| 628 | * This will translated as a fixed sized array in the shared memory | ||
| 629 | * | ||
| 630 | * All set functions make sure that the pointer is uniquely created to avoid | ||
| 631 | * useless computation time consumption. | ||
| 632 | * | ||
| 633 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 634 | * @param[in] object_id is the name of the shared memory object to set. | ||
| 635 | * @param[in] get_ is the string to be created in the shared memory | ||
| 636 | * @param[in] create : if false, raise a Non_existing_segment_exception | ||
| 637 | if the segment does not already exist | ||
| 638 | */ | ||
| 639 | template <typename KeyType, typename ValueType> | ||
| 640 | void get(const std::string& segment_id, | ||
| 641 | const std::string& object_id, | ||
| 642 | std::map<KeyType, ValueType>& get_, | ||
| 643 | bool create = true); | ||
| 644 | |||
| 645 | /** | ||
| 646 | * @brief Serialize the instance into a string which is | ||
| 647 | * written in the shared memory. This uses cereal for | ||
| 648 | * serialization, and Serializable must implement a serialize function, | ||
| 649 | * see: https://uscilab.github.io/cereal/ | ||
| 650 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 651 | * @param[in] object_id is the name of the shared memory object to set. | ||
| 652 | * @param[in] serializable is the instance to serialize | ||
| 653 | */ | ||
| 654 | template <class Serializable> | ||
| 655 | 2 | void serialize(const std::string& segment, | |
| 656 | const std::string& object, | ||
| 657 | const Serializable& serializable) | ||
| 658 | { | ||
| 659 |
3/4✓ Branch 0 taken 1 times.
✓ Branch 1 taken 1 times.
✓ Branch 3 taken 1 times.
✗ Branch 4 not taken.
|
2 | static Serializer<Serializable> serializer; |
| 660 |
2/4✓ Branch 1 taken 2 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 2 times.
✗ Branch 5 not taken.
|
4 | std::string data = serializer.serialize(serializable); |
| 661 |
1/2✓ Branch 1 taken 2 times.
✗ Branch 2 not taken.
|
2 | shared_memory::set(segment, object, data); |
| 662 | 2 | } | |
| 663 | |||
| 664 | /** | ||
| 665 | * @brief Read from the memory a string that is deserialized | ||
| 666 | * into the passed instance of Serializable. | ||
| 667 | * This assumes the serialization and writting in the shared | ||
| 668 | * memory has been performed using the serialize function. | ||
| 669 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 670 | * @param[in] object_id is the name of the shared memory object to set. | ||
| 671 | * @param[in] serializable is the instance in which the string | ||
| 672 | * will be deserialized | ||
| 673 | */ | ||
| 674 | template <class Serializable> | ||
| 675 | 2 | void deserialize(const std::string& segment, | |
| 676 | const std::string& object, | ||
| 677 | Serializable& serializable) | ||
| 678 | { | ||
| 679 |
3/4✓ Branch 0 taken 1 times.
✓ Branch 1 taken 1 times.
✓ Branch 3 taken 1 times.
✗ Branch 4 not taken.
|
2 | static Serializer<Serializable> serializer; |
| 680 |
3/4✓ Branch 0 taken 1 times.
✓ Branch 1 taken 1 times.
✓ Branch 3 taken 1 times.
✗ Branch 4 not taken.
|
2 | static std::string data; |
| 681 | 2 | shared_memory::get(segment, object, data); | |
| 682 | 2 | serializer.deserialize(data, serializable); | |
| 683 | 2 | } | |
| 684 | |||
| 685 | /** | ||
| 686 | * @brief if verbose mode set to true (starting default is false), | ||
| 687 | * informaton about newly created objects will be displayed in the | ||
| 688 | * terminal. Call to this function will change the verbose mode | ||
| 689 | * only for the current process. | ||
| 690 | */ | ||
| 691 | void set_verbose(bool mode); | ||
| 692 | |||
| 693 | /** | ||
| 694 | * @brief wait until the segment is created either via | ||
| 695 | * call to a get or set function. | ||
| 696 | * @param[in] segment_id is the name of the shared memory segment. | ||
| 697 | * @param[in] timeout_ms is a timeout in ms | ||
| 698 | * @return true if the segment has been created before the timeout | ||
| 699 | * expired, false otherwise. | ||
| 700 | */ | ||
| 701 | bool wait_for_segment(const std::string& segment_id, int timeout_ms = -1); | ||
| 702 | |||
| 703 | } // namespace shared_memory | ||
| 704 | |||
| 705 | #include <shared_memory/shared_memory.hxx> | ||
| 706 | |||
| 707 | #endif // SHARED_MEMORY_HPP | ||
| 708 |