aos/events/event_scheduler.cc - RealtimeRoboticsGroup/test - Gitiles

 #include "aos/events/event_scheduler.h"

 #include <algorithm>
 #include <deque>

 #include "aos/events/event_loop.h"
 #include "aos/logging/implementations.h"

 namespace aos {

 EventScheduler::Token EventScheduler::Schedule(monotonic_clock::time_point time,
                                                Event *callback) {
   return events_list_.emplace(time, callback);
 }

 void EventScheduler::Deschedule(EventScheduler::Token token) {
   // We basically want to DCHECK some nontrivial logic. Guard it with NDEBUG to
   // ensure the compiler realizes it's all unnecessary when not doing debug
   // checks.
 #ifndef NDEBUG
   {
     bool found = false;
     auto i = events_list_.begin();
     while (i != events_list_.end()) {
       if (i == token) {
         CHECK(!found) << ": The same iterator is in the multimap twice??";
         found = true;
       }
       ++i;
     }
     CHECK(found) << ": Trying to deschedule an event which is not scheduled";
   }
 #endif
   events_list_.erase(token);
 }

 aos::monotonic_clock::time_point EventScheduler::OldestEvent() {
   if (events_list_.empty()) {
     return monotonic_clock::max_time;
   }

   return events_list_.begin()->first;
 }

 void EventScheduler::Shutdown() { on_shutdown_(); }

 void EventScheduler::Startup() {
   ++boot_count_;
   RunOnStartup();
 }

 void EventScheduler::CallOldestEvent() {
   CHECK_GT(events_list_.size(), 0u);
   auto iter = events_list_.begin();
   const logger::BootTimestamp t =
       FromDistributedClock(scheduler_scheduler_->distributed_now());
   VLOG(2) << "Got time back " << t;
   CHECK_EQ(t.boot, boot_count_);
   CHECK_EQ(t.time, iter->first) << ": Time is wrong on node " << node_index_;

   Event *callback = iter->second;
   events_list_.erase(iter);
   callback->Handle();

   converter_->ObserveTimePassed(scheduler_scheduler_->distributed_now());
 }

 void EventScheduler::RunOnRun() {
   while (!on_run_.empty()) {
     std::function<void()> fn = std::move(*on_run_.begin());
     on_run_.erase(on_run_.begin());
     fn();
   }
 }

 void EventScheduler::RunOnStartup() noexcept {
   while (!on_startup_.empty()) {
     std::function<void()> fn = std::move(*on_startup_.begin());
     on_startup_.erase(on_startup_.begin());
     fn();
   }
 }

 void EventScheduler::RunStarted() {
   if (started_) {
     started_();
   }
 }

 void EventScheduler::RunStopped() {
   if (stopped_) {
     stopped_();
   }
 }

 std::ostream &operator<<(std::ostream &stream,
                          const aos::distributed_clock::time_point &now) {
   // Print it the same way we print a monotonic time.  Literally.
   stream << monotonic_clock::time_point(now.time_since_epoch());
   return stream;
 }

 void EventSchedulerScheduler::AddEventScheduler(EventScheduler *scheduler) {
   CHECK(std::find(schedulers_.begin(), schedulers_.end(), scheduler) ==
         schedulers_.end());
   CHECK(scheduler->scheduler_scheduler_ == nullptr);
   CHECK_EQ(scheduler->node_index(), schedulers_.size());

   schedulers_.emplace_back(scheduler);
   scheduler->scheduler_scheduler_ = this;
 }

 void EventSchedulerScheduler::Reboot() {
   const std::vector<logger::BootTimestamp> &times =
       std::get<1>(reboots_.front());
   CHECK_EQ(times.size(), schedulers_.size());

   VLOG(1) << "Rebooting at " << now_;
   for (const auto &time : times) {
     VLOG(1) << "  " << time;
   }

   is_running_ = false;

