Initial commit: Livox SDK2 source (excluding build artifacts)

sdk_core/base/io_loop.cpp

@@ -0,0 +1,131 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2022 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#include "io_loop.h"
+#include <functional>
+#include <mutex>
+#include <iostream>
+#include <algorithm>
+#include "logging.h"
+
+using std::lock_guard;
+using std::mutex;
+using std::vector;
+using std::chrono::steady_clock;
+
+namespace livox {
+namespace lidar {
+
+bool IOLoop::Init() {
+  auto multiple_io = MultipleIOFactory::CreateMultipleIO();
+  if (!multiple_io) {
+    LOG_ERROR("Creat Multiple IO Failed!");
+    return false;
+  }
+  multiple_io_base_ = std::move(multiple_io);
+  if (!multiple_io_base_->PollCreate(OPEN_MAX_POLL)) {
+    LOG_ERROR("Poll Create Failed!");
+    return false;
+  }
+  return true;
+}
+
+void IOLoop::Uninit() {
+  multiple_io_base_->PollDestroy();
+}
+
+void IOLoop::AddDelegate(socket_t sock, IOLoop::IOLoopDelegate *delegate, void *data) {
+  PostTask(std::bind(&IOLoop::AddDelegateAsync, this, sock, delegate, data));
+}
+
+void IOLoop::RemoveDelegate(socket_t sock, IOLoopDelegate *) {
+  PostTask(std::bind(&IOLoop::RemoveDelegateAsync, this, sock));
+}
+
+void IOLoop::Loop() {
+  multiple_io_base_->Poll(POLL_TIMEOUT);
+
+  vector<IOLoopTask> tasks;
+  {
+    lock_guard<mutex> lock(mutex_);
+    tasks.swap(pending_tasks_);
+  }
+
+  for (auto &task : tasks) {
+    task();
+  }
+}
+
+ bool IOLoop::Wakeup() {
+  if (multiple_io_base_) {
+    multiple_io_base_->PollWakeUp();
+  }
+  return true;
+ }
+
+void IOLoop::PostTask(const IOLoopTask &task) {
+  {
+    lock_guard<mutex> lock(mutex_);
+    pending_tasks_.push_back(task);
+  }
+  Wakeup();
+}
+
+void IOLoop::AddDelegateAsync(socket_t sock, IOLoop::IOLoopDelegate *delegate, void *data) {
+  PollFd pollfd = {};
+  pollfd.fd = sock;
+  pollfd.event = READBLE_EVENT;
+  pollfd.event_callback = [=](FdEvent event) {
+    if (event & READBLE_EVENT) {
+      if (delegate) {
+        delegate->OnData(sock, data);
+      }
+    }
+  };
+  if (enable_timer_) {
+    pollfd.timer_callback = [=](TimePoint t) {
+      if (delegate) {
+        delegate->OnTimer(t);
+      }
+    };
+  }
+  if (enable_wake_) {
+    pollfd.wake_callback = [=]() {
+      if (delegate) {
+        delegate->OnWake();
+      }
+    };
+  }
+  multiple_io_base_->PollSetAdd(pollfd);
+}
+
+void IOLoop::RemoveDelegateAsync(socket_t sock) {
+  PollFd pollfd = {};
+  pollfd.fd = sock;
+  pollfd.event = READBLE_EVENT;
+  multiple_io_base_->PollSetRemove(pollfd);
+}
+
+} // namespace lidar
+}  // namespace livox