百度自动驾驶apollo源码解读9:无锁有界队列BoundedQueue

已于 2023-06-27 10:58:03 修改
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分类专栏： 自动驾驶 文章标签： 自动驾驶
于 2022-07-07 13:53:06 首次发布
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本文链接：https://blog.csdn.net/liujiayu2/article/details/125657500
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在此贴出来apollo源代码，本篇只是源码解读，想要看此文件依赖的相关文件可访问：https://github.com/ApolloAuto/apollo/tree/master/cyber/base

/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#ifndef CYBER_BASE_BOUNDED_QUEUE_H_
#define CYBER_BASE_BOUNDED_QUEUE_H_

#include <unistd.h>

#include <algorithm>
#include <atomic>
#include <cstdint>
#include <cstdlib>
#include <memory>
#include <utility>

#include "cyber/base/macros.h"
#include "cyber/base/wait_strategy.h"

namespace apollo {
namespace cyber {
namespace base {

template <typename T>
class BoundedQueue {
 public:
  using value_type = T;
  using size_type = uint64_t;

 public:
  BoundedQueue() {}
  BoundedQueue& operator=(const BoundedQueue& other) = delete;
  BoundedQueue(const BoundedQueue& other) = delete;
  ~BoundedQueue();
  bool Init(uint64_t size);
  bool Init(uint64_t size, WaitStrategy* strategy);
  bool Enqueue(const T& element);
  bool Enqueue(T&& element);
  bool WaitEnqueue(const T& element);
  bool WaitEnqueue(T&& element);
  bool Dequeue(T* element);
  bool WaitDequeue(T* element);
  uint64_t Size();
  bool Empty();
  void SetWaitStrategy(WaitStrategy* WaitStrategy);
  void BreakAllWait();
  uint64_t Head() { return head_.load(); }
  uint64_t Tail() { return tail_.load(); }
  uint64_t Commit() { return commit_.load(); }

 private:
  uint64_t GetIndex(uint64_t num);

  alignas(CACHELINE_SIZE) std::atomic<uint64_t> head_ = {0};
  alignas(CACHELINE_SIZE) std::atomic<uint64_t> tail_ = {1};
  alignas(CACHELINE_SIZE) std::atomic<uint64_t> commit_ = {1};
  // alignas(CACHELINE_SIZE) std::atomic<uint64_t> size_ = {0};
  uint64_t pool_size_ = 0;
  T* pool_ = nullptr;
  std::unique_ptr<WaitStrategy> wait_strategy_ = nullptr;
  volatile bool break_all_wait_ = false;
};

template <typename T>
BoundedQueue<T>::~BoundedQueue() {
  if (wait_strategy_) {
    BreakAllWait();
  }
  if (pool_) {
    for (uint64_t i = 0; i < pool_size_; ++i) {
      pool_[i].~T();
    }
    std::free(pool_);
  }
}

template <typename T>
inline bool BoundedQueue<T>::Init(uint64_t size) {
  return Init(size, new SleepWaitStrategy());
}

template <typename T>
bool BoundedQueue<T>::Init(uint64_t size, WaitStrategy* strategy) {
  // Head and tail each occupy a space
  pool_size_ = size + 2;
  pool_ = reinterpret_cast<T*>(std::calloc(pool_size_, sizeof(T)));
  if (pool_ == nullptr) {
    return false;
  }
  for (uint64_t i = 0; i < pool_size_; ++i) {
    new (&(pool_[i])) T();
  }
  wait_strategy_.reset(strategy);
  return true;
}

template <typename T>
bool BoundedQueue<T>::Enqueue(const T& element) {
  uint64_t new_tail = 0;
  uint64_t old_commit = 0;
  uint64_t old_tail = tail_.load(std::memory_order_acquire);
  do {
    new_tail = old_tail + 1;
    if (GetIndex(new_tail) == GetIndex(head_.load(std::memory_order_acquire))) {
      return false;
    }
  } while (!tail_.compare_exchange_weak(old_tail, new_tail,
                                        std::memory_order_acq_rel,
                                        std::memory_order_relaxed));
  pool_[GetIndex(old_tail)] = element;
  do {
    old_commit = old_tail;
  } while (cyber_unlikely(!commit_.compare_exchange_weak(
      old_commit, new_tail, std::memory_order_acq_rel,
      std::memory_order_relaxed)));
  wait_strategy_->NotifyOne();
  return true;
}