   // Shut everything down.
   std::vector<size_t> rebooted;
   for (size_t node_index = 0; node_index < schedulers_.size(); ++node_index) {
     if (schedulers_[node_index]->boot_count() == times[node_index].boot) {
       continue;
     } else {
       rebooted.emplace_back(node_index);
       CHECK_EQ(schedulers_[node_index]->boot_count() + 1,
                times[node_index].boot);
       schedulers_[node_index]->RunStopped();
       schedulers_[node_index]->Shutdown();
     }
   }

   // And start it back up again to reboot.  When something starts back up
   // (especially message_bridge), it could try to send stuff out.  We want
   // to move everything over to the new boot before doing that.
   for (const size_t node_index : rebooted) {
     CHECK_EQ(schedulers_[node_index]->boot_count() + 1, times[node_index].boot);
     schedulers_[node_index]->Startup();
   }

   for (const size_t node_index : rebooted) {
     schedulers_[node_index]->RunStarted();
   }

   for (const size_t node_index : rebooted) {
     schedulers_[node_index]->RunOnRun();
   }
   is_running_ = true;
 }

 void EventSchedulerScheduler::RunFor(distributed_clock::duration duration) {
   distributed_clock::time_point end_time = now_ + duration;
   logging::ScopedLogRestorer prev_logger;
   RunOnStartup();
   RunOnRun();

   // Run all the sub-event-schedulers.
   while (is_running_) {
     std::tuple<distributed_clock::time_point, EventScheduler *> oldest_event =
         OldestEvent();
     if (!reboots_.empty() &&
         std::get<0>(reboots_.front()) <= std::get<0>(oldest_event)) {
       // Reboot is next.
       if (std::get<0>(reboots_.front()) > end_time) {
         // Reboot is after our end time, give up.
         is_running_ = false;
         break;
       }

       CHECK_LE(now_,
                std::get<0>(reboots_.front()) + std::chrono::nanoseconds(1))
           << ": Simulated time went backwards by too much.  Please "
              "investigate.";
       now_ = std::get<0>(reboots_.front());
       Reboot();
       reboots_.erase(reboots_.begin());
       continue;
     }

     // No events left, bail.
     if (std::get<0>(oldest_event) == distributed_clock::max_time ||
         std::get<0>(oldest_event) > end_time) {
       is_running_ = false;
       break;
     }

     // We get to pick our tradeoffs here.  Either we assume that there are no
     // backward step changes in our time function for each node, or we have to
     // let time go backwards.  We currently only really see this happen when 2
     // events are scheduled for "now", time changes, and there is a nanosecond
     // or two of rounding due to integer math.
     //
     // //aos/events/logging:logger_test triggers this.
     CHECK_LE(now_, std::get<0>(oldest_event) + std::chrono::nanoseconds(1))
         << ": Simulated time went backwards by too much.  Please investigate.";
     now_ = std::get<0>(oldest_event);

     std::get<1>(oldest_event)->CallOldestEvent();
   }

   now_ = end_time;

   RunStopped();
 }

 void EventSchedulerScheduler::Run() {
   logging::ScopedLogRestorer prev_logger;
   RunOnStartup();
   RunOnRun();
   // Run all the sub-event-schedulers.
   while (is_running_) {
     std::tuple<distributed_clock::time_point, EventScheduler *> oldest_event =
         OldestEvent();
     if (!reboots_.empty() &&
         std::get<0>(reboots_.front()) <= std::get<0>(oldest_event)) {
       // Reboot is next.
       CHECK_LE(now_,
                std::get<0>(reboots_.front()) + std::chrono::nanoseconds(1))
           << ": Simulated time went backwards by too much.  Please "
              "investigate.";
       now_ = std::get<0>(reboots_.front());
       Reboot();
       reboots_.erase(reboots_.begin());
       continue;
     }
     // No events left, bail.
     if (std::get<0>(oldest_event) == distributed_clock::max_time) {
       break;
     }

