Merge "Fix merging schemas in aos configs"
diff --git a/aos/configuration.fbs b/aos/configuration.fbs
index bfac6a2..3401b43 100644
--- a/aos/configuration.fbs
+++ b/aos/configuration.fbs
@@ -143,6 +143,9 @@
// List of arguments to be passed to application
args:[string] (id: 4);
+
+ // Indicates that application should be executed on boot.
+ autostart:bool = true (id: 6);
}
// Per node data and connection information.
diff --git a/aos/events/event_loop_param_test.cc b/aos/events/event_loop_param_test.cc
index 1460663..b976d8f 100644
--- a/aos/events/event_loop_param_test.cc
+++ b/aos/events/event_loop_param_test.cc
@@ -780,11 +780,23 @@
// Verify that SetRuntimeAffinity fails while running.
TEST_P(AbstractEventLoopDeathTest, SetRuntimeAffinity) {
+ const cpu_set_t available = GetCurrentThreadAffinity();
+ int first_cpu = -1;
+ for (int i = 0; i < CPU_SETSIZE; ++i) {
+ if (CPU_ISSET(i, &available)) {
+ first_cpu = i;
+ break;
+ continue;
+ }
+ }
+ CHECK_NE(first_cpu, -1) << ": Default affinity has no CPUs?";
+
auto loop = MakePrimary();
// Confirm that runtime priority calls work when not running.
- loop->SetRuntimeAffinity(MakeCpusetFromCpus({0}));
+ loop->SetRuntimeAffinity(MakeCpusetFromCpus({first_cpu}));
- loop->OnRun([&]() { loop->SetRuntimeAffinity(MakeCpusetFromCpus({1})); });
+ loop->OnRun(
+ [&]() { loop->SetRuntimeAffinity(MakeCpusetFromCpus({first_cpu})); });
EXPECT_DEATH(Run(), "Cannot set affinity while running");
}
@@ -937,7 +949,7 @@
// Verify that timer intervals and duration function properly.
TEST_P(AbstractEventLoopTest, TimerIntervalAndDuration) {
- // Force a slower rate so we are guarenteed to have reports for our timer.
+ // Force a slower rate so we are guaranteed to have reports for our timer.
FLAGS_timing_report_ms = 2000;
const int kCount = 5;
@@ -977,9 +989,9 @@
Run();
// Confirm that we got both the right number of samples, and it's odd.
- EXPECT_EQ(times.size(), static_cast<size_t>(kCount));
- EXPECT_EQ(times.size(), expected_times.size());
- EXPECT_EQ((times.size() % 2), 1);
+ ASSERT_EQ(times.size(), static_cast<size_t>(kCount));
+ ASSERT_EQ(times.size(), expected_times.size());
+ ASSERT_EQ((times.size() % 2), 1);
// Grab the middle sample.
::aos::monotonic_clock::time_point average_time = times[times.size() / 2];
@@ -1064,6 +1076,7 @@
// Verify that we can change a timer's parameters during execution.
TEST_P(AbstractEventLoopTest, TimerChangeParameters) {
auto loop = MakePrimary();
+ loop->SetRuntimeRealtimePriority(1);
std::vector<monotonic_clock::time_point> iteration_list;
auto test_timer = loop->AddTimer([&iteration_list, &loop]() {
@@ -1072,42 +1085,45 @@
monotonic_clock::time_point s;
auto modifier_timer = loop->AddTimer([&test_timer, &s]() {
- test_timer->Setup(s + chrono::milliseconds(45), chrono::milliseconds(30));
+ test_timer->Setup(s + chrono::milliseconds(1750),
+ chrono::milliseconds(600));
});
s = loop->monotonic_now();
- test_timer->Setup(s, chrono::milliseconds(20));
- modifier_timer->Setup(s + chrono::milliseconds(45));
- EndEventLoop(loop.get(), chrono::milliseconds(150));
+ test_timer->Setup(s, chrono::milliseconds(500));
+ modifier_timer->Setup(s + chrono::milliseconds(1250));
+ EndEventLoop(loop.get(), chrono::milliseconds(3950));
Run();
- EXPECT_EQ(iteration_list.size(), 7);
- EXPECT_EQ(iteration_list[0], s);
- EXPECT_EQ(iteration_list[1], s + chrono::milliseconds(20));
- EXPECT_EQ(iteration_list[2], s + chrono::milliseconds(40));
- EXPECT_EQ(iteration_list[3], s + chrono::milliseconds(45));
- EXPECT_EQ(iteration_list[4], s + chrono::milliseconds(75));
- EXPECT_EQ(iteration_list[5], s + chrono::milliseconds(105));
- EXPECT_EQ(iteration_list[6], s + chrono::milliseconds(135));
+ EXPECT_THAT(
+ iteration_list,
+ ::testing::ElementsAre(
+ s, s + chrono::milliseconds(500), s + chrono::milliseconds(1000),
+ s + chrono::milliseconds(1750), s + chrono::milliseconds(2350),
+ s + chrono::milliseconds(2950), s + chrono::milliseconds(3550)));
}
// Verify that we can disable a timer during execution.
