aos/events/shm_event_loop.rs

pub use aos_configuration::{Configuration, ConfigurationExt};
pub use aos_events_event_loop_runtime::EventLoop;
pub use aos_events_event_loop_runtime::{CppExitHandle, EventLoopRuntime, ExitHandle};

use aos_configuration_fbs::aos::Configuration as RustConfiguration;
use aos_flatbuffers::{transmute_table_to, Flatbuffer};
use autocxx::WithinBox;
use core::marker::PhantomData;
use core::pin::Pin;
use std::boxed::Box;
use std::ops::{Deref, DerefMut};

autocxx::include_cpp! (
#include "aos/events/shm_event_loop.h"
#include "aos/events/shm_event_loop_for_rust.h"

safety!(unsafe)

generate!("aos::ShmEventLoopForRust")

extern_cpp_type!("aos::ExitHandle", crate::CppExitHandle)
extern_cpp_type!("aos::Configuration", crate::Configuration)
extern_cpp_type!("aos::EventLoop", crate::EventLoop)
);

/// A Rust-owned C++ `ShmEventLoop` object.
pub struct ShmEventLoop<'config> {
    inner: Pin<Box<ffi::aos::ShmEventLoopForRust>>,
    _config: PhantomData<&'config Configuration>,
}

impl<'config> ShmEventLoop<'config> {
    /// Creates a Rust-owned ShmEventLoop.
    pub fn new(config: &'config impl Flatbuffer<RustConfiguration<'static>>) -> Self {
        // SAFETY: The `_config` represents the lifetime of this pointer we're handing off to c++ to
        // store.
        let event_loop = unsafe {
            ffi::aos::ShmEventLoopForRust::new(transmute_table_to::<Configuration>(
                &config.message()._tab,
            ))
        }
        .within_box();

        Self {
            inner: event_loop,
            _config: PhantomData,
        }
    }

    /// Provides a runtime to construct the application and runs the event loop.
    ///
    /// The runtime is the only way to interact with the event loop. It provides the functionality
    /// to spawn a task, construct timers, watchers, fetchers, and so on.
    ///
    /// Making an [`EventLoopRuntime`] is tricky since the lifetime of the runtime is invariant
    /// w.r.t the event loop. In other words, the runtime and the event loop must have the same
    /// lifetime. By providing access to the runtime through an [`FnOnce`], we can guarantee
    /// that the runtime and the event loop both have the same lifetime.
    ///
    /// # Examples
    ///
    /// A ping application might do something like the following
    ///
    /// ```no_run
    /// # use aos_events_shm_event_loop::*;
    /// use ping_rust_fbs::aos::examples as ping;
    /// use pong_rust_fbs::aos::examples as pong;
    /// use std::cell::Cell;
    /// use std::path::Path;
    /// use aos_configuration::read_config_from;
    /// use aos_events_event_loop_runtime::{Sender, Watcher};
    ///
    /// let config = read_config_from(Path::new("path/to/aos_config.json")).unwrap();
    /// let event_loop = ShmEventLoop::new(&config);
    /// event_loop.run_with(|runtime| {
    ///   // One task will send a ping, the other will listen to pong messages.
    ///   let mut sender: Sender<ping::Ping> = runtime
    ///       .make_sender("/test")
    ///       .expect("Can't create `Ping` sender");
    ///
    ///   let on_run = runtime.on_run();
    ///   // Sends a single ping message.
    ///   let send_task = async move {
    ///     on_run.await;
    ///     let mut builder = sender.make_builder();
    ///     let mut ping = ping::PingBuilder::new(builder.fbb());
    ///     ping.add_value(10);
    ///     let ping = ping.finish();
    ///     builder.send(ping).expect("Can't send ping");
    ///   };
    ///
    ///   let mut watcher: Watcher<pong::Pong> = runtime
    ///       .make_watcher("/test")
    ///       .expect("Can't create `Ping` watcher");
    ///
    ///   // Listens to pong messages and prints them.
    ///   let receive_task = async move {
    ///     loop {
    ///       let pong = dbg!(watcher.next().await);
    ///     }
    ///   };
    ///
    ///   runtime.spawn(async move {
    ///      futures::join!(send_task, receive_task);
    ///      std::future::pending().await
    ///   });
    /// }); // Event loop starts runnning...
    /// unreachable!("This can't be reached since no ExitHandle was made");
    /// ```
    ///
    /// `run_with` can also borrow data from the outer scope that can be used in the async task.
    ///
    /// ```no_run
    /// # use aos_events_shm_event_loop::*;
    /// # use std::cell::Cell;
    /// # use std::path::Path;
    /// # use aos_configuration::read_config_from;
    /// let config = read_config_from(Path::new("path/to/aos_config.json")).unwrap();
    /// let shared_data = Cell::new(971);
    /// let shared_data = &shared_data;
    /// let event_loop = ShmEventLoop::new(&config);
    /// event_loop.run_with(|runtime| {
    ///   // Note how `Cell` is enough since the event loop is single threaded.
    ///   let t1 = async move {
    ///     shared_data.set(shared_data.get() + 1);
    ///   };
    ///   let t2 = async move {
    ///     shared_data.set(shared_data.get() + 1);
    ///   };
    ///
    ///   runtime.spawn(async move {
    ///      futures::join!(t1, t2);
    ///      std::future::pending().await
    ///   });
    /// });
    /// unreachable!("This can't be reached since no ExitHandle was made");
    /// ```
    ///
    /// However, the spawned future must outlive `run_with`.
    ///
    /// ```compile_fail
    /// # use aos_events_shm_event_loop::*;
    /// # use std::cell::Cell;
    /// # use std::path::Path;
    /// # use aos_configuration::read_config_from;
    /// let config = read_config_from(Path::new("path/to/aos_config.json")).unwrap();
    /// let event_loop = ShmEventLoop::new(&config);
    /// event_loop.run_with(|runtime| {
    ///   // ERROR: `shared_data` doesn't live long enough.
    ///   let shared_data = Cell::new(971);
    ///   let t1 = async {
    ///     shared_data.set(shared_data.get() + 1);
    ///   };
    ///   let t2 = async {
    ///     shared_data.set(shared_data.get() + 1);
    ///   };
    ///
    ///   runtime.spawn(async move {
    ///      futures::join!(t1, t2);
    ///      std::future::pending().await
    ///   });
    /// });
    /// ```
    pub fn run_with<'env, F>(mut self, fun: F)
    where
        F: for<'event_loop> FnOnce(&mut Scoped<'event_loop, 'env, EventLoopRuntime<'event_loop>>),
    {
        // SAFETY: The runtime and the event loop (i.e. self) both get destroyed at the end of this
        // scope: first the runtime followed by the event loop. The runtime gets exclusive access
        // during initialization in `fun` while the event loop remains unused.
        let runtime = unsafe { EventLoopRuntime::new(self.inner.as_mut().event_loop_mut()) };
        let mut runtime = Scoped::new(runtime);
        fun(&mut runtime);
        self.run();
    }