     // We get to pick our tradeoffs here.  Either we assume that there are no
     // backward step changes in our time function for each node, or we have to
     // let time go backwards.  We currently only really see this happen when 2
     // events are scheduled for "now", time changes, and there is a nanosecond
     // or two of rounding due to integer math.
     //
     // //aos/events/logging:logger_test triggers this.
     CHECK_LE(now_, std::get<0>(oldest_event) + std::chrono::nanoseconds(1))
         << ": Simulated time went backwards by too much.  Please investigate.";
     now_ = std::get<0>(oldest_event);

     std::get<1>(oldest_event)->CallOldestEvent();
   }

   is_running_ = false;

   RunStopped();
 }

 std::tuple<distributed_clock::time_point, EventScheduler *>
 EventSchedulerScheduler::OldestEvent() {
   distributed_clock::time_point min_event_time = distributed_clock::max_time;
   EventScheduler *min_scheduler = nullptr;

   // TODO(austin): Don't linearly search...  But for N=3, it is probably the
   // fastest way to do this.
   for (EventScheduler *scheduler : schedulers_) {
     const monotonic_clock::time_point monotonic_event_time =
         scheduler->OldestEvent();
     if (monotonic_event_time != monotonic_clock::max_time) {
       const distributed_clock::time_point event_time =
           scheduler->ToDistributedClock(monotonic_event_time);
       if (event_time < min_event_time) {
         min_event_time = event_time;
         min_scheduler = scheduler;
       }
     }
   }

   if (min_scheduler) {
     VLOG(2) << "Oldest event " << min_event_time << " on scheduler "
             << min_scheduler->node_index_;
   }
   return std::make_tuple(min_event_time, min_scheduler);
 }

 void EventSchedulerScheduler::TemporarilyStopAndRun(std::function<void()> fn) {
   const bool was_running = is_running_;
   if (is_running_) {
     is_running_ = false;
     RunStopped();
   }
   fn();
   if (was_running) {
     RunOnStartup();
     RunOnRun();
   }
 }

 }  // namespace aos
	#include "aos/events/event_scheduler.h"

	#include <algorithm>
	#include <deque>

	#include "aos/events/event_loop.h"
	#include "aos/logging/implementations.h"

	namespace aos {

	EventScheduler::Token EventScheduler::Schedule(monotonic_clock::time_point time,
	Event *callback) {
	return events_list_.emplace(time, callback);
	}

	void EventScheduler::Deschedule(EventScheduler::Token token) {
	// We basically want to DCHECK some nontrivial logic. Guard it with NDEBUG to
	// ensure the compiler realizes it's all unnecessary when not doing debug
	// checks.
	#ifndef NDEBUG
	{
	bool found = false;
	auto i = events_list_.begin();
	while (i != events_list_.end()) {
	if (i == token) {
	CHECK(!found) << ": The same iterator is in the multimap twice??";
	found = true;
	}
	++i;
	}
	CHECK(found) << ": Trying to deschedule an event which is not scheduled";
	}
	#endif
	events_list_.erase(token);
	}

	aos::monotonic_clock::time_point EventScheduler::OldestEvent() {
	if (events_list_.empty()) {
	return monotonic_clock::max_time;
	}

	return events_list_.begin()->first;
	}

	void EventScheduler::Shutdown() { on_shutdown_(); }

	void EventScheduler::Startup() {
	++boot_count_;
	RunOnStartup();
	}

	void EventScheduler::CallOldestEvent() {
	CHECK_GT(events_list_.size(), 0u);
	auto iter = events_list_.begin();
	const logger::BootTimestamp t =
	FromDistributedClock(scheduler_scheduler_->distributed_now());
	VLOG(2) << "Got time back " << t;
	CHECK_EQ(t.boot, boot_count_);
	CHECK_EQ(t.time, iter->first) << ": Time is wrong on node " << node_index_;