TEST_P(AbstractEventLoopTest, TimerDisable) {
auto loop = MakePrimary();
+ loop->SetRuntimeRealtimePriority(1);
::std::vector<::aos::monotonic_clock::time_point> iteration_list;
auto test_timer = loop->AddTimer([&iteration_list, &loop]() {
- iteration_list.push_back(loop->monotonic_now());
+ iteration_list.push_back(loop->context().monotonic_event_time);
});
auto ender_timer = loop->AddTimer([&test_timer]() { test_timer->Disable(); });
- test_timer->Setup(loop->monotonic_now(), ::std::chrono::milliseconds(20));
- ender_timer->Setup(loop->monotonic_now() + ::std::chrono::milliseconds(45));
- EndEventLoop(loop.get(), ::std::chrono::milliseconds(150));
+ monotonic_clock::time_point s = loop->monotonic_now();
+ test_timer->Setup(s, ::std::chrono::milliseconds(70));
+ ender_timer->Setup(s + ::std::chrono::milliseconds(200));
+ EndEventLoop(loop.get(), ::std::chrono::milliseconds(350));
Run();
- EXPECT_EQ(iteration_list.size(), 3);
+ EXPECT_THAT(iteration_list,
+ ::testing::ElementsAre(s, s + chrono::milliseconds(70),
+ s + chrono::milliseconds(140)));
}
// Verify that a timer can disable itself.
@@ -1175,7 +1191,7 @@
}
// Verifies that the event loop implementations detect when Channel is not a
-// pointer into confguration()
+// pointer into configuration()
TEST_P(AbstractEventLoopDeathTest, InvalidChannel) {
auto loop = MakePrimary();
@@ -1417,7 +1433,7 @@
// Tests that a couple phased loops run in a row result in the correct offset
// and period.
TEST_P(AbstractEventLoopTest, PhasedLoopTest) {
- // Force a slower rate so we are guarenteed to have reports for our phased
+ // Force a slower rate so we are guaranteed to have reports for our phased
// loop.
FLAGS_timing_report_ms = 2000;
@@ -1470,9 +1486,9 @@
Run();
// Confirm that we got both the right number of samples, and it's odd.
- EXPECT_EQ(times.size(), static_cast<size_t>(kCount));
- EXPECT_EQ(times.size(), expected_times.size());
- EXPECT_EQ((times.size() % 2), 1);
+ ASSERT_EQ(times.size(), static_cast<size_t>(kCount));
+ ASSERT_EQ(times.size(), expected_times.size());
+ ASSERT_EQ((times.size() % 2), 1);
// Grab the middle sample.
::aos::monotonic_clock::time_point average_time = times[times.size() / 2];
diff --git a/aos/events/logging/log_reader.cc b/aos/events/logging/log_reader.cc
index 169311e..d6213ae 100644
--- a/aos/events/logging/log_reader.cc
+++ b/aos/events/logging/log_reader.cc
@@ -49,6 +49,24 @@
namespace logger {
namespace {
+bool CompareChannels(const Channel *c,
+ ::std::pair<std::string_view, std::string_view> p) {
+ int name_compare = c->name()->string_view().compare(p.first);
+ if (name_compare == 0) {
+ return c->type()->string_view() < p.second;
+ } else if (name_compare < 0) {
+ return true;
+ } else {
+ return false;
+ }
+}
+
+bool EqualsChannels(const Channel *c,
+ ::std::pair<std::string_view, std::string_view> p) {
+ return c->name()->string_view() == p.first &&
+ c->type()->string_view() == p.second;
+}
+
// Copies the channel, removing the schema as we go. If new_name is provided,
// it is used instead of the name inside the channel. If new_type is provided,
// it is used instead of the type in the channel.
@@ -1231,6 +1249,30 @@
// TODO(austin): Lazily re-build to save CPU?