template <typename T>
bool BoundedQueue<T>::Enqueue(T&& element) {
  uint64_t new_tail = 0;
  uint64_t old_commit = 0;
  uint64_t old_tail = tail_.load(std::memory_order_acquire);
  do {
    new_tail = old_tail + 1;
    if (GetIndex(new_tail) == GetIndex(head_.load(std::memory_order_acquire))) {
      return false;
    }
  } while (!tail_.compare_exchange_weak(old_tail, new_tail,
                                        std::memory_order_acq_rel,
                                        std::memory_order_relaxed));
  pool_[GetIndex(old_tail)] = std::move(element);
  do {
    old_commit = old_tail;
  } while (cyber_unlikely(!commit_.compare_exchange_weak(
      old_commit, new_tail, std::memory_order_acq_rel,
      std::memory_order_relaxed)));
  wait_strategy_->NotifyOne();
  return true;
}

template <typename T>
bool BoundedQueue<T>::Dequeue(T* element) {
  uint64_t new_head = 0;
  uint64_t old_head = head_.load(std::memory_order_acquire);
  do {
    new_head = old_head + 1;
    if (new_head == commit_.load(std::memory_order_acquire)) {
      return false;
    }
    *element = pool_[GetIndex(new_head)];
  } while (!head_.compare_exchange_weak(old_head, new_head,
                                        std::memory_order_acq_rel,
                                        std::memory_order_relaxed));
  return true;
}

template <typename T>
bool BoundedQueue<T>::WaitEnqueue(const T& element) {
  while (!break_all_wait_) {
    if (Enqueue(element)) {
      return true;
    }
    if (wait_strategy_->EmptyWait()) {
      continue;
    }
    // wait timeout
    break;
  }

  return false;
}

template <typename T>
bool BoundedQueue<T>::WaitEnqueue(T&& element) {
  while (!break_all_wait_) {
    if (Enqueue(std::move(element))) {
      return true;
    }
    if (wait_strategy_->EmptyWait()) {
      continue;
    }
    // wait timeout
    break;
  }

  return false;
}

template <typename T>
bool BoundedQueue<T>::WaitDequeue(T* element) {
  while (!break_all_wait_) {
    if (Dequeue(element)) {
      return true;
    }
    if (wait_strategy_->EmptyWait()) {
      continue;
    }
    // wait timeout
    break;
  }

  return false;
}

template <typename T>
inline uint64_t BoundedQueue<T>::Size() {
  return tail_ - head_ - 1;
}

template <typename T>
inline bool BoundedQueue<T>::Empty() {
  return Size() == 0;
}

template <typename T>
inline uint64_t BoundedQueue<T>::GetIndex(uint64_t num) {
  return num - (num / pool_size_) * pool_size_;  // faster than %
}

template <typename T>
inline void BoundedQueue<T>::SetWaitStrategy(WaitStrategy* strategy) {
  wait_strategy_.reset(strategy);
}

template <typename T>
inline void BoundedQueue<T>::BreakAllWait() {
  break_all_wait_ = true;
  wait_strategy_->BreakAllWait();
}

}  // namespace base
}  // namespace cyber
}  // namespace apollo

#endif  // CYBER_BASE_BOUNDED_QUEUE_H_

1.整个类是个数组，指定大小的数组，意味着数据是连续存储的。

2.Init的时候会申请好相关的内存，大小为（N+2）*单个大小，为什么是n+2?想不通，原文说是储存队列头和尾的，头和尾不只是两个位置的编号吗，需要生成实际内存的？

3.数据的存储如下图所示（图片被旋转了，好烦）

队列大小是固定的，超过指定数量再进行加入会失败。

数据是循环往复利用的，感觉上就是环形内存池

4.之所以是无锁队列是因为底层有原子操作

5.commit_成员是干什么的？


 

当队列为已满再进行加入数据时候，调用Enqueue会返回false,调用WaitEnqueue会进行等待之后再进行处理，数据队列为空取数据操作策略相同

来看看等待策略，以写数据为例进行分析（默认是SleepWaitStrategy）

1.SleepWaitStrategy 写数据失败，线程进行sleep，之后再进行写，直到成功

2.YieldWaitStrategy 写数据失败，线程进行yield，之后再进行写，直到成功

3.BusySpinWaitStrategy 写数据失败，直接进行再次写，直到成功，（自旋读写，CPU负载较高）

4.TimeoutBlockWaitStrategy 写数据失败，等待指定时间，返回false,放弃写入

测试代码：

#include <iostream>
#include "cyber/cyber.h"

using namespace apollo::cyber::base;

int main(int argc, char* argv[]) {
  std::cout << "---------------->start" << std::endl;
  BoundedQueue<int> queue;
  queue.Init(3, new TimeoutBlockWaitStrategy(1000));
  bool b = queue.WaitEnqueue(1);std::cout << b << std::endl;
  b = queue.WaitEnqueue(2);std::cout << b << std::endl;
  b = queue.WaitEnqueue(3);std::cout << b << std::endl;
  b = queue.WaitEnqueue(4);std::cout << b << std::endl;
  
  std::cout << "---------------->end" << std::endl;
  return 0;
}

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