	Event *callback = iter->second;
	events_list_.erase(iter);
	callback->Handle();

	converter_->ObserveTimePassed(scheduler_scheduler_->distributed_now());
	}

	void EventScheduler::RunOnRun() {
	while (!on_run_.empty()) {
	std::function<void()> fn = std::move(*on_run_.begin());
	on_run_.erase(on_run_.begin());
	fn();
	}
	}

	void EventScheduler::RunOnStartup() noexcept {
	while (!on_startup_.empty()) {
	std::function<void()> fn = std::move(*on_startup_.begin());
	on_startup_.erase(on_startup_.begin());
	fn();
	}
	}

	void EventScheduler::RunStarted() {
	if (started_) {
	started_();
	}
	}

	void EventScheduler::RunStopped() {
	if (stopped_) {
	stopped_();
	}
	}

	std::ostream &operator<<(std::ostream &stream,
	const aos::distributed_clock::time_point &now) {
	// Print it the same way we print a monotonic time. Literally.
	stream << monotonic_clock::time_point(now.time_since_epoch());
	return stream;
	}

	void EventSchedulerScheduler::AddEventScheduler(EventScheduler *scheduler) {
	CHECK(std::find(schedulers_.begin(), schedulers_.end(), scheduler) ==
	schedulers_.end());
	CHECK(scheduler->scheduler_scheduler_ == nullptr);
	CHECK_EQ(scheduler->node_index(), schedulers_.size());

	schedulers_.emplace_back(scheduler);
	scheduler->scheduler_scheduler_ = this;
	}

	void EventSchedulerScheduler::Reboot() {
	const std::vector<logger::BootTimestamp> &times =
	std::get<1>(reboots_.front());
	CHECK_EQ(times.size(), schedulers_.size());

	VLOG(1) << "Rebooting at " << now_;
	for (const auto &time : times) {
	VLOG(1) << " " << time;
	}

	is_running_ = false;

	// Shut everything down.
	std::vector<size_t> rebooted;
	for (size_t node_index = 0; node_index < schedulers_.size(); ++node_index) {
	if (schedulers_[node_index]->boot_count() == times[node_index].boot) {
	continue;
	} else {
	rebooted.emplace_back(node_index);
	CHECK_EQ(schedulers_[node_index]->boot_count() + 1,
	times[node_index].boot);
	schedulers_[node_index]->RunStopped();
	schedulers_[node_index]->Shutdown();
	}
	}

	// And start it back up again to reboot. When something starts back up
	// (especially message_bridge), it could try to send stuff out. We want
	// to move everything over to the new boot before doing that.
	for (const size_t node_index : rebooted) {
	CHECK_EQ(schedulers_[node_index]->boot_count() + 1, times[node_index].boot);
	schedulers_[node_index]->Startup();
	}

	for (const size_t node_index : rebooted) {
	schedulers_[node_index]->RunStarted();
	}

	for (const size_t node_index : rebooted) {
	schedulers_[node_index]->RunOnRun();
	}
	is_running_ = true;
	}

	void EventSchedulerScheduler::RunFor(distributed_clock::duration duration) {
	distributed_clock::time_point end_time = now_ + duration;
	logging::ScopedLogRestorer prev_logger;
	RunOnStartup();
	RunOnRun();

	// Run all the sub-event-schedulers.
	while (is_running_) {
	std::tuple<distributed_clock::time_point, EventScheduler *> oldest_event =
	OldestEvent();
	if (!reboots_.empty() &&
	std::get<0>(reboots_.front()) <= std::get<0>(oldest_event)) {
	// Reboot is next.
	if (std::get<0>(reboots_.front()) > end_time) {
	// Reboot is after our end time, give up.
	is_running_ = false;
	break;
	}

	CHECK_LE(now_,
	std::get<0>(reboots_.front()) + std::chrono::nanoseconds(1))
	<< ": Simulated time went backwards by too much. Please "
	"investigate.";
	now_ = std::get<0>(reboots_.front());
	Reboot();
	reboots_.erase(reboots_.begin());
	continue;
	}