    /// Makes an exit handle.
    ///
    /// Awaiting on the exit handle is the only way to actually exit the event loop
    /// task, other than panicking.
    pub fn make_exit_handle(&mut self) -> ExitHandle {
        self.inner.as_mut().MakeExitHandle().into()
    }

    /// Runs the spawned task to completion.
    fn run(&mut self) {
        self.inner.as_mut().Run();
    }
}

/// A wrapper over some data that lives for the duration of a scope.
///
/// This struct ensures the existence of some `'env` which outlives `'scope`. In
/// the presence of higher-ranked trait bounds which require types that work for
/// any `'scope`, this allows the compiler to propagate lifetime bounds which
/// outlive any of the possible `'scope`. This is the simplest way to express
/// this concept to the compiler right now.
pub struct Scoped<'scope, 'env: 'scope, T: 'scope> {
    data: T,
    _env: PhantomData<fn(&'env ()) -> &'env ()>,
    _scope: PhantomData<fn(&'scope ()) -> &'scope ()>,
}

impl<'scope, 'env: 'scope, T: 'scope> Scoped<'scope, 'env, T> {
    /// Makes the [`Scoped`].
    pub fn new(data: T) -> Self {
        Self {
            data,
            _env: PhantomData,
            _scope: PhantomData,
        }
    }
}

impl<'scope, 'env: 'scope, T: 'scope> Deref for Scoped<'scope, 'env, T> {
    type Target = T;
    fn deref(&self) -> &Self::Target {
        &self.data
    }
}

impl<'scope, 'env: 'scope, T: 'scope> DerefMut for Scoped<'scope, 'env, T> {
    fn deref_mut(&mut self) -> &mut Self::Target {
        &mut self.data
    }
}

#[cfg(test)]
mod tests {
    use super::*;

    use runfiles::Runfiles;

    use aos_configuration::read_config_from;
    use aos_events_event_loop_runtime::{Sender, Watcher};
    use aos_init::test_init;
    use ping_rust_fbs::aos::examples as ping;
    use std::sync::atomic::{AtomicUsize, Ordering};
    use std::sync::Barrier;

    /// Tests basic functionality with 2 threads operating their own event loops.
    #[test]
    fn smoke_test() {
        test_init();

        let r = Runfiles::create().unwrap();
        let config =
            read_config_from(&r.rlocation("org_frc971/aos/events/pingpong_config.json")).unwrap();

        const VALUE: i32 = 971;
        let barrier = Barrier::new(2);
        let count = AtomicUsize::new(0);

        std::thread::scope(|s| {
            let config = &config;
            let barrier = &barrier;
            let count = &count;
            s.spawn(move || {
                let mut event_loop = ShmEventLoop::new(config);
                let exit_handle = event_loop.make_exit_handle();
                event_loop.run_with(|runtime| {
                    let mut watcher: Watcher<ping::Ping> = runtime
                        .make_watcher("/test")
                        .expect("Can't create `Ping` watcher");
                    let on_run = runtime.on_run();
                    runtime.spawn(async move {
                        on_run.await;
                        barrier.wait();
                        let ping = watcher.next().await;
                        assert_eq!(ping.message().unwrap().value(), VALUE);
                        count.fetch_add(1, Ordering::Relaxed);
                        exit_handle.exit().await
                    });
                });
            });
            s.spawn(move || {
                let mut event_loop = ShmEventLoop::new(config);
                let exit_handle = event_loop.make_exit_handle();
                event_loop.run_with(|runtime| {
                    let mut sender: Sender<ping::Ping> = runtime
                        .make_sender("/test")
                        .expect("Can't create `Ping` sender");
                    let on_run = runtime.on_run();
                    runtime.spawn(async move {
                        on_run.await;
                        // Give the waiting thread a chance to start.
                        barrier.wait();
                        let mut sender = sender.make_builder();
                        let mut ping = ping::PingBuilder::new(sender.fbb());
                        ping.add_value(VALUE);
                        let ping = ping.finish();
                        sender.send(ping).expect("send should succeed");
                        count.fetch_add(1, Ordering::Relaxed);
                        exit_handle.exit().await
                    });
                });
            });
        });

        assert_eq!(count.into_inner(), 2, "Not all event loops ran.");
    }
}