}
+std::vector<const Channel *> LogReader::RemappedChannels() const {
+ std::vector<const Channel *> result;
+ result.reserve(remapped_channels_.size());
+ for (auto &pair : remapped_channels_) {
+ const Channel *const logged_channel =
+ CHECK_NOTNULL(logged_configuration()->channels()->Get(pair.first));
+
+ auto channel_iterator = std::lower_bound(
+ remapped_configuration_->channels()->cbegin(),
+ remapped_configuration_->channels()->cend(),
+ std::make_pair(std::string_view(pair.second.remapped_name),
+ logged_channel->type()->string_view()),
+ CompareChannels);
+
+ CHECK(channel_iterator != remapped_configuration_->channels()->cend());
+ CHECK(EqualsChannels(
+ *channel_iterator,
+ std::make_pair(std::string_view(pair.second.remapped_name),
+ logged_channel->type()->string_view())));
+ result.push_back(*channel_iterator);
+ }
+ return result;
+}
+
const Channel *LogReader::RemapChannel(const EventLoop *event_loop,
const Node *node,
const Channel *channel) {
diff --git a/aos/events/logging/log_reader.h b/aos/events/logging/log_reader.h
index 8293956..5dfaeea 100644
--- a/aos/events/logging/log_reader.h
+++ b/aos/events/logging/log_reader.h
@@ -173,6 +173,9 @@
return channel->logger() != LoggerConfig::NOT_LOGGED;
}
+ // Returns a list of all the original channels from remapping.
+ std::vector<const Channel *> RemappedChannels() const;
+
SimulatedEventLoopFactory *event_loop_factory() {
return event_loop_factory_;
}
diff --git a/aos/events/logging/logger_test.cc b/aos/events/logging/logger_test.cc
index 8d8a2a6..0be64bb 100644
--- a/aos/events/logging/logger_test.cc
+++ b/aos/events/logging/logger_test.cc
@@ -1774,6 +1774,11 @@
SimulatedEventLoopFactory log_reader_factory(reader.configuration());
log_reader_factory.set_send_delay(chrono::microseconds(0));
+ std::vector<const Channel *> remapped_channels = reader.RemappedChannels();
+ ASSERT_EQ(remapped_channels.size(), 1u);
+ EXPECT_EQ(remapped_channels[0]->name()->string_view(), "/original/pi1/aos");
+ EXPECT_EQ(remapped_channels[0]->type()->string_view(), "aos.timing.Report");
+
reader.Register(&log_reader_factory);
const Node *pi1 =
@@ -2549,9 +2554,9 @@
}
constexpr std::string_view kCombinedConfigSha1(
- "4503751edc96327493562f0376f0d6daac172927c0fd64d04ce5d67505186c0b");
+ "cad3b6838a518ab29470771a959b89945ee034bc7a738080fd1713a1dce51b1f");
constexpr std::string_view kSplitConfigSha1(
- "918a748432c5e70a971dfd8934968378bed04ab61cf2efcd35b7f6224053c247");
+ "aafdd7e43d1942cce5b3e2dd8c6b9706abf7068a43501625a33b7cdfddf6c932");
INSTANTIATE_TEST_SUITE_P(
All, MultinodeLoggerTest,
diff --git a/aos/realtime.cc b/aos/realtime.cc
index dc53a37..c58e2e6 100644
--- a/aos/realtime.cc
+++ b/aos/realtime.cc
@@ -176,6 +176,12 @@
}
}
+cpu_set_t GetCurrentThreadAffinity() {
+ cpu_set_t result;
+ PCHECK(sched_getaffinity(0, sizeof(result), &result) == 0);
+ return result;
+}
+
void SetCurrentThreadRealtimePriority(int priority) {
if (FLAGS_skip_realtime_scheduler) {
LOG(WARNING) << "Ignoring request to switch to the RT scheduler due to "
diff --git a/aos/realtime.h b/aos/realtime.h
index fb49cac..be28e85 100644
--- a/aos/realtime.h
+++ b/aos/realtime.h
@@ -2,6 +2,7 @@
#define AOS_REALTIME_H_
#include <sched.h>
+
#include <string_view>
#include "glog/logging.h"
@@ -37,6 +38,9 @@
return result;
}
+// Returns the current thread's CPU affinity.
+cpu_set_t GetCurrentThreadAffinity();
+
// Sets the current thread's scheduling affinity.