	// No events left, bail.
	if (std::get<0>(oldest_event) == distributed_clock::max_time \|\|
	std::get<0>(oldest_event) > end_time) {
	is_running_ = false;
	break;
	}

	// We get to pick our tradeoffs here. Either we assume that there are no
	// backward step changes in our time function for each node, or we have to
	// let time go backwards. We currently only really see this happen when 2
	// events are scheduled for "now", time changes, and there is a nanosecond
	// or two of rounding due to integer math.
	//
	// //aos/events/logging:logger_test triggers this.
	CHECK_LE(now_, std::get<0>(oldest_event) + std::chrono::nanoseconds(1))
	<< ": Simulated time went backwards by too much. Please investigate.";
	now_ = std::get<0>(oldest_event);

	std::get<1>(oldest_event)->CallOldestEvent();
	}

	now_ = end_time;

	RunStopped();
	}

	void EventSchedulerScheduler::Run() {
	logging::ScopedLogRestorer prev_logger;
	RunOnStartup();
	RunOnRun();
	// Run all the sub-event-schedulers.
	while (is_running_) {
	std::tuple<distributed_clock::time_point, EventScheduler *> oldest_event =
	OldestEvent();
	if (!reboots_.empty() &&
	std::get<0>(reboots_.front()) <= std::get<0>(oldest_event)) {
	// Reboot is next.
	CHECK_LE(now_,
	std::get<0>(reboots_.front()) + std::chrono::nanoseconds(1))
	<< ": Simulated time went backwards by too much. Please "
	"investigate.";
	now_ = std::get<0>(reboots_.front());
	Reboot();
	reboots_.erase(reboots_.begin());
	continue;
	}
	// No events left, bail.
	if (std::get<0>(oldest_event) == distributed_clock::max_time) {
	break;
	}

	// We get to pick our tradeoffs here. Either we assume that there are no
	// backward step changes in our time function for each node, or we have to
	// let time go backwards. We currently only really see this happen when 2
	// events are scheduled for "now", time changes, and there is a nanosecond
	// or two of rounding due to integer math.
	//
	// //aos/events/logging:logger_test triggers this.
	CHECK_LE(now_, std::get<0>(oldest_event) + std::chrono::nanoseconds(1))
	<< ": Simulated time went backwards by too much. Please investigate.";
	now_ = std::get<0>(oldest_event);

	std::get<1>(oldest_event)->CallOldestEvent();
	}

	is_running_ = false;

	RunStopped();
	}

	std::tuple<distributed_clock::time_point, EventScheduler *>
	EventSchedulerScheduler::OldestEvent() {
	distributed_clock::time_point min_event_time = distributed_clock::max_time;
	EventScheduler *min_scheduler = nullptr;

	// TODO(austin): Don't linearly search... But for N=3, it is probably the
	// fastest way to do this.
	for (EventScheduler *scheduler : schedulers_) {
	const monotonic_clock::time_point monotonic_event_time =
	scheduler->OldestEvent();
	if (monotonic_event_time != monotonic_clock::max_time) {
	const distributed_clock::time_point event_time =
	scheduler->ToDistributedClock(monotonic_event_time);
	if (event_time < min_event_time) {
	min_event_time = event_time;
	min_scheduler = scheduler;
	}
	}
	}

	if (min_scheduler) {
	VLOG(2) << "Oldest event " << min_event_time << " on scheduler "
	<< min_scheduler->node_index_;
	}
	return std::make_tuple(min_event_time, min_scheduler);
	}

	void EventSchedulerScheduler::TemporarilyStopAndRun(std::function<void()> fn) {
	const bool was_running = is_running_;
	if (is_running_) {
	is_running_ = false;
	RunStopped();
	}
	fn();
	if (was_running) {
	RunOnStartup();
	RunOnRun();
	}
	}

	} // namespace aos