Orocos Real-Time Toolkit
2.6.0
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00001 /*************************************************************************** 00002 tag: Peter Soetens Mon Jan 19 14:11:26 CET 2004 DataObjectLockFree.hpp 00003 00004 DataObjectLockFree.hpp - description 00005 ------------------- 00006 begin : Mon January 19 2004 00007 copyright : (C) 2004 Peter Soetens 00008 email : peter.soetens@mech.kuleuven.ac.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU General Public * 00013 * License as published by the Free Software Foundation; * 00014 * version 2 of the License. * 00015 * * 00016 * As a special exception, you may use this file as part of a free * 00017 * software library without restriction. Specifically, if other files * 00018 * instantiate templates or use macros or inline functions from this * 00019 * file, or you compile this file and link it with other files to * 00020 * produce an executable, this file does not by itself cause the * 00021 * resulting executable to be covered by the GNU General Public * 00022 * License. This exception does not however invalidate any other * 00023 * reasons why the executable file might be covered by the GNU General * 00024 * Public License. * 00025 * * 00026 * This library is distributed in the hope that it will be useful, * 00027 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00028 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00029 * Lesser General Public License for more details. * 00030 * * 00031 * You should have received a copy of the GNU General Public * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 00035 * * 00036 ***************************************************************************/ 00037 00038 #ifndef CORELIB_DATAOBJECT_LOCK_FREE_HPP 00039 #define CORELIB_DATAOBJECT_LOCK_FREE_HPP 00040 00041 00042 #include "../os/oro_arch.h" 00043 #include "DataObjectInterface.hpp" 00044 00045 namespace RTT 00046 { namespace base { 00047 00076 template<class T> 00077 class DataObjectLockFree 00078 : public DataObjectInterface<T> 00079 { 00080 public: 00084 typedef T DataType; 00085 00091 const unsigned int MAX_THREADS; // = 2 00092 private: 00096 const unsigned int BUF_LEN; // = MAX_THREADS+2 00097 00105 struct DataBuf { 00106 DataBuf() 00107 : data(), counter(), next() 00108 { 00109 oro_atomic_set(&counter, 0); 00110 } 00111 DataType data; mutable oro_atomic_t counter; DataBuf* next; 00112 }; 00113 00114 typedef DataBuf* volatile VolPtrType; 00115 typedef DataBuf ValueType; 00116 typedef DataBuf* PtrType; 00117 00118 VolPtrType read_ptr; 00119 VolPtrType write_ptr; 00120 00124 DataBuf* data; 00125 public: 00126 00133 DataObjectLockFree( const T& initial_value = T(), unsigned int max_threads = 2 ) 00134 : MAX_THREADS(max_threads), BUF_LEN( max_threads + 2), 00135 read_ptr(0), 00136 write_ptr(0) 00137 { 00138 data = new DataBuf[BUF_LEN]; 00139 read_ptr = &data[0]; 00140 write_ptr = &data[1]; 00141 data_sample(initial_value); 00142 } 00143 00144 ~DataObjectLockFree() { 00145 delete[] data; 00146 } 00147 00155 virtual DataType Get() const {DataType cache; Get(cache); return cache; } 00156 00164 virtual void Get( DataType& pull ) const 00165 { 00166 PtrType reading; 00167 // loop to combine Read/Modify of counter 00168 // This avoids a race condition where read_ptr 00169 // could become write_ptr ( then we would read corrupted data). 00170 do { 00171 reading = read_ptr; // copy buffer location 00172 oro_atomic_inc(&reading->counter); // lock buffer, no more writes 00173 // XXX smp_mb 00174 if ( reading != read_ptr ) // if read_ptr changed, 00175 oro_atomic_dec(&reading->counter); // better to start over. 00176 else 00177 break; 00178 } while ( true ); 00179 // from here on we are sure that 'reading' 00180 // is a valid buffer to read from. 00181 pull = reading->data; // takes some time 00182 // XXX smp_mb 00183 oro_atomic_dec(&reading->counter); // release buffer 00184 } 00185 00191 virtual void Set( const DataType& push ) 00192 { 00201 // writeout in any case 00202 write_ptr->data = push; 00203 PtrType wrote_ptr = write_ptr; 00204 // if next field is occupied (by read_ptr or counter), 00205 // go to next and check again... 00206 while ( oro_atomic_read( &write_ptr->next->counter ) != 0 || write_ptr->next == read_ptr ) 00207 { 00208 write_ptr = write_ptr->next; 00209 if (write_ptr == wrote_ptr) 00210 return; // nothing found, to many readers ! 00211 } 00212 00213 // we will be able to move, so replace read_ptr 00214 read_ptr = wrote_ptr; 00215 write_ptr = write_ptr->next; // we checked this in the while loop 00216 } 00217 00218 virtual void data_sample( const DataType& sample ) { 00219 // prepare the buffer. 00220 for (unsigned int i = 0; i < BUF_LEN-1; ++i) { 00221 data[i].data = sample; 00222 data[i].next = &data[i+1]; 00223 } 00224 data[BUF_LEN-1].data = sample; 00225 data[BUF_LEN-1].next = &data[0]; 00226 } 00227 }; 00228 }} 00229 00230 #endif 00231