void SetCurrentThreadAffinity(const cpu_set_t &cpuset);
diff --git a/aos/starter/BUILD b/aos/starter/BUILD
index 5cff4cc..cc7ea04 100644
--- a/aos/starter/BUILD
+++ b/aos/starter/BUILD
@@ -34,6 +34,7 @@
"//aos/events:pingpong_config",
"//aos/events:pong",
],
+ shard_count = 3,
target_compatible_with = ["@platforms//os:linux"],
deps = [
":starter_rpc_lib",
diff --git a/aos/starter/starter_test.cc b/aos/starter/starter_test.cc
index dea27e9..f174032 100644
--- a/aos/starter/starter_test.cc
+++ b/aos/starter/starter_test.cc
@@ -12,6 +12,9 @@
using aos::testing::ArtifactPath;
+namespace aos {
+namespace starter {
+
TEST(StarterdTest, StartStopTest) {
const std::string config_file =
ArtifactPath("aos/events/pingpong_config.json");
@@ -69,7 +72,8 @@
ASSERT_TRUE(aos::starter::SendCommandBlocking(
aos::starter::Command::STOP, "ping", config_msg,
std::chrono::seconds(3)));
- }).detach();
+ })
+ .detach();
test_stage = 3;
break;
}
@@ -196,3 +200,78 @@
starter.Cleanup();
starterd_thread.join();
}
+
+TEST(StarterdTest, Autostart) {
+ const std::string config_file =
+ ArtifactPath("aos/events/pingpong_config.json");
+
+ aos::FlatbufferDetachedBuffer<aos::Configuration> config =
+ aos::configuration::ReadConfig(config_file);
+
+ const std::string test_dir = aos::testing::TestTmpDir();
+
+ auto new_config = aos::configuration::MergeWithConfig(
+ &config.message(), absl::StrFormat(
+ R"({"applications": [
+ {
+ "name": "ping",
+ "executable_name": "%s",
+ "args": ["--shm_base", "%s/aos"],
+ "autostart": false
+ },
+ {
+ "name": "pong",
+ "executable_name": "%s",
+ "args": ["--shm_base", "%s/aos"]
+ }
+ ]})",
+ ArtifactPath("aos/events/ping"), test_dir,
+ ArtifactPath("aos/events/pong"), test_dir));
+
+ const aos::Configuration *config_msg = &new_config.message();
+
+ // Set up starter with config file
+ aos::starter::Starter starter(config_msg);
+
+ // Create an event loop to watch for the application starting up.
+ aos::ShmEventLoop watcher_loop(config_msg);
+ watcher_loop.SkipAosLog();
+
+ watcher_loop
+ .AddTimer([&watcher_loop] {
+ watcher_loop.Exit();
+ FAIL();
+ })
+ ->Setup(watcher_loop.monotonic_now() + std::chrono::seconds(7));
+
+ watcher_loop.MakeWatcher(
+ "/aos", [&watcher_loop](const aos::starter::Status &status) {
+ const aos::starter::ApplicationStatus *ping_app_status =
+ FindApplicationStatus(status, "ping");
+ const aos::starter::ApplicationStatus *pong_app_status =
+ FindApplicationStatus(status, "pong");
+ if (ping_app_status == nullptr || pong_app_status == nullptr) {
+ return;
+ }
+
+ if (ping_app_status->has_state() &&
+ ping_app_status->state() != aos::starter::State::STOPPED) {
+ watcher_loop.Exit();
+ FAIL();
+ }
+ if (pong_app_status->has_state() &&
+ pong_app_status->state() == aos::starter::State::RUNNING) {
+ watcher_loop.Exit();
+ SUCCEED();
+ }
+ });
+
+ std::thread starterd_thread([&starter] { starter.Run(); });
+ watcher_loop.Run();
+
+ starter.Cleanup();
+ starterd_thread.join();
+}
+
+} // namespace starter
+} // namespace aos
diff --git a/aos/starter/starterd_lib.cc b/aos/starter/starterd_lib.cc
index 1c32be3..ff8bff9 100644
--- a/aos/starter/starterd_lib.cc
+++ b/aos/starter/starterd_lib.cc
@@ -23,6 +23,7 @@
args_(1),
user_(application->has_user() ? FindUid(application->user()->c_str())
: std::nullopt),
+ autostart_(application->autostart()),
event_loop_(event_loop),
start_timer_(event_loop_->AddTimer([this] {
status_ = aos::starter::State::RUNNING;
@@ -33,9 +34,7 @@
if (kill(pid_, SIGKILL) == 0) {
LOG(WARNING) << "Sent SIGKILL to " << name_ << " pid: " << pid_;
}
- }))
-
-{}
+ })) {}
void Application::DoStart() {
if (status_ != aos::starter::State::WAITING) {
@@ -481,7 +480,9 @@
#endif
for (auto &application : applications_) {
- application.second.Start();
+ if (application.second.autostart()) {
+ application.second.Start();
+ }
}
event_loop_.Run();
diff --git a/aos/starter/starterd_lib.h b/aos/starter/starterd_lib.h
index 38a11d6..cd4b40a 100644
--- a/aos/starter/starterd_lib.h
+++ b/aos/starter/starterd_lib.h
@@ -95,6 +95,8 @@
const flatbuffers::Vector<flatbuffers::Offset<flatbuffers::String>>
&args);
+ bool autostart() const { return autostart_; }
+
private:
void DoStart();
@@ -124,6 +126,7 @@
aos::monotonic_clock::time_point start_time_, exit_time_;
bool queue_restart_ = false;
bool terminating_ = false;
+ bool autostart_ = true;
aos::starter::State status_ = aos::starter::State::STOPPED;
aos::starter::LastStopReason stop_reason_ =